ax2513-b200

数字伺服系统网络硬件与软件设计

  CAN总线接口硬件电路

  数控系统上位机采用研华公司PCL-841卡实现CAN总线通讯，伺服驱动系统采用TI公司TMS320LF2407A片内CAN控制器[3>。该控制器全面兼容CAN2.0B协议，具有标准和扩展标识符，有数据帧和远程帧，2407A片内CAN总线控制器与CAN物理总线接口采用82C250驱动器芯片。82C250采用阻抗为120Ω双绞线作通讯介质，信号采用差动接收和发送模式，抗干扰能力强，最高通讯速率可达1Mbps。有三种不同工作方式:高速、斜率控制和待机。本系统采用斜率控制，以降低射频干扰。为了增加抗干扰能力，保护CAN控制器，在TMS320LF2407A与82C250之间加高速光电隔离器，光电隔离器采用HP公司HCPL-2630芯片，速度为10MHz，电路如图2所示。

  CAN总线网络控制软件包括网络应用层协议、节点功能流程和编码等的配置和设计[4>。

  邮箱初始化配置

  包括对管脚的配置、波特率的设定、邮箱的收发配置等。首先，配置MCRB寄存器，将IOPC6和IOPC7引脚配置成特殊功能，即CANRX和CANTX;其次，配置MDER寄存器，即配置邮箱使能和邮箱2～3功能;最后，对屏蔽ID寄存器进行配置，可以屏蔽任意位ID，这种寄存器只对接收邮箱起作用。

;CAN邮箱初始化配置
CAN_INIT:
LDP#DP_PF2
LACL MCRB
;配置CAN引脚
OR#0C0H
;IOPC6,IOPC7配置为特殊功能:CANRX,CANTX
SACLMCRB
;CAN位定时器配置
LDP #DP_CAN
SPLK#0040H,MDER;MD2 =1,MBX2为发送方式
SPLK#0FFFFH,CAN_IFR
;清全部CAN中断标志
SPLK#07FFFH,LAM1_H
;设置邮箱2、3屏蔽ID寄存器0
SPLK#0FFFFH,LAM1_L;则ID必须匹配

波特率设定

  主要与3个寄存器有关，即SCSR1（系统控制和状态寄存器1）、BCR1（位配置寄存器1）和BCR2（位配置寄存器2）。配置前要确定波特率和晶振频率，当对位定时器进行配置时，CAN控制器必须处于复位模式下，即CCR=1。

SPLK #1000H,MCR;CCR=1改变配置请求
W_CCE:BITGSR,#0Bh;等待改变配置使能
BCNDW_CCE,NTC;当CCE=1时即可配置BCR2、BCR1寄存器
SPLK#01H,BCR2;波特率预分频寄存器
SPLK#0033H,BCR1;波特率设置为1M
LACLMCR

邮箱收发配置

  在数据域改变前首先要禁用邮箱，然后置位数据域，改变请求。再设置邮箱ID和信息控制寄存器。若是发送邮箱，则在数据域存放预发送数据，若是接收邮箱，则清空接收缓存。

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Endress + Hauser VALVE FOR VALVE BLOCK 5 compartment

Siemens Circuit Breakers 3rv1021-1da15 3rv 1021-1da15

Siemens 3rn 1011-1bb00 Relay 3rn1011-1bb00

Siemens 6gk1 500-0aa00 Bus Terminal at rs485 6gk1500-0aa00

Ferrocontrol control system modules FBUS in 16

Ferrocontrol control system modules FBUS out 16

Emb Electro-mechanical throttle KD 0,2

Leuze Light Barrier PRK 46b/66-s12

Siemens reversierstarter 3rk1300-1ds01-1aa1

Phoenix Interbus-S IB STME 24 BDI 16/4

Pilz SAFETY SWITCH PNOZ x3 230 vac/24vac/dc

Leadership with ball bearings 60x25 (x) 6004-zz

Festo PNEUMATIC CYLINDER adn-25-25-a-p-a

Rollon runners for rail T.... 43 csw43-120-2z-u

Fuji Electric Contactor sc-1n 50 AMP Coil 220-240v

INA flange bearing tensioning bearings rmea 40

Siemens Simatic s7 Digital Output 6es7322-1bh00-0aa0 6es7 322-1bh00-0aa0

Lenze Brake Resistor Australian 220r086w

Siemens Simatic s7 Digital Output 6es7322-1bh10-0aa0 6es7 322-1bh10-0aa0

Krones Range Module ka50338962/0020 NEW!

