SST Automation GT100-CO-RS User manual

Modbus / CANopen Gateway
GT100-CO-RS
User Manual
V 2.2
Rev A
SST Automation
E-mail: [e-mail]
WWW.SSTCOMM.COM

User Manual
Modbus CANopen / Gateway
GT100-CO-RS
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Important Information
Warning
The data and examples in this manual cannot be copied without authorization. SSTCOMM reserves the right to
upgrade the product without notifying users.
The product has many applications. The users must make sure that all operations and results are in accordance
with the safety of relevant fields, and the safety includes laws, rules, codes and standards.
Copyright
Copyright © 2022 by SST Automation. All rights reserved.
Trademark
is the registered trade mark of SST Automation.
Technical Support Contact Information
www.sstcomm.com
E-mail: sup[email protected]om

User Manual
Modbus CANopen / Gateway
GT100-CO-RS
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Catalog
1 Product Overview...................................................................................................................................................... 1
1.1 Product Function.............................................................................................................................................1
1.2 Product Feature............................................................................................................................................... 1
1.2.1 CANopen Master/Modbus Slave.........................................................................................................1
1.2.2 CANopen Slave/Modbus Master.........................................................................................................1
1.3 Technical Specifications................................................................................................................................. 2
1.3.1 CANopen Master/Modbus Slave.........................................................................................................2
1.3.2 CANopen Slave/Modbus Master.........................................................................................................3
1.4 Related Products............................................................................................................................................. 4
1.5 Revision History............................................................................................................................................. 4
2 Hardware Descriptions.............................................................................................................................................. 5
2.1 Product Appearance........................................................................................................................................ 5
2.2 Indicators.........................................................................................................................................................6
2.3 LED Display................................................................................................................................................... 6
2.4 Configuration Button...................................................................................................................................... 6
2.5 Interface.......................................................................................................................................................... 7
2.5.1 Power Interface....................................................................................................................................7
2.5.2 CAN Interface......................................................................................................................................7
2.5.3 Serial Interface.....................................................................................................................................7
2.5.4 Mini B Type USB................................................................................................................................ 8
3 Installation..................................................................................................................................................................9
3.1 Machine Dimensions...................................................................................................................................... 9
3.2 Installation Method......................................................................................................................................... 9
4 Quick Start Guide.................................................................................................................................................... 10
5 Software Instructions............................................................................................................................................... 12
6 Working Principle.................................................................................................................................................... 14
6.1 CANopen Master/Modbus Slave..................................................................................................................14
6.2 CANopen Slave/Modbus Master..................................................................................................................17
7 Typical Application.................................................................................................................................................. 21
7.1 CANopen Master/Modbus Salve..................................................................................................................21
7.2 CANopen Slave/Modbus Master..................................................................................................................22
8 Troubleshooting....................................................................................................................................................... 23

User Manual
Modbus CANopen / Gateway
GT100-CO-RS
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1 Product Overview
1.1 Product Function
GT100-CO-RS can act as two different communication gateways, that is:
(1) A communication gateway between CANopen master protocol and Modbus slave protocol, can establish
connection between one CANopen slave and Modbus master device.
(2) A communication gateway between Modbus master protocol and CANopen slave protocol, can establish
connection between many Modbus slave devices and CANopen master device.
1.2 Product Feature
1.2.1 CANopen Master/Modbus Slave
Easy to configure just through USB port on PC.
Acts as master at the side of CANopen network and slave at Modbus side, the gateway can provide data
communication between one CANopen slave and Modbus master.
CANopen supports DS301V4.02. Supports NMT, PDO, SDO, Heartbeat and Guardlife.
Supports maximum 8 bytes TPDO and RPDO, fast Download SDO and fast Upload SDO.
Supports up to 128 CANopen commands.
Function code Modbus slave supports: 03H, 04H, 06H and 10H.
Supports communication mode: RTU, ASCII.
CANopen baud rate: 5K~1Mbps.
Supports single CANopen slave node.
Serial port baud rate: 1200~115200bps.
Serial port supports: RS232, RS485, RS422.
Data exchange buffer is 1K. (512 bytes input and 512 bytes output)
CAN port and RS232 (RS485/RS422) can stand 1KV photoelectric isolation.
Built-in terminal resistor and switch.
1.2.2 CANopen Slave/Modbus Master
Easy to configure just through USB port on PC.
Acts as slave at the side of CANopen network and master at Modbus side, the gateway can provide data
communication between many Modbus slave and CANopen master.
Supports CANopen DS301V4.02. Supports NMT, PDO, SDO, Heartbeat and Guardlife, The cycle for TPDO

