Industrial Gateway


  • • 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
  • 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
 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
 Protocol 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 (-13 to 167 ℉)
 Storage Temperature -30 ~ +80 °C (-22 to 176 ℉)
 Humidity 10% ~ 90% RH, Non-condensing



CA-0910-C CD-002 CNT-CAN
  CA-0910-C     CD-002    CNT-CAN


 I-7232D-G     CR  CANopen Slave / Modbus RTU Master Gateway (RoHS) 1