ICP DAS USA I-7530A-MR-FD User manual

I-7530A-MR-FD Modbus RTU to CAN Converter User’s Manual (Version 1.0, 08/2022) ------------- 1
User’s Manual
Warranty
All products manufactured by ICP DAS are under warranty regarding
defective materials for a period of one year from the date of delivery to the
original purchaser.
Warning
ICP DAS assumes no liability for damages resulting from the use 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 assumed by ICP DAS for its use, or for
any infringements of patents or other rights of third parties resulting from its use.
Copyright
Copyright 2016 by ICP DAS. All rights are reserved.
Trademark
The names used for identification only may be registered trademarks of
their respective companies.
The I-7530A-MR-FD Modbus RTU to
CAN Converter

I-7530A-MR-FD Modbus RTU to CAN Converter User’s Manual (Version 1.0, 08/2022) ------------- 2
Table of Contents
1. Introduction.....................................................................................................................4
1.1 Features .......................................................................................................6
1.2 Specifications..............................................................................................7
2. Hardware..........................................................................................................................9
2.1 Block Diagram ...........................................................................................10
2.2 Pin Assignment .........................................................................................11
2.3 Hardware connection................................................................................12
2.3.1 CAN port connection..................................................................................12
2.3.2 Serial port connection................................................................................13
2.4 Terminator Resistor Settings....................................................................14
2.5 Init / Normal Dip-switch.............................................................................15
2.5.1 Firmware Update Mode .............................................................................15
2.5.2 Firmware Operation Mode.........................................................................17
2.5.3 Module Configuration Mode.......................................................................18
2.6 LED Indication ...........................................................................................18
2.7 Cable Selection..........................................................................................20
3. Software Utility..............................................................................................................21
3.1 Install the UART2CAN Utility ....................................................................22
3.2 Configure the module parameters ...........................................................25
3.2.1 Connect to the I-7530A-MR-FD module with UART2CAN Utility...............25
3.2.2 Select the communication mode................................................................27
3.2.3 Set the COM port parameters....................................................................28
3.2.4 Set the CAN parameters............................................................................29
3.2.5 Set the “Pair Connection” parameter .........................................................30
3.2.6 Set the “Modbus Slave” parameter ............................................................31
3.2.7 Configuration of default value....................................................................32
3.2.8 Load/Save the parameter configuration.....................................................33
3.3 CAN Filter Configuration ..........................................................................34
3.3.1 CAN filter setting procedure.......................................................................34
Save File: Save the table in the red box as an .ini file..............................................37
3.4 Pair-connection Mode Description ..........................................................38
3.5 Testing the I-7530A-MR-FD module .........................................................44
3.5.1 Normal mode.............................................................................................46
3.5.2 Pair Connection Mode...............................................................................48
3.5.3 Modbus Slave Mode..................................................................................49
4. Command list (Only for normal mode)........................................................................51
4.1 tIIILDD…[CHK]<CR>..................................................................................53

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4.2 TIIIL[CHK]<CR>..........................................................................................53
4.3 eIIIIIIIILDD…[CHK]<CR> ............................................................................54
4.4 EIIIIIIIIL[CHK]<CR> ....................................................................................54
4.5 S[CHK]<CR>...............................................................................................55
4.6 P0BBDSPCR[CHK]<CR>...........................................................................56
4.7 P1B [CHK]<CR>.........................................................................................59
4.8 P2BBBBB[CHK]<CR>................................................................................60
4.9 RA[CHK]<CR>............................................................................................61
4.10 General Error code for all command .......................................................62
5. Modbus Slave Mode......................................................................................................63
5.1 Supported Modbus Functions..................................................................65
5.2 Modbus Address .......................................................................................66
5.2.1 Using Modbus RTU command to get a CAN Message..............................84
5.2.2 Using Modbus RTU command to send a CAN message...........................86
5.2.2.1 Using function Code 10hex to send a CAN message......................86
5.2.2.2 Using function Code 06hex to send a CAN message......................88
5.2.3 Using Modbus RTU command to get a Specific CAN Message.................91
5.2.4 Using Modbus RTU command to configure module ..................................92
5.3 Modbus Exception Codes.........................................................................94
6. Modbus Master Mode ...................................................................................................95
6.1 Supported Modbus Functions..................................................................95
6.2 IO Memory Size..........................................................................................95
6.3 Configuration and Operation....................................................................96
6.3.1 Modbus Read Configuration......................................................................97
6.3.1.1 Modbus Read Command..................................................................98
6.3.1.2 Response CAN Message Configuration.......................................101
6.3.2 Modbus Write Configuration ....................................................................104
6.3.3 Common Configuration............................................................................109
7. Troubleshooting..........................................................................................................112