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transmission and Timestamp.
Supports maximum 8 bytes TPDO and RPDO, 4 bytes fast Download SDO and fast Upload SDO.
Supports up to 64 TPDO, 64 RPDO and SDO visit for input/output data exchange buffer.
Function code Modbus master supports: 01H, 02H, 03H, 04H, 05H, 06H, 0FH and 10H.
Supports communication mode: RTU, ASCII.
CANopen baud rate: 5K~1Mbps.
Supports many Modbus slave nodes.
Serial port baud rate: 1200~115200bps.
Serial port supports: RS232, RS485, RS422.
Data exchange buffer is 1K. (Input is 512 bytes and output is 512 bytes)
CAN port and RS232 (RS485/RS422) can stand 1KV photoelectric isolation.
Built-in terminal resistor and switch.
1.3 Technical Specifications
1.3.1 CANopen Master/Modbus Slave
[1] The gateway can achieve data communication between one CANopen slave and Modbus master.
[2] CANopen master features:
CANopen supports DS301V4.02. Supports NMT, PDO, SDO, Heartbeat and Guardlife.
CANopen interface supports: 5Kbps, 10Kbps, 20Kbps, 50Kbps, 100Kbps, 125Kbps, 250Kbps, 500Kbit/s
and 1Mbps.
CAN interface supports CAN2.0A protocol.
Supports maximum 8 bytes TPDO and RPDO, fast Download SDO and fast Upload SDO.
TPDO and RPDO can use default COBID, or use user-defined COBID, default COBID:
TPDO COBID: 384 + node address (0x180+node address) or 640 + node address (0x280+node address)
or 896 + node address (0x380+node address) or1152 + node address (0x480+node address).
RPDO COBID: 512 + node address (0x200+node address) or 768 + node address (0x300+ node address)
or 1024 + node address (0x400+ node address) or 1280 + node address (0x500+node address).
Supports TPDO, RPDO, SDO command numbers configuration, configure up to 128 commands. (not
limited to command numbers of one kind)
[3] Modbus slave features:
Supports function code: 03H, 04H, 06H, 10H.
Supports communication mode: RTU and ASCII.
Supports RS485 orRS232 interface, half-duplex, bard rate: 1200~115200bps.
(Supports baud rate: 1200, 2400, 4800, 9600, 19200, 38400, 57600, 115200)

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Data bits: 8.
Parity: None, Odd and Even optional.
Stop bits: 1 and 2 optional.
[4] Power: 24VDC (11~30VDC), maximum 60mA (24VDC).
[5] Operating temperature: -4℉~140℉(-20℃to 60℃). Humidity: 5% to 95% (non-condensing).
[6] Dimensions (W*H*D): 1.0 in*4.0 in *3.6 in (25mm*100mm*90mm).
[7] Installation: 1.4 in (35mm) DIN RAIL.
[8] Pollution level: Class 3.
1.3.2 CANopen Slave/Modbus Master
[1] The gateway can achieve data communication between many Modbus slave and CANopen master.
[2] CANopen slave features:
CANopen supports DS301V4.02. Supports NMT, PDO, SDO, both Heartbeat and Guardlife, The cycle for
TPDO transmission and Timestamp.
CANopen interface supports: 5Kbps, 10Kbps, 20Kbps, 50Kbps, 100Kbps, 125Kbps, 250Kbps, 500Kbit/s
and 1Mbps.
CAN interface supports CAN2.0A protocol.
Supports maximum 8 bytes TPDO and RPDO, 4 bytes fast Download SDO and fast Upload SDO.
TPDO and RPDO can use default COBID, or use user-defined COBID, default COBID:
TPDO COBID: 384 + node address (0x180+node address) or 640 + node address (0x280+node address)
or 896 + node address (0x380+node address) or1152 + node address (0x480+node address).
RPDO COBID: 512 + node address (0x200+node address) or 768 + node address (0x300+ node address)
or 1024 + node address (0x400+ node address) or 1280 + node address (0x500+node address).
Supports at most 64 TPDO, 64 RPDO commands.
[3] Modbus master features:
Function code Modbus master supports: 01H, 02H, 03H, 04H, 05H, 06H, 0FH and 10H.
Supports communication mode: RTU, ASCII.
Write command output mode: Cycle, forbidden or change of value optional.
Modbus master can configure at most 48 commands.
Supports RS485 orRS232 interface, half-duplex, bard rate: 1200~115200bps.
(Supports baud rate: 1200, 2400, 4800, 9600, 19200, 38400, 57600, 115200)
Data bits: 8.
Parity: None, Odd and Even optional.
Stop bits: 1 and 2 optional.
[4] Power: 24 VDC (11~30 VDC), maximum 60mA(24VDC).

