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I-7530A-MR Modbus RTU to CAN

Converter User’s Manual (Version 1.07, 06/2016) ------------- 66

Table5-2: Modbus address arrangement of

“Normal CAN Message” field.

Protocol Addresses

(Base 0)

PLC Addresses

(Base 1)

Word

Count

Description

Decimal rule

00000 ~ 00008

30001 ~ 30009

RX CAN Message #001

00009 ~ 00017

30010 ~ 30018

RX CAN Message #002

…

01782 ~ 01790

31783 ~ 31791

RX CAN Message #199

01791 ~ 01799

31792 ~ 31800

RX CAN Message #200

The format of each received CAN Message is described below:

Word number

Description

Bit 15: 0



valid data, 1



invalid data

Bit 6~14: Reserved
Bit 5: CAN Specification, 0



2.0A, 1



2.0B

Bit 4: RTR, 0



No, 1



Yes

Bit 0~3: Data length, value=0~8

Most significant two bytes of CAN identifier. (Big-
endian)

Least significant two bytes of CAN identifier. (Big-
endian)

The data 1 and data 2 of CAN data field.

The data 3 and data 4 of CAN data field.

The data 5 and data 6 of CAN data field.

The data 7 and data 8 of CAN data field.

Most significant two bytes of the RX timestamp
message. (Big-endian)

Least significant two bytes of the RX timestamp
message. (Big-endian)

Содержание I-7530A-MR

Страница 1: ...of this product ICP DAS reserves the right to change this manual at any time without notice The information furnished by ICP DAS is believed to be accurate and reliable However no responsibility is a...

Страница 2: ...N Utility 22 3 2 Configure the module parameters 25 3 2 1 Connect to the I 7530A MR module with UART2CAN Utility 25 3 2 2 Select the communication mode 26 3 2 3 Set the COM port parameters 27 3 2 4 Se...

Страница 3: ...79 5 2 2 Using Modbus RTU command to send a CAN message 81 5 2 2 1 Using function Code 10hex to send a CAN message 81 5 2 2 2 Using function Code 06hex to send a CAN message 83 5 2 3 Using Modbus RTU...

Страница 4: ...MR is designed to unleash the power of CAN bus via RS 232 485 422 communication method It accurately converts ASCII format messages and CAN messages between RS 232 485 422 and CAN networks This mode l...

Страница 5: ...2 devices via CAN bus The application architecture may be as follows Figure 1 2 The application architecture in the pair connection mode In the Modbus Master mode it allows many Modbus RTU slaves to c...

Страница 6: ...ct 120 terminator resistor CAN buffer 128 data frames UART buffer 256 bytes Power data flow and error indicator for CAN and UART status Hardware Watchdog design Allow special ASCII commands to send an...

Страница 7: ...A for others CAN Baud Rate bps 10 k 20 k 50 k 100 k 125 k 250 k 500 k 800 k and 1 M allow user defined baud rate Isolation voltage 3000 VDC power protection on CAN side 3750Vrms photo couple on CAN bu...

Страница 8: ...uration CAN 2 0A or 2 0B specific selection RS 232 485 422 baud rate and data format configuration Checksum function selection of the RS 232 485 422 communication Communication mode setting Function f...

Страница 9: ...I 7530A MR Modbus RTU to CAN Converter User s Manual Version 1 07 06 2016 9 2 Hardware Figure 2 1 Hardware profile of the I 7530A MR...

Страница 10: ...10 2 1 Block Diagram Figure 2 2 is a block diagram illustrating the functions of the I 7530A MR module It provides the 3000VDC Isolation in the CAN and UART interface And hardware media in RS 232 inte...

Страница 11: ...scription 1 Not Connect 2 CAN Low 3 CAN Ground 4 Not Connect 5 6 CAN Ground 7 CAN High 8 Not Connect 9 Figure 2 3 Pin Assignment on the I 7530A MR Pin Description 1 RS 485 DATA 2 RS 485 DATA 3 No use...