I-7530A-MR-FD Modbus RTU to CAN Converter User’s Manual (Version 1.0, 08/2022) ------------- 4
1. Introduction
The I-7530A-MR-FD is helpful for exchanging the data between the
RS-232/485/422 devices and the CAN devices. It supports four
communication modes: “Normal”, “Modbus Slave”, “Pair connection”, and
“Modbus Master”.
In the Normal mode, the I-7530A-MR-FD 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 let you to communicate
with CAN devices easily from any PC or programmable devices with RS-
232/485/422 interface.
In the Modbus Slave mode, it allows a Modbus RTU master to
communicate with CAN devices on a CAN network. The following figure
shows the application architecture in this mode.
Figure 1-1: The application architecture in the Modbus Slave mode.

I-7530A-MR-FD Modbus RTU to CAN Converter User’s Manual (Version 1.0, 08/2022) ------------- 5
In the pair-connection mode, this module provides the transparent
communication between the RS-232/485/422 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
communicate with CAN devices on a CAN network. The following figure
shows the application architecture in this mode.
Figure 1-3: The application architecture in the Modbus Master mode.

I-7530A-MR-FD Modbus RTU to CAN Converter User’s Manual (Version 1.0, 08/2022) ------------- 6
1.1 Features
RoHS Design
Fully compatible with ISO 11898-2 standard
Programmable CAN bus baud rate from 10 kbps to 1 Mbps or user-
defined baud rate
Max transmission speed of RS-232/485/422 port up to 230400 bps
Support CAN bus acceptance filter configuration
Support firmware update via RS-232
Utility tool for module configuration and CAN bus communication
testing
Built-in jumper to select 120Ωterminator 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 and receive CAN messages
(Normal mode)
Provide the transparent communication in the RS-232/485/422 port
through the CAN bus (Pair-connection mode)
In Modbus Slave mode, I-7530A-MR-FD supports function code 0x03,
0x04, 0x06, and 0x10 of Modbus RTU command for reading or writing
CAN message (Modbus Slave mode). Besides, function code 0x10
has additional functions for configuring module.
Support Modbus Master function .
Support CAN FD
The data baud rate of CAN-FD can be selected from 100kbps to
10Mbps

I-7530A-MR-FD Modbus RTU to CAN Converter User’s Manual (Version 1.0, 08/2022) ------------- 7
1.2 Specifications
UART specification:
Connector: 14-pin screw terminal connector
COM1: RS-232: (TxD, RxD, GND)
RS-422: (TxD+, TxD-, RxD+, RxD-)
RS-485: (DATA+, DATA-)
Baud Rate(bps): 300, 600, 1200, 2400, 4800, 9600, 19200, 38400,
57600, 115200, 230400
Data/Stop bits: 5, 6, 7, 8 / 1, 2
Parity bit: None, Odd, Even
Isolation voltage: 3000 VDC power protection and 2500Vrms photo-
couple in the UART side
CAN specification:
CAN interface connector: 9-pin male D-sub (CAN_L, CAN_H,
CAN_GND, and N/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)
CAN FD data Baud Rate(bps):100k~10M
Isolation voltage: 3000 VDC power protection on CAN side, 3750Vrms
photo-couple on CAN bus
Terminator Resistor: Jumper for 120Ωterminator resistor
Support Protocol: ISO-11898-2, CAN 2.0A and CAN 2.0B
Power requirement:
Unregulated +10V DC ~ +30V DC
Power consumption: 1.5W
DIP switch: Init (Firmware Update, Module Configuration) / Normal
(Firmware Operation)
Module specs:
Dimensions: 72mm x 118mm x 35mm (W x L x H)
Operating temperature: -25 to 75ºC (-13 to 167ºF)
Storage temperature: -30 to 80ºC (-22 to 176ºF)
Humidity: 10 to 95%, non-condensing
LEDs: PWR LED for power
CAN LED for CAN bus communication
UART LED for UART communication

I-7530A-MR-FD Modbus RTU to CAN Converter User’s Manual (Version 1.0, 08/2022) ------------- 8
Software Utility tool:
CAN bus baud rate configuration
CAN acceptance filter configuration
CAN or CAN FD
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 for transmitting or receiving CAN messages
Application:
Factory Automation
Building Automation
Home Automation
Control system
Monitor system
Vehicle Automation

