I-7232D-G CR: Bộ chuyển đổi Gateway CANopen Slave sang Modbus RTU Master

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I-7232D-G CR CANopen Slave / Modbus RTU Master Gateway (RoHS)

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I-7232D-G CR: Bộ chuyển đổi Gateway CANopen Slave sang Modbus RTU Master


• NMT: Slave
• Error Control: Node Guarding protocol
• Node ID: Setting by CAN_MRU Utility Software or LSS Protocol
• PDO Modes: Event-triggered, remotely requested, cyclic and acyclic SYNC
• PDO Mapping: variable
• No of SDOs: 1 server, 0 client
• Emergency Message: Yes
• CANopen Version: DS-301 v4.02
• Device Profile: DSP-401 v2.1
• CiA DSP-305 V1.1
• CAN Baud Rate setting by utility: 10K, 20K, 50K, 125K, 250K, 500K, 800K, 1M bpse
• Modbus Baud Rate setting by utility: 1200, 2400, 4800, 9600, 19200, 38400, 57600, or 115200 bps
• RUN, ERR, and OVERRUN LED indicators
• Support max 10 Modbus RTU I/O series modules
• Provide friendly Utility for parameters configuration
• 7-segmemt LED to show Node ID, CAN baud rate and RS-485 baud rate


The I-7232D is a CANopen slave to Modbus RTU master gateway, and allows a CANopen master to have ability to access the Modbus slave devices. In the CANopen network, the I-7232D is a NMT slave, SDO server, PDO producer, and PDO consumer. From the view of the Modbus network, it is a Modbus RTU master which polls all the predefi ned data of the Modbus RTU slaves, and bypass the CANopen control commands to the Modbus slaves. The I-7232D follows the CANopen specifi cation CiA-301 v4.02 and CiA-401 v2.1, and supplies many features of CANopen protocols, such as dynamic PDO, EMCY object, error output value, SYNC cyclic and acyclic. Like the I-7231D, the EDS fi le is also provided by the utility tool. Users can easily apply the I-7232D in the standard CANopen master with the EDS file.


• Control System
• Building Automation
• Factory Automation
• Distributed data acquisition


CPU Module
Watchdog Timer Hardware watchdog


LED Indicators


COM Ports
Ports 1 x RS-232/485, Non-isolated
Baud Rate 1200 ~ 115200 bps
Protocol Modbus RTU Master
Parity None, Even, Odd
Data Bit 7, 8
Stop Bit 1, 2


Controller NXP SJA1000T with 16 MHz clock
Transceiver NXP 82C250
Ports 1
Baud Rate 10 k ~ 1 M
Isolation 1000 VDC for DC-to-DC, 2500 Vrms for photo-couple
Terminal Resistor Built-in 120Ω
Porotocol CiA 301 v4.02
Node ID 1 ~ 255
Error Control Node Guarding protocol / Heartbeat Producer
NMT Slave
EMCY Message Yes


Consumption 3W


Dimensions (mm) 72 x 122 x 33 (W x H x D)


Operating Temperature -25 ~ +75 °C
Storage Temperature -30 ~ +80 °C
Humidity 10 ~ 90% RH, Non-condensing


Data sheet


Ordering information

I-7232D-G     CR  CANopen Slave / Modbus RTU Master Gateway (RoHS)

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