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3.5  SJA1000 CAN Status 

 
 

Users can use the Modbus command to get the CAN status of the 

SJA1000 CAN controller which is applied in GW-7433D. The meaning of each 

bit of the CAN status is as follow table 3-1. About how to get the CAN status 

please refer to the 

section 4.2.2 (Special Data Addressing)

. 

Bit Name 

Value 

Function 

1 

bus-off

; the SJA1000 is not allowed to access the CANopen 

network 

Bit. 7 

Bus Status 

0 

bus-on

; the SJA1000 is ready to access the CANopen network. 

1 

error

; at least one of the error counters has reached or exceeded 

the CPU warning limit 

Bit. 6 

Error Status 

0 

ok

; both error counters are under the warning limit 

1 

transmit

; the SJA1000 is transmitting a message 

Bit. 5 

Transmit Status 

0 

idle

; no transmit message is in progress 

1 

receive

; the SJA1000 is receiving a message 

Bit. 4 

Receive Status 

0 

idle

; no receive message is in progress 

1 

complete

; the last requested transmission has been successfully 

completed 

Bit. 3 

Transmission 

Complete Status 

0 

incomplete

; the previously requested transmission is not yet 

completed 

1 

released

; the CPU may write a message into the transmit buffer 

Bit. 2 

Transmit Buffer 

Status 

0 

locked

; the CPU cannot access the transmit buffer; a message is 

waiting for transmission or is already in process 

1 

overrun

; a message was lost because there was not enough 

space for that message in the RXFIFO 

Bit. 1 

Data Overrun 

Status 

0 

absent

; no data overrun has occurred since the last clear data 

overrun command was given 

1 

full

; one or more messages are available in the RXFIFO 

Bit. 0 

Receive Buffer 

Status 

0 

empty

; no message is available 

Table 3-1 Bit interpretation of the CAN status

 

 

GW-7433D MODBUS TCP/RTU to CANopen Gateway User Manual

   

 

 

      24

 

(Version 2.1.0, Aug/2019) 

Summary of Contents for GW-7433D

Page 1: ... manual at any time without notice The information furnished by ICP DAS is believed to be accurate and reliable However no responsibility is assumed by ICP DAS for its use or for any infringements of patents or other rights of third parties resulting from its use Copyright Copyright 2007 2008 by ICP DAS All rights are reserved Trademark The names used for identification only may be registered trad...

Page 2: ... 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...

Page 3: ... one kind of the network protocols based on the CAN bus and mainly used for machine control network such as textile machinery printing machines injection molding machinery or packaging machines etc CANopen is a low level network that provides connections between simple industrial devices sensors actuators and higher level devices controllers as shown in Figure 1 1 Figure 1 1 Example of the CANopen...

Page 4: ...many various application fields such as medical equipment off road vehicles maritime electronics public transportation building automation and so on Baud rate bit s Max Bus length m 10 K 5000m 20 K 2500 m 50 K 1000 m 125 K 500 m 250 K 250 m 500 K 100 m 800 K 50 m 1 M 25 m Table 1 1 The Baud rate and the Bus length GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 4 Version 2 1 0 Aug 2019 ...

Page 5: ...generally applied in the low volume and mid volume embedded systems The following examples show some parts of the CANopen application fields For more information please refer to the web site http www can cia org Truck based superstructure control systems Off highway and off road vehicles Passenger and cargo trains Maritime electronics Factory automation Industrial machine control Lifts and escalat...

Page 6: ...ecting an existing CANopen network to Ethernet base PLCs and PC based configuration and monitor system It enables CANopen networks to be coupled together over the Internet Ethernet whereby remote monitoring and control is possible The GW 7433D can be a CANopen master device in the CAN bus on the CANopen network On the Ethernet network it acts as a Modbus TCP server of Modbus RTU slave Users can us...

Page 7: ...fer rate 10 k 20 k 50 k 125 k 250 k 500 k 800 k 1 Mbps Support up to 10 CANopen slave devices Support maximum I O 3072 DI channels 3072 DO channels 640 AI channels and 640 AO channels Support message numbers TxPDO RxPDO TxSDO RxSDO are more than 120 Allow on line adding device into CANopen network Support boot up auto communicate with slave devices Provide CAN off line detection Support Node Guard...

Page 8: ...C 30VDC Power reverse protection Over Voltage brown out protection Power consumption 3W Module specification Dimensions 123mm x 64 5mm x 19 6mm Operating temperature 25 to 75ºC Storage temperature 30 to 80ºC Humidity 10 to 90 non condensing LEDs Power MI CI Err and 5 digits 7 segment LED displays Software Utility tool Online adding removing CANopen devices via Ethernet Get Set Modbus TCP RTU input...