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[5] Operating temperature: -40℉~140℉(-40℃to 60℃). Humidity: 5%~95% (non-condensing).
[6] Dimensions (W*H*D):1.0 in * 4.0 in *3.6 in (25 mm * 100 mm * 90 mm).
[7] Installation: 1.4 in (35 mm) DIN RAIL.
[8] Pollution level: class 3.
1.4 Related Products
The related products include: GT200-CO-RS, GT100-CA-MS485, GT100-CA-RS etc.
To get more information about related products, please visit SSTCOMM website: www.sstcomm.com.
1.5 Revision History
Revision
Date
Chapter
Description
V2.2, RevA
1/25/2022
ALL
Update the format.

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2 Hardware Descriptions
2.1 Product Appearance
Notes: This picture is for reference only. The product appearance is subject to the actual product.
Power Interface
CANopen Interface
Serial Status Indicator
LED Display
CANopen Status Indicator
Configuration Button
USB Config Port
Terminal Resistor Switch
RS232 Interface
RS485/422 Interface

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2.2 Indicators
Indicators
Status
Description
CANopen status
ERR
red off
CAN network is normal.
red on
CAN port error (baud rate error, Bus
off, etc).
red blinking
The error counter of CAN controller
reach or exceed alarm value.
RUN
green on
run state.
green light on every 200ms, off
every 1000ms
stop state.
green light on every 200ms, off
every 200ms
pre-run state.
serial status
TX
green blinking
serial port is sending data.
green off
serial port no connection or error.
RX
green blinking
serial port is receiving data.
green off
serial port no connection or error.
2.3 LED Display
LED Display
Description
“01”~“99”
The slave address when the GT100-CO-RS acts as a CANopen slave or a Modbus
slave.
CF
The GT100-CO-RS is in the configuration state.
Eo
CAN sending error.
“88” (blink once)
Restarting.
2.4 Configuration Button
Double click the button to enter into the configuration mode. The LED displays "CF", users can configure relevant
communication parameters through configuration software.
Under configuration mode, double click the button, the gateway will keep the current configuration and reset the
system after waiting for a while and enter into the run state.

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2.5 Interface
2.5.1 Power Interface
Pin
Function
1
Power GND
2
NC(Not Connected)
3
24V+, DC Positive 24V
2.5.2 CAN Interface
CAN interface of GT100-CO-RS uses 5-pin connector:
V+
GND
CAN-L
Shield
CAN-H
5
1
Note:
（1）Here, shield port is optional. The CAN-L and CAN-H must be connected. Here pin 1 and 5 are connected to
the pin 3 and pin 1 of power port internally(Chapter2.5.1).
（2）Chapter2.5.1 and Chapter2.5.2 both contain power interfaces, and only one of them is required to connect.
If two power interfaces are connected at the same time, the gateway will be burned.
2.5.3 Serial Interface
RS232 interface:
Pin
Function
1
RX, Connect RS232's RX of user device
2
TX, Connect RS232's TX of user device
3
GND, Connect RS232's GND of user device
Pin
Wiring
Pin 1
V+, 24VDC(optional)
Pin 2
CAN-H
Pin 3
Shield (optional)
Pin 4
CAN-L
Pin 5
GND, GND of 24V (optional)

