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.
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.