od*t Sichuan Odot Automation System Co., Ltd

od*t Sichuan Odot Automation System Co., Ltd CANopen to Modbus TCP protocol converter ODOT Automation System Co., Ltd. 2015-5 Copyright ©2019 ODOT Automation all rights reserved

od*t Sichuan Odot Automation System Co., Ltd Version information The following changes have been made to the document: Ownership rights information Without the permission of the copyright owner, all or part of this document shall not be republished as a paper or electronic document. Disclaimer This document is only intended to assist the reader in using the products, and the company shall not be responsible for any loss or error caused by the use of the information in this document. The product and text described in this document are under constant development and refinement. ODOT Automation...

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1. Product Overview 1.1 Product Functions MG-CANEX is a protocol converter from CANopen to Modbus TCP. The device plays as the master in the CANopen network and it could be connected to the standard CANopen slave devices. The data transmission http:// www.odotautomation.com

OCM Sichuan Odot Automation System Co., Ltd supports PDO, SDO, and error control supports Heartbeat. It Supports synchronous and asynchronous message sending. As a TCP server in Modbus TCP network, the device could be accessed by 5 TCP clients at the same time, and it could be connected to PLC controller and various kinds of configuration software. It could also connect optical transceiver and to realize long-distance data transmission. 1.2 Functional characteristics ♦ The gateway comes with its own configuration software, and the parameter configuration information is downloaded to the gateway...

od*t Sichuan Odot Automation System Co., Ltd x05, 0 x06, 0 x0F, 0 x10. ♦ 6KB large data buffer, more data transfer volume. ♦ CAN interface supports CANopen working mode. ♦ CAN interface Baud rate: 10K~1Mbps. ♦ CANopen protocol conforms to DS301 V4.02 and supports NMT master, PDO, SDO and Heartbeat. ♦ It supports one-key reset function to restore factory Settings. ♦ 35mm DIN-rail installation. ♦ EMC meets EN 55022:2010 & EN55024:2010 international standards. 1.3 Technical parameters The technical parameters of this product are shown in Table 1. Please use this product within the parameters of...

od*t Sichuan Odot Automation System Co., Ltd Tablel. Technical parameters

od*t Sichuan Odot Automation System Co., Ltd 2.2 Indicator light description The equipment has 6 LED status indicator lights, whose symbol definition and status description are shown in "Table 2". Table 2. Indicator light instructions

od*t Sichuan Odot Automation System Co., Ltd

od*t Sichuan Odot Automation System Co., Ltd Table 3. terminal definition 2.4 System reset The device has a system RESET button, which can be triggered when the user forgets the IP address and configured port No. of the device and could not connect to the gateway. System parameters will be restored to factory Settings, and configuration parameters can be downloaded again after reset. When the reset button is triggered, all LED lights will be on, and after the device reset is completed, the lights will be off (except PWR).

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4. Product usage 4.1 Operating principle of gateway Gateway protocol transformation belongs to address mapping mode, and the data of all devices in CANopen network are mapped to Modbus TCP data store. The TPDO of the CANopen slave equipment is mapped to the Modbus discrete quantity input and input register areas, and the RPDO is mapped to the Modbus coil and hold register areas. The SDO read command of the CANopen station device is mapped to the Modbus input register area (3XXXX), and the SDO write command is http:// www.odotautomation.com

mapped to the Modbus hold register area (4XXXX). When the gateway receives the data from the slave, the data is stored in the Modbus buffer. When the data in the Modbus buffer changes, the gateway will send the data from the slave RPDO/SDO write commands to the CANopen network. The gateway data exchange principle is shown in the following figure. Modbus write Modbus Output buffer 3K Byte Modbus read Modbus Input buffer PDO adopts the producer/consumer mode to transmit data, with no response except request, and fast response, which is suitable for situations with high requirements on response...

od-t Sichuan Odot Automation System Co., Ltd PDO can be configured to transfer data. 4.2 Data objects are mapped in the Modbus cache 4.3 Network function 4.3.1 Network scanning The largest number of 127 nodes on the CANopen network, the gateway itself occupies one node address. The basic condition of the slave equipment on the CANopen network can be preliminarily scanned through the network scanning function.

od«t Sichuan Odot Automation System Co., Ltd Network scan function is realized by adding network scan module. The corresponding relation of the data address of the network scanning module is as follows: Note: Green: read only; Blue: Feedback Control process: 1. Output trigger bit 0->1 rising edge, start the scan. 2. The scanning state is set to 1, and the number of nodes and module information are all reset. 3. Wait for the scan to complete, and the status bit in the scan is cleared to zero. 4. The number of nodes stores all nodes scanned by the current network, and the node ID and node state...

OCM Sichuan Odot Automation System Co., Ltd the device and is sent to other devices with the highest priority by the relevant application device. Suitable for interrupt type error warning signals. An emergency message consists of 8 bytes in the following format: sender ^receiver(s)