Страница 12: ...32 485 422 interfaces for serial communication 2 3 1 CAN port connection The pin assignment of the CAN port of the I 7530A MR DB9 male is defined in both the CANopen DS102 profile and in appendix C of...

Страница 13: ...tion The I 7530A MR offers three serial interfaces It is recommended to use only one of them at the same time The following figures describe these port types and the wiring method for a serial device...

Страница 14: ...esistors 120 They are shown as following figure Figure 2 8 Terminal Resistor Therefore the I 7530A MR module supplies a jumper for activating the terminal resistor If users want to use this terminal r...

Страница 15: ...de firmware update mode or module configuration mode The following steps show how to use it 2 5 1 Firmware Update Mode Please set the DIP switch to the Init Initial position as Figure 2 12 and then th...

Страница 16: ...nnection While updating the firmware users need to execute Firmware_Update_Tool exe The following steps show the update procedure 1 Run the Firmware_Update_Tool exe 2 Choose COM interface and COM Port...

Страница 17: ...ram can be downloaded from http ftp icpdas com pub cd fieldbus_cd can converter i 7530a mr utility 2 5 2 Firmware Operation Mode Please set the DIP switch to the Normal position as Figure 2 16 and pow...

Страница 18: ...configure the communication parameters and communication modes of the module 2 6 LED Indication There are three LEDs to indicate what the state of the I 7530A MR is in The positions of these three LED...

Страница 19: ...will blink whenever a COM message is sending or receiving Figure 2 17 LED position of the I 7530A MR Table 2 3 LED indication of the I 7530A MR LED Name I 7530A MR Status LED Status ALL LEDs Firmware...

Страница 20: ...How to decide a cable type cable length and terminator depends on the baud rate in the CAN bus network please refer to the following table 2 4 Figure 2 18 Un shielded Twisted Pair UTP Table 2 4 Cable...

Страница 21: ...s It also can used to transmit or receive a CAN message for simple testing To start the UART2CAN Utility please install the UART2CAN Utility setup file and run the UART2CAN_Utility exe file The screen...

Страница 22: ...all NET Framework 4 Client Profile component The UART2CAN Utility tool requires the Windows Installer 3 1 and the NET Framework 4 Client Profile components These components can be obtained from the we...

Страница 23: ...tility tool After installing the Net Framework components please run the UART2CAN Utility setup file 1 Click the Next button to continue Figure 3 3 Setup the UART2CAN Utility 2 Select the installation...

Страница 24: ...er User s Manual Version 1 07 06 2016 24 3 Confirm the installation Click the Next button to start the installation Figure 3 5 Confirm Installation 4 Installation complete Click the Close button to ex...

Страница 25: ...ule 3 Set the Init Normal switch to the Init Initial position at least three seconds 4 The PWR LED of the I 7530A MR module will turned on and the other LEDs will flash approximately once per second T...

Страница 26: ...orts four communication modes Normal Pair connection Modbus Slave and Modbus Master Mode In the Normal mode it accurately converts ASCII format messages and CAN messages between RS 232 485 422 and CAN...

Страница 27: ...orithm please refer to page 51 2 If the Error Response is set to Yes the error code will be responded when the incorrect communication commands are sent to the I 7530A MR 3 If the Timestamp Response i...

Страница 28: ...ection 3 3 Figure 3 11 The CAN port of I 7530A MR configuration 3 2 5 Set the Pair Connection parameter When users select the Pair Connection communication mode the functions End of Command Fixed Tx C...

Страница 29: ...ing CAN messages to be stored in the specific Modbus Input Register respectively In the Modbus Input Register the register range of the Specific CAN ID occupies the section from 0x0800 to 0x0859 Each...

Страница 30: ...set to the factory default which are Communication Mode Normal RS232 485 422 Baud rate 115200 kbps Data Bit 8 Stop Bit 1 Parity None Add Checksum No Error Response No Timestamp Response No CAN bus CAN...

Страница 31: ...arameter configuration The Open Parameter File function provides users to load parameters from existing configuration file INI And the Save Parameter from Utility function provides users to save the c...