I-7530A-MR-FD Modbus RTU to CAN Converter User’s Manual (Version 1.0, 08/2022) ------------- 9
2. Hardware
Figure 2-1:Hardware profile of the I-7530A-MR-FD

I-7530A-MR-FD Modbus RTU to CAN Converter User’s Manual (Version 1.0, 08/2022) ------------- 10
2.1 Block Diagram
Figure 2-2 is a block diagram illustrating the functions of the I-7530A-
MR-FD module. It provides the 3000VDC Isolation in the CAN and UART
interface. And hardware media in RS-232 interface only adopts 3-wire
connection.
Figure 2-2: Block diagram of I-7530A-MR

I-7530A-MR-FD Modbus RTU to CAN Converter User’s Manual (Version 1.0, 08/2022) ------------- 11
2.2 Pin Assignment
Table 2-1:CAN DB9 Male Connector
Pin
Description
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-FD
Pin
Description
1
RS-485 DATA+
2
RS-485 DATA-
3
No use
4
RS-422 TxD+
5
RS-422 TxD-
6
RS-422 RxD+
7
RS-422 RxD-
8
No use
9
RS-232 RXD
10
RS-232 TXD
11
RS-232 GND
12
No use
13
+Vs(+10 ~ +30 VDC)
14
GND

I-7530A-MR-FD Modbus RTU to CAN Converter User’s Manual (Version 1.0, 08/2022) ------------- 12
2.3 Hardware connection
The I-7530A-MR-FD module supports CAN/Serial port
communication, it offers one CAN interface for CAN network and RS-
232/485/422 interfaces for serial communication.
2.3.1 CAN port connection
The pin assignment of the CAN port of the I-7530A-MR-FD (DB9
male) is defined in both the CANopen DS102 profile and in appendix C of
the DeviceNet specifications. It is the standard pin assignment for CAN
interface. The hardware connection between the target device and the I-
7530A-MR-FD is shown as Figure 2-4.
Figure 2-4:CAN Hardware Wire Connection

I-7530A-MR-FD Modbus RTU to CAN Converter User’s Manual (Version 1.0, 08/2022) ------------- 13
2.3.2 Serial port connection
The I-7530A-MR-FD 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.
Figure 2-5:RS-232 Wire Connection
Figure 2-6:RS-422 Wire Connection
Figure 2-7:RS-485 Wire Connection

I-7530A-MR-FD Modbus RTU to CAN Converter User’s Manual (Version 1.0, 08/2022) ------------- 14
2.4 Terminator Resistor Settings
According to the ISO 11898 specifications, the CAN Bus network
must be terminated by two terminal resistors (120Ω). They are shown as
following figure.
Figure 2-8:Terminal Resistor
Therefore, the I-7530A-MR-FD module supplies a jumper for
activating the terminal resistor. If users want to use this terminal resistor,
please open the I-7530A-MR-FD cover and use the JP3 to activate the
120Ωterminal resistor built in the module, as the Figure 2-9. Note that the
default setting is active.
Figure 2-9:Terminal Resistor Jumper

I-7530A-MR-FD Modbus RTU to CAN Converter User’s Manual (Version 1.0, 08/2022) ------------- 15
Enable (default) Disable
Figure 2-10:Terminal resistor JP3 Jumper Position
2.5 Init / Normal Dip-switch
On the back of the I-7530A-MR-FD module, there is a DIP-switch
used to configure the “firmware operation mode”, “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 the I-7530A-MR-FD will work in the “Firmware Update Mode”
after resetting the power of the module. In the firmware update mode,
users can update the firmware of the I-7530A-MR-FD module from
computer’s RS-232 port via CA-0910 cable, as Figure 2-12~2-14.
Figure 2-12:Init Position of DIP-Switch

I-7530A-MR-FD Modbus RTU to CAN Converter User’s Manual (Version 1.0, 08/2022) ------------- 16
Figure 2-13:CA-0910 Cable
Figure 2-14:Firmware downloads connection
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”.
[2] Click “Browser”button to choose the firmware file.
(e.g. I7530AMRFD_100.fw)
[3] Click “Firmware Update”button to start firmware update process.

