Interaction With Internal Memory - ICPDAS GW-7433D User Manual

3.4 Interaction with Internal Memory

When the GW-7433D works, it monitors the CANopen network and
updates the AI or DI data in the corresponding internal memory if these data
responds from the CANopen slaves automatically. The GW-7433D also uses
RTR message to get the DI and AI data, and put these data into the
corresponding internal memory. When the Modbus TCP client or Modbus RTU
master commands to the GW-7433D for getting AI or DI data, the GW-7433D
reply the AI and DI data from the internal memory. When the Modbus TCP
client or Modbus RTU master wants to output the data to the DO or AO
channels of the CANopen slaves, it send Modbus commands to the
GW-7433D. Then, GW-7433D keeps theses data in the corresponding internal
memory and sends the CANopen messages immediately or cyclically (due to
the RxPDO mode) for outputting the DO and AO data. When users use the
cyclic mode of the RXPDO, the GW-7433D will update the DO or AO data by
using the data in the corresponding internal memory cyclically.
Figure 3.1 Internal Memory Table of GW-7433D
GW-7433D MODBUS TCP/RTU to CANopen Gateway User Manual
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(Version 2.1.0, Aug/2019)