Страница 32: ...R module The other is Read CAN Filter which are used to read back the CAN filter configuration from the I 7530A MR In this section we will describe how to configure the CAN Filter with the Utility too...

Страница 33: ...reate CAN filter file Step 2 Add the CAN filter with single CAN ID or group CAN ID Then the CAN ID in the list will be received and other CAN IDs which are not in list will be dropped Figure 3 17 Add...

Страница 34: ...eting these two examples users will see the follow figure Figure 3 18 Two CAN filter data The No field means that the sequential number of the CAN filter setting The CAN Port field means that the filt...

Страница 35: ...in the list 2 The Delete Select would delete the CAN filter setting which users selected 3 The Load from File provides users to load filter data from the existence log file FLT 4 The Save to File prov...

Страница 36: ...6 2016 36 3 3 3 Read I 7530A MR CAN Filter Configuration Click the Read from Module item on the Utility tool bar to read CAN filter setting from the I 7530A MR module and save the CAN filter setting a...

Страница 37: ...pair connection configuration Application 1 This application may be used in two general RS 232 devices which need to connect with each other but the distance between is too long to communicate by usi...

Страница 38: ...vice2 will also receive 123456789 from the COM port of the I 7530A MR 2 Note1 If users use 115200bps for RS 232 port of I 7530A MR it is recommended that the configuration of the I 7530A MR CAN baud r...

Страница 39: ...0A MR 2 Configuration Communication Descriptions The communication of this condition is similar with the communication of condition 1 The difference is that the I 7530A MR 2 of the application 1 will...

Страница 40: ...twork via CAN bus The architecture is shown below Figure 3 24 The diagram of Application 3 Configurations In order to apply this application users need to configure the I 7530A MR 1 I 7530A MR 2 and I...

Страница 41: ...002 it means that the CAN ID is 0x002 while the I 7530A MR 1 receives the RS 232 commands from the Device1 and transfers it to CAN message Afterwards this CAN message is only accepted by Device2 becau...

Страница 42: ...commands 002456789 or 003456789 Therefore Device1 can decide the target device which RS 232 commands will be sent to Also Device1 knows where the RS 232 commands come from The general concept of trans...

Страница 43: ...ce on the network 3 Supply the 10 30 VDC power into the I 7530A MR module through the power terminal 4 The PWR LED on the I 7530A MR module will be turned on and the other LEDs will be turned off That...

Страница 44: ...CAN messages via the I 7530A MR module In this Utility tool it supports three communication modes to transmit receive CAN messages to from other devices PCs by using the I 7530A MR There are the Norm...

Страница 45: ...erstand what message they want to send Users need to key in each part data of a CAN message The second method uncheck Use CAN Message allows the use of the command string found in table 4 1 to transmi...

Страница 46: ...automatically be received and displayed in the Receive text box Besides users can click the Clear button to remove the messages in the text box In addition users can click the Save button to save the...

Страница 47: ...ton to transmit the information to the CAN network When checking the Timer ms the Utility will transmit the message periodically If the Receive is checked the message sent from the I 7530A MR will aut...

Страница 48: ...igure 3 36 The active area of the Utility in the Modbus Slave mode Through the first method check Use Modbus RTU Command users can use the function code 0x03 0x04 0x06 firmware version v1 11 or later...

Страница 49: ...ive is checked the messages sent from the I 7530A MR will automatically be received and displayed in the Receive text box Besides users can click the Clear button to remove the messages on the text bo...

Страница 50: ...d with the character CR The ASCII value is 13 The 9 command formats are given in the following table More detailed information related to the each command will be described in the following sub sectio...

Страница 51: ...checksum CHK is 2 characters of the sum of the command message from the first character to the character before CR For example Command Reboot the I 7530A MR module RA CHK CR 1 Sum of the string R A 5...

Страница 52: ...2CAN Utility in order to receive Syntax and or communication error information Example Command t03F6112233445566 CR Send a CAN message with a standard data frame ID 03F DLC 6 data1 11 data2 22 data3 3...

