CANopen Modbus TCP Gateway (CiA 309-2)


CANopen TCP/IP (CiA 309-2) Gateway software application. Available for Windows, Linux, and EtherCAN CI-ARM9/RMD. Software provided in binary / executable form.

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The CiA309-2 gateway is a universal Modbus/TCP-CANopen gateway according to the CiA 309-2 specification. It is available as binary version for Linux. It can be used with every Linux using a can4linux or SocketCAN CAN interface. The gateway is separately available as source code, which is portable to all platforms that have a CAN interface and a TCP/IP stack with BSD sockets. The CANopen component of the gateway consists of the emotas CANopen Master Stack.

CANopen Services

All CANopen services according to CiA309-2 specification are supported:

  • SDO Client (data types from 1..32 bit, strings and domains)
  • NMT commands
  • Node Guarding Master
  • Heartbeat Consumer
  • Heartbeat Producer

All further CiA309-2 commands for the configuration of the gateway are also available.

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