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CANopen Modbus TCP Gateway (CiA 309-2)

CAN / CANopen Network Infrastructure

The emotas CANopen Modbus TCP Gateway is a universal Modbus TCP to CANopen gateway according to the CiA 309-2 specification. It is used incorporating CANopen resources into Modbus TCP networks, using the EtherCAN CI-ARM9 Ethernet to CAN Gateway, or a CAN connected PC utilizing any of the following EMS Dr. Thomas Wuensche CPC series of PC interfaces:

It is available in low cost binary packages for Linux or Windows. Source code packages for development are optionaly available, and developed solutions are also possible.

CANopen Modbus TCP Gateway  (CiA 309-2)

The EtherCAN CI-ARM9 Ethernet to CAN gateway is ideally suited to use with the Modbus CANopen TCP CiA 309-2 gateway software, with Ethernet Interface, 454MHz Freescale ARM9 CPU, and acces to embedded software development toolchain for developing own embedded Linux applications on the ARM9 processor.

CANopen Modbus TCP Gateway (CiA 309-2_

Also available as source code, the Modbus CANopen TCP Gateway (CiA 309-2) can be ported to platforms that have a CAN interface and a TCP/IP stack with BSD sockets. The CANopen component of the gateway consists of the emotas CANopen Master Stack. Optionally, the gateway can be extended to accomodate specific needs. Please contact Traquair to discuss requirements.

CANopen Services

CANopen services according to CiA309-2 specification are supported:

  • SDO Client (data types from 8 ..32 bit, strings and domains)
  • NMT commands
  • Node Guarding Master
  • Heartbeat Consumer
  • Heartbeat Producer

All further CiA309-2 commands for the configuration of the gateway are also available.