Страница 53: ...de CR Note It is necessary to enable the Error Response function while using the UART2CAN Utility in order to receive Syntax and or communication error information Example Command e1234567851122334455...

Страница 54: ...d rate setting of CAN FF CAN status register TT CAN transmit error counter RR CAN receive error counter O CAN or RS 232 485 422 FIFO Overflow flag Note It is necessary to enable the Error Response fun...

Страница 55: ...0 incomplete 1 complete Bit 1 Data Overrun Status 0 absent 1 overrun Bit 0 Receive Buffer Status 0 empty 1 full Table 4 4 CAN and RS 232 485 422 FIFO overflow flag list AsciiToHex O Description Bit 3...

Страница 56: ...ed 02 300 bps baud rate of RS 232 485 422 03 600 bps baud rate of RS 232 485 422 04 1200 bps baud rate of RS 232 485 422 05 2400 bps baud rate of RS 232 485 422 06 4800 bps baud rate of RS 232 485 422...

Страница 57: ...alid command Error Code CR Note It is necessary to enable the Error Response function while using the UART2CAN Utility in order to receive Syntax and or communication error information Example Command...

Страница 58: ...kbps baud rate of CAN 5 250 kbps baud rate of CAN 6 500 kbps baud rate of CAN 7 800 kbps baud rate of CAN 8 1000 kbps baud rate of CAN 9 A B C D E Reserved F User defined baud rate of CAN Response A...

Страница 59: ...then reboot the I 7530A MR module Invalid command Error Code CR Note It is necessary to enable the Error Response function while using the UART2CAN Utility in order to receive Syntax and or communica...

Страница 60: ...this command to reboot the module to work it again Syntax RA CHK CR RA Command character Response Valid command will reboot the I 7530A MR module Invalid command Error Code CR Note It is necessary to...

Страница 61: ...de table Error code Description Possible causes solutions 1 Invalid header The header of the RS 232 485 422 command string is not t T e E S P0 P1 P2 nor RA 2 Invalid length The numbers of data of the...

Страница 62: ...of this field This field can store maximum 200 CAN messages Therefore if the unread CAN messages exceed 200 records the data is lost If the Specific CAN Message filed is used the CAN messages which ar...

Страница 63: ...I 7530A MR Modbus RTU to CAN Converter User s Manual Version 1 07 06 2016 63 Figure 5 1 Architecture diagram for the Modbus mode...

Страница 64: ...ding Input Register Read multiple input registers for reading CAN messages 6 06 Hex Write Output Register 1 Write single registers for sending a CAN message 2 This function is implemented in firmware...

Страница 65: ...CAN Message Field In this field the address range of Normal CAN Message is 00000 01799 protocol addresses It is used to store the CAN message received from the CAN network One CAN message will occupy...

Страница 66: ...eived CAN Message is described below Word number Description 1 Bit 15 0 valid data 1 invalid data Bit 6 14 Reserved Bit 5 CAN Specification 0 2 0A 1 2 0B Bit 4 RTR 0 No 1 Yes Bit 0 3 Data length value...

Страница 67: ...e register 01925 31926 1 CAN error counter 01926 31927 1 CAN UART overflow flag 01927 31928 1 Firmware version 01928 01932 31929 31933 5 Module name 01933 01935 31934 31936 3 Manufacturer The detailed...

Страница 68: ...CAN UART Overflow flag Bit 0 CAN overflow flag 0 Not full 1 Full Bit 1 UART overflow flag 0 Not full 1 Full Firmware Version Most significant byte major field of firmware version Least significant byt...

Страница 69: ...in following table Table5 4 Modbus address of Specific CAN Message field Protocol Address Base 0 PLC Address Base 1 Word Count Description Decimal rule 02048 02056 32049 302057 9 Specific RX CAN Messa...

Страница 70: ...onfiguration command 1 TX CAN Message Field The TX CAN Message in the Modbus Output Register is used to stored a CAN message which will be transmitted to the CAN network The TX CAN Message formats are...

