I-7232D-G
CANopen Slave / Modbus RTU Master Gateway
Features
- • NMT: Slave
- Error Control: Node Guarding protocol
- Node ID: Setting by CAN_MRU Utility Software or LSS Protocol
- PDO Modes: Event-triggered, remotely requested, cyclic and acyclic SYNC
- PDO Mapping: variable
- No of SDOs: 1 server, 0 client
- Emergency Message: Yes
- CANopen Version: DS-301 v4.02
- Device Profile: DSP-401 v2.1
- CiA DSP-305 V1.1
- Support max 10 Modbus RTU I/O series modules
- Provide friendly Utility for parameters configuration
- 7-segmemt LED to show Node ID, CAN baud rate and RS-485 baud rate
Introduction
The I-7232D is a CANopen slave to Modbus RTU master gateway, and allows a CANopen master to have ability to access the Modbus slave devices. In the CANopen network, the I-7232D is a NMT slave, SDO server, PDO producer, and PDO consumer. From the view of the Modbus network, it is a Modbus RTU master which polls all the predefi ned data of the Modbus RTU slaves, and bypass the CANopen control commands to the Modbus slaves. The I-7232D follows the CANopen specifi cation CiA-301 v4.02 and CiA-401 v2.1, and supplies many features of CANopen protocols, such as dynamic PDO, EMCY object, error output value, SYNC cyclic and acyclic. Like the I-7231D, the EDS fi le is also provided by the utility tool. Users can easily apply the I-7232D in the standard CANopen master with the EDS file.
Applications
- Control System
- Building Automation
- Factory Automation
- Distributed data acquisition
Ordering Information
| PRODUCT SERIES | DESCRIPTION | QNT. | INQUIRY |
|---|---|---|---|
Similar Products
| CPU Module | |
|---|---|
| Watchdog Timer | Hardware watchdog |
| LED Indicators | |
|---|---|
| Status | MS LED, NS LED, IO LED |
| COM Ports | |
|---|---|
| Ports | 1 x RS-232/485, Non-isolated |
| Baud Rate | 1200 ~ 115200 bps |
| Protocol | Modbus RTU Master |
| Parity | None, Even, Odd |
| Data Bit | 7, 8 |
| Stop Bit | 1, 2 |
| CANopen | |
|---|---|
| Controller | NXP SJA1000T with 16 MHz clock |
| Ports | 1 |
| Baud Rate | 10 k ~ 1 M |
| Isolation | 1000 VDC for DC-to-DC, 2500 Vrms for photo-couple |
| Terminal Resistor | Built-in 120Ω |
| Protocol | CiA 301 v4.02 |
| Node ID | 1 ~ 255 |
| Error Control | Node Guarding protocol / Heartbeat Producer |
| NMT | Slave |
| EMCY Message | Yes |
| Power | |
|---|---|
| Consumption | 3W |
| Mechanical | |
|---|---|
| Dimensions (mm) | 72 x 122 x 33 (W x H x D) |
| Environment | |
|---|---|
| Operating Temperature | -25 ~ +75 °C |
| Storage Temperature | -30 ~ +80 °C |
| Humidity | 10 ~ 90% RH, Non-condensing |
The I-7232D Utility helps users to configure the devices, and has following features:
- Support CANopen node ID, baud rate setting
- Provide Modbus RTU parameters setting
- Display Modbus RTU devices configuration
- Show CANopen application objects configuration
- Produce EDS file Dynamically
Usage
The simple steps about how to use CPS_DCON gateway are described as follows:
- Select Modbus RTU devices for users' CANopen application
- Set the Modbus RTU devices 10 parameters into I-7232D by CAN_MRU Utility
- Configure the I-7232D and create EDS file
- Apply EDS file to CANopen application
- Implement the I-7232D in CANopen network
Modules Support
Only the following Modbus RTU commands are supported by the gateway.
| Code | Name | Description |
|---|---|---|
| 01 | Read Coil Status | Read the ON/OFF status of discrete outputs in the slave |
| 02 | Read Input Status | Read the ON/OFF status of discrete inputs in the slave |
| 04 | Read Input Registers | Read the binary contents of input registers in the slave |
| 06 | Preset Single Register | Preset an integer value into a single register |
| 15 | Force Multi Coils | Forces each coil in the sequence of coils to either ON or OFF |
