Table of Contents
Advertisement
3 CANopen Interface
3.1 Network Communication
The GW-7433D, Modbus TCP/RTU to CANopen Gateway, acts as a
CANopen master on CANopen network. It can exchange I/O data with up to 10
modules. Users can use the GW-7433D Utility tool to mapping CANopen
slave's data into the GW-7433D via Ethernet, and then the GW-7433D will
work.
3.2 Slave Device Communication
After the configuration of CANopen slave devices, please run the
CANopen slave device in the pre-operation mode. Use the GW-7433D utility to
configure the mapping table of the CANopen slave's data. When you finish the
GW-7433D utility configuration and close the utiltiy, the GW-7433D will auto
re-boot the firmware, and poll the TxPDO and TxSDO data of the CANopen
slave devices as soon as possible. The RxPDO and RxSDO communication
are decided by the mode. If the cyclic mode is used, the GW-7433D sends the
RxPDO cyclically even the DO or AO data are the same as previous ones. If
users use normal mode, the RxPDO is only sent while the GW-7433D gets the
Modbus command to send the DO or AO data.
3.3 Listen Mode
If users want the GW-7433D to monitor the CANopen network but not to
send any message to the CANopen network, this function will be useful. For
example, if users have two GW-7433Ds in his application, the one is in normal
mode and another is in listening mode, the input data (DI / AI) of the one in the
listen mode will be the same as the one in normal mode. Therefore, users can
use this function to be the second monitor of the CANopen network.
GW-7433D MODBUS TCP/RTU to CANopen Gateway User Manual
(Version 2.1.0, Aug/2019)
22
Advertisement
Table of Contents
