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Tables of Content
1
2
Introduction.............................................................................................4
1.1 Overview.........................................................................................4
1.2 Hardware Features ........................................................................5
1.3 I-7232D Features ............................................................................6
1.4 Utility Features...............................................................................7
Hardware Specification ..........................................................................8
2.1 Hardware Structure........................................................................8
2.2 Wire Connection ............................................................................9
2.3 Power LED....................................................................................12
2.4
3
4
5
CANopen Status LED...................................................................12
2.4.1
RUN LED ..........................................................................13
2.4.2
ERR LED ..........................................................................14
2.4.3
Overrun LED ....................................................................15
2.5 7-segment LED.............................................................................16
CANopen System..................................................................................17
3.1 CANopen Introduction.................................................................17
3.2 SDO Introduction .........................................................................25
3.3 PDO Introduction .........................................................................27
3.4 EMCY Introduction.......................................................................38
3.5 NMT Introduction .........................................................................39
3.5.1
Module Control Protocols...............................................40
3.5.2
Error Control Protocols ..................................................41
3.6 LSS Introduction ..........................................................................43
3.6.1
Definition..........................................................................43
3.6.2
LSS MODES AND SERVICES..........................................45
CANopen System..................................................................................46
4.1 I-7232D Configuration Flowchart................................................46
4.2 CANopen/Modbus RTU Gateway Utility Overview ....................47
4.3 CANopen/Modbus RTU gateway Utility Installation..................48
4.4 Configuration the CANopen/Modbus RTU Gateway Utility ......54
Configuration & Getting Start ..............................................................60
5.1 SDO Communication Set ............................................................60
5.1.1
Upload SDO Protocol......................................................60
5.1.2
SDO Block Upload...........................................................69
5.1.3
Download .........................................................................78
5.1.4
SDO Block Download......................................................83
I-7232D CANopen/Modbus RTU Gateway user manual (Version 1.02, December/24/2008) ------2