B&B Electronics GW-7433D - Manual - Manual (Page 2)

Table of Contents
1 General Information ..................................................................................3
1.1
CANopen Introduction ................................................................3
1.2 CANopen Applications................................................................5
1.3 Module Characteristics ...............................................................6
1.4 Hardware Features.....................................................................7
1.5 Firmware Features .....................................................................7
1.6 Specifications .............................................................................8
1.7 Typical Applications ....................................................................9
1.8 Modbus TCP/RTU to CANopen gateway .................................10
2 Hardware ................................................................................................12
2.1
Pin Assignment.........................................................................12
2.1.1 RS-232 & RS-485 & Power supply interface .....................13
2.1.2 Connect to CANopen devices ...........................................14
2.1.3 Ethernet connection ..........................................................15
2.1.4 Terminator resistor settings ...............................................16
2.2 LED Indication ..........................................................................18
2.2.1 Power LED ........................................................................18
2.2.2 Module Status indicator LED .............................................18
MI LED
...................................................................................18
CI LED ...................................................................................18
ERR LED & ERROR Message show in 7-LED ......................18
2.2.3 5-digits 7-Segment LED Displays......................................19
3 CANopen Interface .................................................................................22
3.1
Network Communication ..........................................................22
3.2 Slave Device Communication...................................................22
3.3 Listen Mode..............................................................................22
3.4 Interaction with Internal Memory ..............................................23
3.5 CAN Status Message ...............................................................24
4 Modbus TCP/RTU Interface....................................................................25
4.1
Commands ...............................................................................25
4.2 Modbus TCP/RTU Addressing..................................................26
4.2.1 I/O Data Addressing ..........................................................26
4.2.2 Special Data Addressing ...................................................26
5 Appendix A – Software............................................................................29
5.1
GW-7433D Utility......................................................................29
5.2 Modbus Utility...........................................................................30
GW-7433D MODBUS TCP/RTU to CANopen Gateway User Manual 2
(Version 2.0.0, Jul/2011)