Festo Solenoid valve mfh-3-1/2-s 7960 with Solenoid msfg - 24/42-50/60 4527

Siemens Simatic s7 Electronics Module 6es7135-4fb01-0ab0 6es7 135-4fb01-0ab0

IFM Efector vs3000 evaluation-unit for flow sensors sr0151

Phoenix Safe Relay psr-spp-24dc/sdc4/2x1/b

Siemens SIRIUS SAFETY switchgear 3tk2830-2cb30

Siemens 3rp1532-1ap30 Relay 3rp 1532-1ap30

Siemens Main Switch 6 Pole 3ld2265-4vd51 NEW!

IFM Efector 100 inductive proximity switches

Siemens 3rt 1316-2bb40 3rt1316-2bb40 Relay

Phoenix Interbus-S IBS RBC RT konfek-T New

Schenck disomat Satus VNT 20930

Schenck disomat Satus VXB 20900

Kraus & Naimer Cam Switch c80t203/02e

Elan Schmersal Safety Relay Modules srb-na-r-c.14/r2-24v

Phoenix Contact Bus Terminal Unit IBS ST ZF 24 bk-t-v3 - 2721727

Siemens Power Switch 3rt2028-2bb40

Phoenix Contact ersatzmodui IB STME 24 BDO 16/3-250 - 2751700

Phoenix Contact ersatzmodui IB STME 24 BDO 16/3-250 2724928

Phoenix Interbus-S IB STME 24 BDO 32/2 2751713

Phoenix Interbus-S IB STME 24 BDI 8/4 2751674

Siemens Simatic s7 expansion module BM 141 6es7141-1bf31-0xa0

Phoenix Replacement Module Electronics IB STME 24 Bai 8/u 2721219

Pepperl + Fuchs amplifiers KFD2-SR2-Ex2.W 132960

PEPPERL + Fuchs Power Supply kfa6-str-1.24.500 465440

Tyco Thermal Controls TCONTROL-Cont - 03

NEW LISTING Weidmüller network switch, number ports: 5x rj45, unmanaged ie-sw5-eco

Siemens Simatic LOGO Power 6ep1331-1sh01

Siemens Simatic s5 Central Assembly 6es5102-8ma02 6es5 102-8ma02 E-Stand: 02

Siemens Simatic s5 Central Assembly 6es5102-8ma02 6es5 102-8ma02

Siemens Sinumerik DMP Compact 6fc5111-0ca03-0aa0

PEPPERL + Fuchs Inductive Sensor nj40+u1+w

PEPPERL + Fuchs Inductive Sensor nbb15-u1-z2 NEW!

PEPPERL + Fuchs Inductive Sensor ncb15+u1+z2 NEW!

PEPPERL + Fuchs Inductive Sensor nbb20-u1-e0 NEW!

INFRATHERM Transducer it51-lin of Impac

Siemens Sinumerik Cylinder Assembly 6fx1120-2ca00

Siemens Simatic s5 CPU 947 Central Assembly 6es5947-3ua22 6es5 947-3ua22

Siemens Sinumerik Cylinder Assembly 6fx1126-7ba01

ABB 2x Micro Switch for undervoltage trigger 1sda051363r1 NEW!