Страница 71: ...fully setting the module will response a successful setting message and then reboots Request command Field Name Size Value Range Example Hexadecimal rule Node ID 1 byte 0x01 0xF7 0x01 Function Code 1...

Страница 72: ...e 0x01 0xF7 0x01 Function Code 1 byte 0x10 0x10 Start Address 2 bytes 0x0100 0x0100 Word Count 2 bytes 0x0002 0x0002 Byte Count 1 byte 0x04 0x04 Data 1 2 bytes 0x0002 Note1 0x0002 Data 2 2 bytes 0x000...

Страница 73: ...s 0x0002 0x000C Note2 0x000B 115200 bps Data 3 2 bytes 0x0000 0x0003 Note3 0x0000 8 Data 4 2 bytes 0x0000 0x0001 Note4 0x0001 1 Data 5 2 bytes 0x0000 0x0002 Note5 0x000 N Note1 This value is command f...

Страница 74: ...mation 0x0002 7 bits Data formation 0x0003 8 bits Data formation Note4 This value is Stop bit of RS 232 RS 422 RS 485 Stop bit Description Hexadecimal rule 0x0000 1 Stop bit 0x0001 2 Stop bits Note5 T...

Страница 75: ...es 0x0100 0x0100 Word Count 2 bytes 0x0002 0x0002 Byte Count 1 byte 0x04 0x04 Data 1 2 bytes 0x0004 Note1 0x0004 Data 2 2 bytes 0x0000 0x0008 0x000F Note2 0x0008 1000kbps Note1 This value is command f...

Страница 76: ...s Manual Version 1 07 06 2016 76 Response command Field Name Size Value Range Response Example Hexadecimal rule Node ID 1 byte 0x01 0xF7 0x01 Function Code 1 byte 0x10 0x10 Start Address 2 bytes 0x01...

Страница 77: ...03 Byte Count 1 byte 0x06 0x06 Data 1 2 bytes 0x0005 Note1 0x0005 Data 2 2 bytes Note2 0x0001 Data 3 2 bytes Note2 0x4585 Note1 This value is command field Note2 This value is user defined CAN baud ra...

Страница 78: ...rter User s Manual Version 1 07 06 2016 78 Field Name Size Value Range Response Example Hexadecimal rule Node ID 1 byte 0x01 0xF7 0x01 Function Code 1 byte 0x10 0x10 Start Address 2 bytes 0x0100 0x010...

Страница 79: ...e the Modbus RTU command function code 04hex to read the CAN message from the Normal CAN Message field refer to table 5 2 The start address of each command must be set to 0000hex and the data length f...

Страница 80: ...A MR Modbus RTU to CAN Converter User s Manual Version 1 07 06 2016 80 Example2 Use Modbus RTU command function code 04 hex to read two CAN messages Figure 5 4 Use the Modbus command to read two CAN m...

Страница 81: ...age automatically which the CAN bus is idle There are two method for transmitting a CAN message via Modbus RTU command and this manual will illustrate them at next sectn 5 2 2 1 Using function Code 10...

Страница 82: ...transmitted CAN message The start address of the command is always 0000hex and the data length field must be set to 0007hex Example Use the Modbus RTU command function code 03 hex to read the transmi...

Страница 83: ...dress of the Modbus command is always 0000 hex Using function code 06hex to transmit a CAN message is divided into 8 steps Following this manual will use an example to illustrate how to transmit a CAN...

Страница 84: ...I 7530A MR Modbus RTU to CAN Converter User s Manual Version 1 07 06 2016 84...

Страница 85: ...7530A MR Modbus RTU to CAN Converter User s Manual Version 1 07 06 2016 85 Note Using function code 03hex to read a output CAN message is not allowed when you use this method to transmit a CAN messag...

Страница 86: ...he I 7530A MR will save this CAN message to the Specific CAN Message field Users can use the Modbus RTU command function code 04hex to directly read the CAN message from this field It is usually used...