Page 9: ...device by using Modbus commands A GW 7433D is able to link up to 10 CANopen slave devices Before using the GW 7433D it is needed to use the GW 7433D Utility to set the GW 7433D IP address and COM port Typical application architecture is shown below Figure 1 3 Application of GW 7433D GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 9 Version 2 1 0 Aug 2019 ...

Page 10: ...y of building a CANopen network When users would like to use SCADA software to control and monitor the CANopen network the GW 7433D provides a solution for this requirement The GW 7433D provides two kinds of protocols One is the PDO protocol and another is SDO protocol Basically the PDO protocol is used for real I O data It is more efficient than the SDO because the PDO protocol don t have any pro...

Page 11: ... I O configuration and communication parameters of the CANopen slave device and save them into the GW 7433D In this step users need to read the CANopen slave user manual first then decide what Cob IDs are used and what CANopen protocols are implemented 3 Establish connection After finishing the configuration and close the Utility the GW 7433D will reboot and apply the new configuration automatical...

Page 12: ...2 Hardware 2 1 Pin Assignment Figure 2 1 Pin assignments on the GW 7433D GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 12 Version 2 1 0 Aug 2019 ...

Page 13: ...r side Pin Name Description 1 CTS1 CTS of COM1 RS 232 2 RTS1 RTS of COM1 RS 232 3 RXD1 RXD of COM1 RS 232 4 TXD1 TXD of COM1 RS 232 5 INIT Pin for enable disable auto execution firmware 6 D2 Data of COM2 RS 485 7 D2 Data of COM2 RS 485 8 Vs V of power supply 10V to 30VDC unregulated 9 GND Ground of power supply Table 2 1 COM Connector Pin Assignment GW 7433D MODBUS TCP RTU to CANopen Gateway User ...

Page 14: ...CAN_L bus line dominant low 3 N A Unavailable 4 CAN_H CAN_H bus line dominant high 5 N A Unavailable Table 2 2 CAN bus Connector Pin Assignment Note that the bypass CAN bus connector is not another CAN channel It is designed for connecting to another CAN device conveniently The structure of the inside electronic circuit is displayed as figure 2 4 Figure2 4 Electronic circuit of CAN bus connector G...

Page 15: ...f the GW 7433D it will auto negotiate the network speed and connection Pin Name Description 1 TX Transmit Data 2 TX Transmit Data 3 RX Receive Data 4 N C Not Connected 5 N C Not Connected 6 RX Receive Data 7 N C Not Connected 8 N C Not Connected Table 2 3 Ethernet Connector Pin Assignment GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 15 Version 2 1 0 Aug 2019 ...

Page 16: ...work as figure 2 5 Figure 2 5 Terminator resistor Moreover to minimize the voltage drop on long distance the terminal resistance should be higher than the value defined in the ISO 11898 2 Table 2 4 may be used as a reference Bus Length meter Length Related Resistance mΩ m Cross Section Type Terminal Resistance Ω 0 40 70 0 25 23AWG 0 34mm2 22AWG 124 0 1 40 300 60 0 34 22AWG 0 6mm2 20AWG 127 0 1 300...

Page 17: ...activate the 120Ω terminator resistor built in the system as in the figure 2 6 Note that the default setting is active And about the J3 jumper setting please refer the table 2 5 Figure 2 6 XC100 I O expansion board LAYOUT Apply the termination resistor 120Ω Don t apply the termination resistor Table 2 5 J3 Jumper Selection GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 17 Version 2 1 0 Aug...

Page 18: ...is working and has received a Modbus message the MI LED will be flash red LED off The GW 7433D receives no Modbus command LED on The GW 7433D is receiving a Modbus command CI LED This LED indicates the CANopen communication status of the module Following shows the conditions of CI status When module is online and start to communicate with the devices it will flash If there are no TxPDO RxPDO TxSDO...

Page 19: ... information groups of the GW 7433D are as the following list Group ID 11111 IP information of this GW 7433D Group ID 22222 baud rate of all ports Group ID 33333 configuration of GW 7433D station number Group ID 44444 client connection information and error state of this GW 7433D The IP information format of the GW 7433D is given as follows Group ID of 5 digit LED 11111 LED 1 indicator can be 1 or...