I-7530A-MR-FD Modbus RTU to CAN Converter User’s Manual (Version 1.0, 08/2022) ------------- 17
Figure 2-15:I-7530A-MR-FD firmware update process
The I-7530A-MR –FD firmware can be downloaded from
https://www.icpdas.com/tw/product/I-7530A-MR-FD
Download Center ->Firmware
The “Firmware_Update_Tool”program can be downloaded from
https://www.icpdas.com/tw/product/I-7530A-MR-FD
Download Center -> Utility&Tool->I-7530-A-MR-FD Firmware Update Tool
2.5.2 Firmware Operation Mode
Please set the DIP-switch to the “Normal”position as Figure 2-16 and
power on the I-7530A-MR-FD module. The module’s PWR LED always
turned on and the others LEDs are turned off. That means the I-7530A-
MR-FD module is working in the operation mode. In this mode, users can
use the RS-232/485/422 device to send/receive CAN messages via COM
port.
1
2
3
4
6
5

I-7530A-MR-FD Modbus RTU to CAN Converter User’s Manual (Version 1.0, 08/2022) ------------- 18
Figure 2-16:Normal Position of Dip-Switch
2.5.3 Module Configuration Mode
During the module is running in the Firmware Operation Mode, set the
DIP-switch to the “Init”(Initial) position as Figure 2-12 and wait for three
seconds. The module’s PWR LED still turns on and the others LEDs will
flash approximately once per second. That means the I-7530A-MR-FD
module is working in the “Module Configuration Mode”. In this mode,
users can use UART2CAN Utility to 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-
FD is in. The positions of these three LEDs are shown as Figure 2-17.
(1) PWR LED :
It is used to help users with checking if the I-7530A-MR-FD is standby.
If the module is supplied the proper power, the PWR LED is turned on.
The different situations of the module may cause the different blinking
display. The PWR LED is always turned on when the module works in a
good condition. When the Bus-Off error is happened, the PWR LED will
blink every 500 ms until the Bus-Off condition disappears. If the CAN
message can’t be sent out successfully, the PWR LED will blink every
100 ms.

I-7530A-MR-FD Modbus RTU to CAN Converter User’s Manual (Version 1.0, 08/2022) ------------- 19
(2) CAN LED :
It is used to show whether the I-7530A-MR-FD is
transmitting/receiving CAN messages. The CAN LED will blink whenever
a CAN message is sending or receiving.
(3) UART LED :
It is used to show whether the I-7530A-MR-FD is
transmitting/receiving COM messages. The UART LED will blink
whenever a COM message is sending or receiving.
Figure 2-17:LED position of the I-7530A-MR-FD
Table 2-3:LED indication of the I-7530A-MR-FD
LED Name
I-7530A-MR Status
LED Status
ALL LEDs
Firmware Updating Mode
All LED always turned on
Module Configuration Mode
PWR LED always be turned
on and the other LEDs blink
every 1000 ms
PWR LED
No Error
Always turned on
CAN Bus Transmission Fail
Blink every 100 ms
CAN Bus-Off
Blink every 500 ms
Power Failure
Off
CAN LED
Transmission
Blink
Bus Idle
Off
UART LED
Transmission
Blink
Bus Idle
Off

I-7530A-MR-FD Modbus RTU to CAN Converter User’s Manual (Version 1.0, 08/2022) ------------- 20
2.7 Cable Selection
The CAN bus is a balanced (differential) 2-wire interface running over
either a Shielded Twisted Pair (STP), Un-shielded Twisted Pair (UTP), or
Ribbon cable. The CAN-L and CAN-H Wire start on one end of the total
CAN network that a terminator of 120 Ohm is connected between CAN-L
and CAN-H. The cable is connected from CAN node to CAN node,
normally without or with short T connections. On the other end of the
cable again a 120Ω(Ohm) terminator resistor is connected between the
CAN lines. 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 selection
Bus speed
Cable type
Cable
Resistance/m
Terminator
Bus Length
50k bit/s
at 1000m
0.75~0.8mm2
18AWG
70 mOhm
150~300
Ohm
600~1000m
100k bit/s
at 500m
0.5~0.6 mm2
20AWG
< 60 mOhm
150~300
Ohm
300~600m
500k bit/s
at 100m
0.34~0.6mm2
22AWG, 20AWG
< 40 mOhm
127 Ohm
40~300m
1000k bit/s
at 40m
0.25~0.34mm2
23AWG, 22AWG
< 40 mOhm
124 Ohm
0~40m
Note: The AWG means a standard method used to measure wire. The
numbering system works backwards from what people would think, the
thicker (heavier) the wire, the lower the number. For example: a 24AWG
wire is thicker/heavier than a 26AWG wire.