Modbus/CANopen Gateway, 80186 CPU, 80MHz

GW-7433D~ NEW ~Modbus TCP server/RTU slave to CANopen master gateway

Artikelnummer
GW-7433D
Hersteller
ICP DAS
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“Embedded Internet” and “Embedded Ethernet” are hot topics today. Nowadays the Ethernet protocol becomes a kind of standard for local area network. Via Internet, connectivity is occurring everywhere, from home appliances to vending machines, to testing equipment, to UPS…etc. Using Ethernet for network in industrial area is appealing because the required cabling is already installed.
The GW-7433D is a solution that provides a communication transformation between CANopen protocol and Modbus/TCP & RTU protocol. It solves a mission-critical problem, and connecting an existed CANopen network with Ethernet-base master device as long as this master device supports Modbus/TCP protocol. It enables CANopen networks to be coupled together with the Internet/Ethernet, whereby remote monitoring and controlling is achieved.

For CANopen network, the GW-7433D is a CANopen master device. It supports PDO and SDO functions to communicate with slave devices. From the view of Modbus TCP & RTU network, GW-7433D plays a Modbus TCP server or Modbus RTU slave role. It can receive the commands from Modbus TCP client or Modbus RTU master, and process the commands to reply or send the related CANopen data. We provide utility software for users to configure the parameters of CANopen slaves to GW-7433D. When GW-7433D boots up, it will collect the necessary information from all slaves which are predefined in the GW-7433D by using utility. The following figure shows the application architecture for the GW-7433D.

  • Follow the CiA CANopen Standard DS-301 v4.02
  • Support Modbus RTU for COM1(RS-232) and COM2(RS-485)
  • Allow Max 5 Modbus TCP clients to access GW-7433D simultaneously
  • Provide listen mode. The function can let the GW-7433D monitor the CANopen slave data without bothering the CANopen network
  • Support Node Guarding and Heartbeat Consumer protocol
  • Support more than 120 CANopen SDO/PDO commands
  • Support 4 data types: Boolean、Byte、Word、Double Word (4-byte)
  • Provide the cyclic mode and command mode for RxPDO
  • Provide the CANopen disconnection detection
  • On-line add/remove CANopen slaves
  • Allow to get the CAN status by Modbus commands
  • Allow to get the communication states of the CANopen slave and GW-7433D by Modbus commands
  • Allow to reset CANopen slaves by Modbus commands
  • Support 3072 DI channels, 3072 DO channels, 640 AI channels, and 640 AO channels

Utility:

  • Provides Modbus address mapping table
  • Provides the test functions for checking the communication status between the GW-7433D and the CANopen slaves
  • Provides export/import the configure file from/to the GW-7433D
  • Little-endian and Big-endian selectable

Only the following Modbus TCP & RTU commands are supported by the GW-7433D gateway.

Code
Name
Description
01(0x01)
Read Coil Status
Read the ON/OFF status of discrete outputs in the slave
02(0x02)
Read Input Status
Read the ON/OFF status of discrete inputs in the slave
03(0x03)
Read Holding Registers
Read the binary contents of holding registers in the slaves
04(0x04)
Read Input Registers
Read the binary contents of input registers in the slaves
05(0x05)
Force Single Coils
Forces one coil in a sequence of coils to either ON or OFF
06(0x06)
Preset Single Register
Preset an integer value into a single register.
15(0x0F)
Force Multi Coils
Forces each coil in a sequence of coils to either ON or OFF
16(0x10)
Preset Multi Registers
Preset value into a sequence of holding registers

Hardware
Watchdog
Watchdog IC
CAN Interface
Controller
NXP SJA1000T with 16 MHz clock
Transceiver
NXP 82C250
Connector
5-pin screwed terminal block (CAN_L, CAN_SHLD, CAN_H, N/A for others)
Isolation
1000 VDC for DC-to-DC, 2500 Vrms for photo-couple
Protocol
CANopen DS-301 ver4.02, DS-401 ver2.1
UART Interface
COM 1
RS-232
COM 1 Connector
5-pin screwed terminal block (TxD, RxD, RTS, CTS, GND )
COM 2
RS-485 (Self-turner inside)
COM 2 Connector
2-pin screwed terminal block (DATA+, DATA-)
Protocol
Modbus RTU
Ethernet Interface
Controller
10/100Base-TX Ethernet Controller (Auto-negotiating, Auto_MDIX)
Connector
RJ-45 with LED indicator
Protocol
Modbus TCP
Power
Power supply
Unregulated +10 ~ +30 VDC
Protection
Power reverse polarity protection, Over-voltage brown-out protection
Power Consumption
2.5 W
Mechanism
Dimensions
72mm x 33mm x 122mm (W x L x H)
Environment
Operating Temp.
-25 ~ 75 ℃
Storage Temp.
-30 ~ 80 ℃
Humidity
10 ~ 90% RH, non-condensing

Ordering Information:
GW-7433D-G CR,
Modbus TCP server & Modbus RTU slave to CANopen master Gateway (RoHS)

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