ICP DAS USA I-7232D Setup guide

I-7232D CANopen/Modbus RTU Quick Start User Guide (Version 1.1,March/2006, I-7232D) -----1
The I-7232D CANopen/Modbus Gateway
Quick Start User Guide
1. Introduction
This user guide describes how to implement the I-7232D module into
users’ applications in a quick and easy way. Therefore, it only provides the
basic instructions. If users want to know more detail information about the
I-7232D, please refer to the I-7232D user manual in the product CD or
download it from following web site:
http://www.icpdas.com/download/can/index.htm
The purpose of this manual is focused on helping users to quickly
familiarize themselves with the I-7232D module. Users can apply the I-
7232D module as follows.
CANopen
Device
PISO-CAN200/400
CPS_Modbus RTU
Gateway
CANopen
CANopen
Salve
I-8421
PISO-CPM100
RS-485
Modbus RTU
(M-7000)
Modbus RTU
Master
PC

I-7232D CANopen/Modbus RTU Quick Start User Guide (Version 1.1,March/2006, I-7232D) -----2
2. Hardware structure
3. 7-segment LED
7-segment
LED Number
CAN Baud
rate
RS-485
Baud rate
0 10 K bps 1200 bps
1 20 K bps 2400 bps
2 50 K bps 4800 bps
3 125 K bps 9600 bps
4 250 K bps 19200 bps
5 500 K bps 38400 bps
6 800 K bps 57600 bps
7 1000 K bps 115200 bps
Bypass CAN
Bus Connector
7-segment
LED
RS-232 Port
(
connect to PC
)
Reserve for further use
RS-485 Baud rate:
Refer to the right
hand side table
CAN Baud rate:
Refer to the right
hand side table
Node ID:
0x00
(
0
)
~0x7F
(
127
)
n: Normal
Power Pin
RS-485 Port
(Connect to I/O modules)
Power LED
CAN Bus
Connector
CANopen
Status LED

I-7232D CANopen/Modbus RTU Quick Start User Guide (Version 1.1,March/2006, I-7232D) -----3
4.How to Start

I-7232D CANopen/Modbus RTU Quick Start User Guide (Version 1.1,March/2006, I-7232D) -----4
5.Configuration Installation
Step1: Install the CANopen/Modbus RTU Gateway Utility into your PC. Users can get
the setup file from the web site http://www.icpdas.com/download/can/index.htm or
the product CD in the path of “/Napdos/iCAN/CAN_Gateway/I-7232D”.
Step2: Before running the CANopen/Modbus RTU Gateway Utility, please connect the
COM1 of the I-7232D with the available COM port of your PC. Also, connect
the configured Modbus RTU modules with the COM2 of the I-7232D. The
architecture is displayed in the following figure.
(Note: We use the ICPDAS M-7000 series Modbus RTU modules for this demo, if users want to use any
other Modbus RTU device, please configure the communication parameters of this device firstly.)
Step 3: Turn off the I-7232D firstly. Connect the INIT* pin and the GND pin on the I-
7232D. Then, turn on the I-7232D.

I-7232D CANopen/Modbus RTU Quick Start User Guide (Version 1.1,March/2006, I-7232D) -----5
Step 4: Run the CANopen/Modbus RTU Gateway Utility.
Step 5: Execute the CAN_MRU.exe file. The following figure will be displayed.
Then click the “connect” button.
(Note: When the CAN_MRU.exe can’t get the configuration information from the EEPROM, it may
response a Warning dialog as follows. This situation may be happen because the connection between
PC and I-7232D is broken during the CAN_MRU.exe is writing the data to the I-7232D EEPROM. Users
can repeat the steps from 2~5 to solve this problem)

I-7232D CANopen/Modbus RTU Quick Start User Guide (Version 1.1,March/2006, I-7232D) -----6
Step 6: Click the “CAN Bus” button to configure the CAN communication parameters
for I-7232D.
Step 7: Click the “RS-485” button to configure the RS-485 parameters for the
CANopen/Modbus RTU gateway. These parameters need to match with the
communication parameters of Modbus RTU modules. Afterwards, click the
“Next” button to next step.
Step 8: You have to input the Modbus device NodeID, Relay Address, Register/Relay
Address and Data Length for one Modbus device connected with I-7232D.
These parameters are decided from this Modbus RTU device. Then click
“ADD” button to save the parameters settings. Repeat the action described
above if you have another Modbus device. When you finish these steps,
please click “Next” button to next step.

I-7232D CANopen/Modbus RTU Quick Start User Guide (Version 1.1,March/2006, I-7232D) -----7
(Note: If you want to remove some device information, please select the instance number corresponding
to this device, and click the “Delete” button, the device information will be removed.)
Users can click on the “PDO Information” or “Modbus Information” button to view the PDO objects or
Modbus RTU devices configuration information. These information dialogs are shown below.

I-7232D CANopen/Modbus RTU Quick Start User Guide (Version 1.1,March/2006, I-7232D) -----8
Step 9: If everything is ok, click the “Finish” button to create the EDS file and save the
related information into the EEPROM of the I-7232D.
Step 10: Turn off the I-7232D, and remove the wire between the Init* pin and GND pin
of the I-7232D, Then power on the I-7232D. When the I-7232D has finished
the initialization, the RUN LED on the I-7232D will be flashed about twice per
second, and the I-7232D is into the NMT pre-operational state. For more
information about the CANopen system and CANopen communication set,
please refer to the I-7232D user manual.