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RS485/RS422 interface:
Pin
Symbol
RS485 Function
RS422 Function
1
D+
Connect D+ of
user device
Connect D+ of user
device
2
D-
Connect D- of
user device
Connect D- of user
device
3
GND
Connect
shielding ground
(optional)
Connect shielding
ground (optional)
4
R+
Reserved
Connect R+ of user
device
5
R-
Reserved
Connect R+ of user
device
2.5.4 Mini B Type USB
The USB port is used to configure the gateway. Mini B type USB interface is defined as below:
Pin
Name
Function
1
VBUS
+5V
2
D-
Data negative
3
D+
Data positive
4
IN
NC
5
GND
Signal Ground

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3 Installation
3.1 Machine Dimensions
Size (width * height * depth):
1.0 in * 4.0 in * 3.6 in (25 mm * 100 mm * 90 mm)
3.2 Installation Method
Using 1.4 in (35mm) DIN RAIL.

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4 Quick Start Guide
The following steps will help users to quickly configure GT100-CO-RS:
1. Wiring and button setting：See also Chapter2
(1) Connect the gateway power supply and power on. Please note that two terminals of this product can be
connected to the power supply, and the user only needs to connect one terminal. If two power interfaces are
connected at the same time, the gateway will be burned. (Refer to Chapter 2.5.1 and Chapter 2.5.2)
(2) Connect GT100-CO-RS with PC through USB for download Configuration.
(3) Double click the button, the LED display will show “CF”, that means the gateway is in the configuration
state.(Refer to Chapter2.4)
2. Download SST-CM-CFG software from www.sstcomm.com/Download1/ and install it.
3. Build your configuration using SST-CM-CFG and download it to the gateway. For more details,see SST-CM-
CFG software->Help->Content.
SST-CM-CFG is based on Windows platforms, you can use it to configure CANopen and Modbus protocol
related parameters. The operation interface of SST-CM-CFG configuration software is as follows:
(1) When using the gateway for the first time, you can click the "Upload" button to upload the example
configuration for reference.
(2) If upload/download failed, please view the following reasons:

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Please confirm that the gateway is in configuration mode.
The gateway is configured with USB port. Please try to connect again replacing another USB cable.
Please make sure that the COM port used by the computer is correct. Try to connect again using other
COM ports of the computer.
Please confirm that the USB driver is installed. When installing the configuration software, the USB
driver will be installed. If it is not installed, please confirm the installation.
4. After configuring and downloading Configuration into the gateway. Double click the button again, the
module will restart and the configuration will take affect. The gateway enters RUN mode.
5. Connect the CANopen and Modbus protocol ports of the gateway to the equipment respectively for
communication. (For port wiring, see Chapter2.5.2 and Chapter2.5.3)

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5 Software Instructions
SST-CM-CFG is based on Windows platforms, being used to configure parameters and commands of GT100-CO-
RS. Download the software on www.sstcomm.com/Download1/ and run the setup program to begin the
installation. Please follow the prompts to install the software.
Double-click the icon of the software, and you can see the "Select Device" interface of the software:
Select "GT100-CO-RS", and you will see the "Select Master" interface.
Select the mode you want, such as "CANopen Master/Modbus Slave", and you can see the main interface of the
software:

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For detailed software content, please open the SST-CM-CFG, select “Help” >> “Content” on the menu bar.
Toolbar
Title Bar
Menu Bar
Configuration plate:
Input configuration parameters,
gray parts cannot be modified.
Comment plate:
Explain the function of the
configuration options
Equipment plate:
Users can select operation objects
including Modbus network and
CANopen Network and adding
nodes and commands,

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6 Working Principle
6.1 CANopen Master/Modbus Slave
Communication mode between CANopen and Modbus is asynchronous mode, as shown below:
“Data 1” shows the data transfer process from Modbus to CANopen. “Data 2” shows the data transfer process
from CANopen to PROFIBUS.
The gateway runs in CANopen network independently, and transmits Upload SDO commands of CANopen
parameters periodically according object dictionary, also transmits and receives PDO (Process Data Object)
commands. When receiving I/O request from Modbus, the gateway will instantly respond with the latest
CANopen data to realize the matching of network speed. This is asynchronous mode.
TPDO and RPDO applies producer/consumer mode, and often be used in the occasion with high requirement
about speed. Upload SDO and Download SDO applies client/server mode, the mode can guarantee safety of data,
and often be used in the occasion with low requirement about speed.
The data in Modbus output buffer of GT100-CO-RS is the data being mapped to RPDO or Download SDO
commands of CANopen slave. Output mode of GT100-CO-RS is change of value, that is, until the Modbus output

