GW-7433D is one of ICP DAS original CANopen products. It is an economic solution for the protocol conversion between Modbus TCP clients and CANopen slaves. Nowadays, due to the popularity of Modbus RTU protocol, we add the new function to GW-7433D for communicating between Modbus RTU masters and CANopen slaves. With this new feature, no matter what PLC or PC-based Modbus host system you have, you can now use the host to control and supervise the CANopen slave devices by GW-7433D through its built-in COM ports like RS-232, RS-485 or even Ethernet! Besides, we also add the listen mode for GW-7433D; which is used to solve some potential problems when there are more than two CANopen masters in the same CANopen network. When using the COM port of RS-232 or RS-485, GW-7433D plays a role of a Modbus RTU slave. Users can use Modbus RTU master with Modbus function code 1, 2, 3, 4, 5, 6, 15, and 16 to communicate with the GW-7433D. Therefore, users can be easier to apply the Modbus RTU master to access the CANopen slaves.