Страница 87: ...ve Modbus RTU commands function code 10hex of configuring module including reboot module reset CAN bus change RS 232 RS 422 RS 485 setting change CAN bus baud rate and change CAN bus user defined baud...

Страница 88: ...odbus RTU to CAN Converter User s Manual Version 1 07 06 2016 88 Example Using Modbus RTU command to change user defined CAN bus baud rate Figure 5 9 Using Modbus RTU command to change user defined CA...

Страница 89: ...ons 1 Illegal function The function code is not an allowable action for the I 7530A MR 2 Illegal Data Address The data address is not allowed for the I 7530A MR 3 Illegal Data Value The number of regi...

Страница 90: ...0x06 0x0F and 0x10 The following table will describe in detail Table 6 1 Supported Modbus Function Codes Modbus command Function Code Function Name Description Modbus Read command 1 01 Hex Read Coil...

Страница 91: ...tput data from CAN device One is called Read Memory Space and the other is called Write Memory Space Both of these two input output data spaces are maximum 2048 bytes 6 3 Configuration and Operation T...

Страница 92: ...interface of the I 7530A MR Modbus Master configuration The operating interface is divided into three parts Modbus Read Configuration Modbus Write Configuration and Common Configuration 6 3 1 Modbus R...

Страница 93: ...configure and operate the Modbus Read Command Memory Usage This field indicates the usage of Read Memory Space As section 6 2 description the total memory size is 2048 The meaning of this field is cu...

Страница 94: ...o access Function Code In this setting interface it supports the Modbus function code 0x01 0x02 0x03 and 0x04 Start Address High This field indicates the high byte of Modbus reference IO data address...

Страница 95: ...word count setting of the Modbus Read Command Delete When you want to delete a Modbus Read Command please click one of the Modbus Read Command from command list Then the Delete button will be enabled...

Страница 96: ...setting the CAN message with IO data will actively or passively be replied to CAN Bus by I 7530A MR Passively Response When you disable Passively Response all the Response CAN Messages will be activel...

Страница 97: ...tting response interval of CAN messages and its unit is millisecond When not using Passively Response CAN message method this function will be enabled CAN Configuration This field is used for setting...

Страница 98: ...Read Memory Space By using IO Data Byte Count and this field you can get a memory sector from the Read Memory Space which stores the I O data accessed from the Modbus slave device via Modbus Read Comm...

Страница 99: ...the I 7530A MR module When I 7530A MR is rebooted on operating mode it will load these parameters and check received CAN messages for transmitting a Modbus Write Command Memory Usage This field indica...

Страница 100: ...odbus Write Coil Registers commands Before using this configuration you must know what is the Modbus Write Coil Registers format that the Modbus slave devices supported After setting done the I 7530A...

Страница 101: ...he high byte of number of bits which you want to write If the function code is 0x05 or 0x06 this field will be disabled Note When using function code 0x10 this field will be the number of word high by...

Страница 102: ...d will occupy a part of the Write Memory Space This memory size will be based on the bit word count of the Modbus write command Delete When you want to delete a Modbus write command please click one o...

Страница 103: ...the maximum value of CAN ID is 0x1FFFFFFF Error Response CAN ID This field indicates the error message with this CAN ID will be transmitted when I 7530A MR detects an error The CAN response message f...

Страница 104: ...e these data value are 0x00 Modbus Exception Modbus Exception Byte4 Byte5 Byte6 Byte7 Slave Node ID Exception Function Code Exception Code Reserved Function Code and Exception Function Code relation F...

Страница 105: ...d will be sent Save Configuration This button is used to save Modbus Read Configuration Modbus Write Configuration and Common Configuration settings into the I 7530A MR After complete setup please rem...

Страница 106: ...he following errors CAN media connection problem terminal resistor problem different baud rate configuration with CAN network and so forth 2 How to set the user defined CAN baud rate If users want to...

Страница 107: ...as small as possible 1 is the best 2 The Tseg2 value is as small as possible 1 is the best 3 The Tseg1 value is as large as possible According to the above four rules users can choose the proper BTR0...

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