CANopen to Modbus RTU Gateway. Supports operating temperatures between -25 to 75°C.

I-7232D - CANOpen to Modbus RTU Gateway

CANopen to Modbus RTU Gateway. Supports operating temperatures between -25 to 75°C.

  Price:  $649.00  


I-7232D applicationThe I-7232D CANopen to Modbus RTU Gateway is an ICP DAS CAN bus product. The device allows a CANopen master to access the Modbus slave devices on some Modbus RTU network. Modbus RTU protocol is a kind of application protocol based on RS485 network. This gateway provides an easy way to connect Modbus RTU devices with CANopen network These Modbus RTU devices may be a PLC, a Modbus RTU sensor, or ICPDAS M-7000 series modules. We also provide the utility software for users to configure the I-7232D,s parameters and build the EDS file for the CANopen master interface. Users can easily apply Modbus RTU devices in CANopen applications wit the I-7232D.

  • NMT: Slave
  • Error Control: Node Guarding protocol
  • Node ID: Setting by CAN_MRU Utility Software
  • 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 v4.01
  • Device Profile: DSP-401 v2.0
  • 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


  • Control Systems
  • Building Automation
  • Factory Automation
  • Distributed Data Acquisition


The I-7232D Utility helps users to configure the devices, and has following features:

  • Support CANopen node ID, baud rate setting
  • Provide Modbus RTU parameters setting
  • Display Modbus RTU devices configuration
  • Show CANopen application objects configuration
  • Produce EDS file Dynamically



The simple steps about how to use CPS_DCON gateway are described as follows:

  1. Select Modbus RTU devices for users' CANopen application
  2. Set the Modbus RTU devices 10 parameters into I-7232D by CAN_MRU Utility
  3. Configure the I-7232D and create EDS file
  4. Apply EDS file to CANopen application
  5. Implement the I-7232D in CANopen network


Modules Support

Only the following Modbus RTU commands are supported by the gateway.

Read Coil Status
Read the ON/OFF status of discrete outputs in the slave
Read Input Status
Read the ON/OFF status of discrete inputs in the slave
Read Input Registers
Read the binary contents of input registers in the slave
Preset Single Register
Preset an integer value into a single register
Force Multi Coils
Forces each coil in the sequence of coils to either ON or OFF


80188, 40MHz  
512K bytes
    512K bytes    
2K bytes (Can upto 128K bytes or change to 2K/8K FRAM)
32 bytes
 Real Time Clock
16 bit
 Watch Dog Timer
CPU Built-in
RS485: D2+, D2-
 Communication Speed
117200 max
 CAN Controller
Phillip SJA1000T CAN Controller
 CAN Transceiver
Phillip 82C250/251CAN Transceiver
 LED Directors
7-segment LED: 5digit
2500Vrms on CAN side
 Power Supply
20W unregulated +10VDC to +30Vdc
 Operating Temp
-25C to 75C
 Storage Temp
-30C to 85C
5 ~ 95%
133 x 72 x 33 mm

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