MITSUBISHI PLC Expansion Module fxon-40mr-es

Festo Compact Cylinder ADVU - 32-240-a-pa 156044

Pulse Power 1 phase input ± 12v, 2a ml30.106

Rittal Thermostat sk3114.100 SK 3114.100

BALLUFF Fork light barrier bgl0023 BGL 80a-001-s49

KEYENCE Amplifter Unit at3-400

Festo Solenoid valve jmfh - 5-1/4-s-b 19790 with Solenoid

KEYENCE Programmable Logic Controllers kl-4ad

Siemens Simatic s7 CP 342-5 6gk7342-5da01-0xe0

Siemens Simatic s5 Communication Processor 6es5524-3ua15 6es5 524-3ua15

Ziva-Z valve disc: 14581 Shaft: 14021 Gasket EPDM dn65

Ziva-Z valve disc: 14581 Shaft: 14021 Gasket EPDM dn50

KSB AMRI Valve DVGW-W nw-6201aq2398 16 Bar

Siemens 3vf1231-1fk41-0ab4 Circuit Breaker

Siemens Simatic s7 SITOP Power 10 6ep1334-1sl11

Siemens Simatic s5 digtalausgabe 6es5451-4ua13 6es5 451-4ua13 Output Module

Indramat Auxiliary Fan le5-115

Siemens Simatic s5-100u PS 930 6es5 930-8md11

Siemens Sinumerik Terminal Block 6fc5111-0ca73-0aa1 6fc51110ca730aa1

Siemens Sinumerik input Assembly 6fx1125-7ba00

Siemens SIMATIC Digital Input sm321 6es7321-1ff01-0aa0

BALLUFF Optical proximity switch BOS 5k-po-ix10-s75

Mushroom contact modules 4no/1nc, 24v, 30ohm 751107

Siemens Fi-Guard 5sm3311-6kl NEW!

ISSC IPC 96ps2a 96 PS 2a Power Supply

Siemens Card PC 612 F b1200-f405 HX 5 e4

BALLUFF Fork light barriers BGL 50a-001-s48

Siemens Contactor 3rt1034-1bb44

Siemens Simatic s5 coordinator 923c 6es5923-3uc11 6es59233uc11

Pilz SAFETY RELAY PNOZ x3 3s 1? 774314

MITSUBISHI INPUT MODULE AJ 65 SBTB 1-32d1

M-System Co Signal Converter m8yv-444-r

Gunter Man & Dunck-X-Converter USB con-USB & Sun to ps2 Converter

M-System Co Signal Converter m8yv-444-r 4 Piece m8bs-4u0-r-x

Simatic s5 CPU 6es5947-3ua22 6es5 947-3ua22

Artis Measuring Module LT 100s

Siemens Phoenix Interbus IBS s7 400 DSC/I-T 2719962 Chassis slightly torn

Mushroom Contact Block 24vdc 4 N/O 1 N/C 750107

IFM Optical Sensor Red Light Sensor of5027 | OFB-FPKG/us-100 NEW!

Maxon EC-Max 324322 EC motor

Festo Flat Cylinder dzf-40-25-p-a 164054

Barksdale 2 x Pressure Switch UDS 7

BALLUFF Optical proximity switch BOS 73k-pu-1fr-c-s76-0,1

Siemens Simatic s7 Digital Input 6es7421-1bl00-0aa0 E-Stand: 3

Beckhoff Ethernet Switch cu2016-0000 16 ports

Festo Vacuum Suction Nozzle VADMI - 95 162508

Festo Pressure Sensor sde1-v1-g2-wq4-c-p2-m8 195766

Festo Compact Cylinder ADVU - 40-100-p-a 156005

KSB AMRI Valve BOAX-SF 3g6k6 xu/pn16 DVGW-W nw-6201aq2398 DN 50 16 Bar

Ziva-Z Valve Disc 14571 Shaft: 14021 Gasket EPDM

Festo Basic Valve LFR-D-Mini with Power Valve U-D-Mini

Siemens Simatic s7 Digital Input 6es7321-7bh00-0ab0 6es7 321-7bh00-0ab0

Siemens Simatic s5 Analog Input 6es5464-8md11 6es5 464-8md11

Siemens Simatic s5 6es5470-4ua12 6es5 470-4ua12

Siemens Simatic s5 Digital Input 6es5 400-7aa13

Siemens Simatic s5 6es5380-7aa12 6es5-380-7aa12

Siemens Simatic s7 Digital Input 6es7421-1bl00-0aa0 6es7 421-1bl00-0aa0

DGD Gardner Denver Bus Module bse400 1.0 S 112130

Mushroom Emergency Stop Switch Unit 24vdc 3n/o 1n/c PNOZ x4 774730

Siemens Simodrive 611 overvoltage limiter 6sn1111-0ab02-0aa0

DGD Gardner Denver Bus Module/Rule Card SMK 3.0 F s112605

Siemens Simatic s7 Power Supply 6ep1436-3ba00 6ep1 436-3ba00

Bosch PC 200 Input Module e24v - 038396-108 pc200

MITSUBISHI INPUT MODULE AJ 65 SBTB 1-32dt1

Cosel Switching Power Supplies p30e-24 24v 1.3a

MITSUBISHI INPUT MODULE AJ 65 SBTB 1-32t1

Siemens Simatic s5 Digital Output 6es5 410-7aa11

Rittal Thermostat sk3114.200 SK 3114.200