ICPDAS GW-7433D User Manual page 28

Example 1: Get the CANopen slave device's error status.
Assume that the GW-7433D connects 2 CANopen slaves and with total 10
AI channels, users can send the follow Modbus TCP command to
two CANopen slaves'
Query --> 1 2 0 0 0 6 01 04
Response --> 1 2 0 0 0 6 01 04 04
The green word
the address 00 00 ~ 00 09 are for AI data. The orange word
getting the error status of two slaves. The blue word is 1
error status, and
00 00
error status, and
00 2F
Example 2: Reset the CANopen slave device.
Assume the GW-7433D connects 2 CANopen slaves and with total 8
AO channels. When users want to reset 2
the follow Modbus TCP command to the GW-7433D and it will send a
CANopen reset command to the slave.
Query --> 1 2 0 0 0 6
Response --> 1 2 0 0 0 6
The address
00 09
because the 00 08 is 1
00 ~ 00 07 are the address for AO channel 0 ~ 7. The command
nd
reset 2 CANopen slave.
* GW-7433D Modbus data support two kinds of the word data type,
Little-endian and Big-endian, and the Big-endian type is the default type.
The different type will influence the data byte order.
type through GW-7433D Utility.
GW-7433D MODBUS TCP/RTU to CANopen Gateway User Manual
(Version 2.1.0, Aug/2019)
status.
00 0A 00 02
00 00
is the address for the CAN error status because
00 0A
means no error. The red data is 2
(47) means the slave has disconnected.
01 06
00 09
01 06 00 09 00 81 (for Big-endian data type*)
nd
is the 2 CANopen slave reset command address
st
CANopen slave reset command address and the 00
00 2F (for Big-endian data type*)
st
nd
nd CANopen slave, users can send
00 81 (for Big-endian data type*)
Users can select this
get these
indicates
00 02
CANopen slave's
CANopen slave's
is to
00 81
28