Page 20: ... indicators always 1 LED 2 3 fix string id LED 4 5 The Modbus station ID of the GW 7433D The connection client information is given as follows Group ID of 5 digit LED 44444 LED 1 indicators always 1 LED 2 3 total supported socket numbers 5 sockets LED 4 5 numbers of sockets are used by clients default 0 If any client connects to the GW 7433D the numbers of the used socket will be increased The GW ...

Page 21: ...slave node ID is over the range 1 127 Er53 There is a PDO COB_ID over the range 0 0x7FF Er54 Install com port error Er55 PDO Count 100 Er56 SDO Count 15 Er57 Total DO channels are over 3072 384 bytes Er58 Total DI channels are over 3072 384 bytes Er59 Total AO channels are over 640 Er60 Total AI channels are over 640 Table 2 6 Error code table Only for the GW 7433D firmware v2 00 or later Only for...

Page 22: ...TxSDO data of the CANopen slave devices as soon as possible The RxPDO and RxSDO communication are decided by the mode If the cyclic mode is used the GW 7433D sends the RxPDO cyclically even the DO or AO data are the same as previous ones If users use normal mode the RxPDO is only sent while the GW 7433D gets the Modbus command to send the DO or AO data 3 3 Listen Mode If users want the GW 7433D to...

Page 23: ...e AI and DI data from the internal memory When the Modbus TCP client or Modbus RTU master wants to output the data to the DO or AO channels of the CANopen slaves it send Modbus commands to the GW 7433D Then GW 7433D keeps theses data in the corresponding internal memory and sends the CANopen messages immediately or cyclically due to the RxPDO mode for outputting the DO and AO data When users use t...

Page 24: ...ve the SJA1000 is receiving a message Bit 4 Receive Status 0 idle no receive message is in progress 1 complete the last requested transmission has been successfully completed Bit 3 Transmission Complete Status 0 incomplete the previously requested transmission is not yet completed 1 released the CPU may write a message into the transmit buffer Bit 2 Transmit Buffer Status 0 locked the CPU cannot a...

Page 25: ...ion simultaneously 4 1 Commands The following Modbus TCP RTU commands are supported by the GW 7433D Function Function Name Class Affects Data Type 1 Read Multiple Coils 1 DO Bit 2 Read Multiple Input Discrete 1 DI Bit 3 Read Multiple Registers 0 AO Word 4 Read Multiple Input Registers 1 AI Word 5 Write Single Coil 1 DO Bit 6 Write Single Register 1 AO Word 15 Force Multiple Coils 2 DO Bit 16 Force...

Page 26: ...r Max channel Support CANopen Data Type Support Function DI 0000h 00001h 3072 Boolean 2 DO 0000h 10001h 3072 Boolean 1 5 15 AI 0000h 30001h 640 Byte Word 4 byte 4 AO 0000h 40001h 640 Byte Word 4 byte 3 6 16 Table 4 2 I O Data Addressing 4 2 2 Special Data Addressing The GW 7433D supports special data such as the error status of the CANopen slave reset command and so on The table 4 3 shows the deta...

Page 27: ...1 10 3 N is the total CANopen slave device amount 4 About the error status please refer to the table 2 6 5 About the CAN status please refer to the table 3 1 6 GW 7433D can send status command to CANopen slave through this address Max AO address n Write 0x01 to this address will let the relative CANopen slave into Operational mode status write 0x02 to into Stop mode status write 0x80 to into Pre o...

Page 28: ...ice Assume the GW 7433D connects 2 CANopen slaves and with total 8 AO channels When users want to reset 2nd CANopen slave users can send 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 01 06 00 09 00 81 for Big endian data type Response 1 2 0 0 0 6 01 06 00 09 00 81 for Big endian data type The address 00 09 is the 2nd CANopen s...

Page 29: ... positions Path in product CD CD Fieldbus_cd canopen gateway gw 7433d utility Download website http ftp icpdas com pub cd fieldbus_cd canopen gateway gw 7433d utility Get the utility manual for the following positions Path in product CD CD Fieldbus_cd canopen gateway gw 7433d manual Download website http ftp icpdas com pub cd fieldbus_cd canopen gateway gw 7433d manual GW 7433D MODBUS TCP RTU to C...

Page 30: ... source code in VB6 These two tools are designed by ICP DAS and they are helpful when users want to diagnostic the Modbus TCP server devices or Modbus RTU slaves Users can free download the utilty from the following web site http www icpdas com products PAC i 8000 modbus_web_download htm GW 7433D MODBUS TCP RTU to CANopen Gateway User Manual 30 Version 2 1 0 Aug 2019 ...

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