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CANopen TCP/IP Gateway (CiA 309-3)

CAN / CANopen Network Infrastructure

The emtas CANopen TCP/IP Gateway is a universal TCP/IP to CANopen gateway according to the CiA 309-3 specification. It is used for providing remote access to CAN based CANopen resources via TCP/IP, using a CAN connected Windows or Linux PC utilizing any of the following EMS Dr. Thomas Wuensche CPC series of PC interfaces:

A targeted version of the software is also available with the EtherCAN CANopen TCP/IP Gateway (309-3), providing 309-3 gateway functionality without the needed for a dedicated PC resource.

CANopen TCP/IP Gateway  (CiA 309-3)


Also available as source code, the CANopen TCP/IP Gateway (CiA 309-3) can be ported to platforms that have a CAN interface and a TCP/IP stack with BSD sockets. The CANopen component of the gateway consists of the emtas CANopen Master Stack. Optionally, the gateway can be extended to accommodate specific needs. Please contact Traquair to discuss requirements.


CANopen Device Monitor

CANopen Services

CANopen services according to CiA309-3 specification are supported:

  • SDO Client (data types from 8 ..32 bit, strings and domains)
  • NMT commands
  • PDO Producer
  • PDO Consumer
  • Node Guarding Master
  • Heartbeat Consumer
  • Heartbeat Producer
  • Emergency Consumer

Further CiA309-3 commands for the configuration of the gateway are also available.