Example 1: Get the CANopen slave device’s error status.
Assume that the GW-7433D connects 2 CANopen slaves and with total
10
AI channels
, users can send the follow Modbus TCP command to
get these
two CANopen slaves’ status
.
Query --> 1 2 0 0 0 6 01 04
00
0A
00 02
Response --> 1 2 0 0 0 6 01 04 04
00 00
00 2F
(for Big-endian data type*)
The green word
00 0A
is the address for the CAN error status because
the address 00 00 ~ 00 09 are for AI data. The orange word
00 02
indicates
getting the error status of two slaves. The blue word is 1
st
CANopen slave’s
error status, and
00 00
means no error. The red data is 2
nd
CANopen slave’s
error status, and
00 2F
(47) means the slave has disconnected.
Example 2: Reset the CANopen slave device.
Assume the GW-7433D connects 2 CANopen slaves and with total
8
AO channels
. When users want to
reset 2
nd
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 2
nd
CANopen slave reset command address
because the 00 08 is 1
st
CANopen slave reset command address and the 00
00 ~ 00 07 are the address for AO channel 0 ~ 7. The command
00 81
is to
reset 2
nd
CANopen slave.
* GW-7433D Modbus data support two kinds of the word data type,
Little-endian and Big-endian, and the Big-endian type is the default type.
The different type will influence the data byte order.
Users can select this
type through GW-7433D Utility.
GW-7433D MODBUS TCP/RTU to CANopen Gateway User Manual
28
(Version 2.1.0, Aug/2019)