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data is changed, GT100-CO-RS transmits corresponding commands (RPDO or Download SDO) to CANopen
network. For Modbus input data, GT100-CO-RS receives data through TPDO or Upload SDO commands
configured in the configuration software SST-CM-CFG and save the data to Modbus input buffer.
The data exchange mode of Modbus and CANopen is shown as below:
The data exchange buffer size is 1KB, input buffer is 512 bytes and output buffer is 512 bytes.
Modbus master reads 512 bytes input buffer data through No.4 function code, write data into 512 bytes output
buffer through No.6&16 function code, and read 512 bytes output buffer data through No.3 function code.
Input buffer address range: 0x0000~0x01FF.
Output buffer address range: 0x0000~0x01FF.
Input & output buffer starting address:
Input Buffer
Output Buffer
Memory mapping address
0000H~00FFH
0000H~00FFH
Modbus slave PLC address
30001~30256
40001~40256
Modbus slave protocol address
0000H~00FFH
0000H~00FFH
Each Modbus command can read one continuous Modbus registers.
When the “Control&Status” bit is “Enable” in configuration software (SST-CM-CFG), there are two bytes in the
end of input and output buffer of GT100-CO-RS showing status of CANopen slaves and controlling status of
CANopen slave. Modbus master can get the state (Operation, Preoperation, Stop state) of CANopen through
GT100-CO-RS. Meanwhile, it can also change the operation state (Reset slave, Reset Communication and change
the slave state) of CANopen slave through GT100-CO-RS, that is to send NMT control command.
Input buffer 512 bytes
GT100-CO-RS
Output buffer 512 bytes
Modbus
CANopen

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GT100-CO-RS
Modbus
CANopen bus
As is shown above, the gateway assigns 2-byte status input buffer and 2-byte control command output buffer (it
can have up to 127 nodes in CANopen, so the aggregates is 254 bytes) for each CANopen slave respectively. So,
Modbus master can use function 04 to read status of each CANopen slave and also can use function 06 or 16 to
control the running state of CANopen slave.
The address range of status input buffer of CANopen slave: 0x0200~0x02FD byte.
The address range of control command output buffer of CANopen slave: 0x0200~0x02FD byte.
The starting address of input/output buffer:
CANopen slave status input
buffer
control command output buffer
memory mapping address
0100H~017EH
0100H~017EH
Modbus slave PLC address
30257~30383
40257~40383
Modbus slave protocol address
0100H~017EH
0100H~017EH
memory mapping
address (DEC)
CANopen slave status input buffer
Control command output buffer
256-257
1 (256)
node state (257)
1 (256)
control command (257)
258-259
2
node state
2
control command
260-261
3
node state
3
control command
262-263
4
node state
4
control command
264-265
5
node state
5
control command
266-267
6
node state
6
control command
268-269
7
node state
7
control command
270-271
8
node state
8
control command
272-273
9
node state
9
control command
CANopen slave input buffer (254
bytes)
CANopen slave control command
output buffer (254bytes)
Function 06/16
NMT Command
Heartbeat or lifeguard
Function 04

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……
……
……
……
……
……
……
……
……
……
378-379
125
node state
125
control command
380-381
126
node state
126
control command
382-383
127
node state
127
control command
6.2 CANopen Slave/Modbus Master
Communication mode between CANopen and Modbus is asynchronous mode, as shown below:
“Data 1” shows the data transfer process from CANopen to Modbus. “Data 2” shows the data transfer process
from Modbus to CANopen.
TPDO and RPDO applies producer/consumer mode, and often be used in the occasion with high requirement
about speed. Upload SDO and Download SDO applies client/server mode, the mode can guarantee safety of data,
and often be used in the occasion with low requirement about speed.