8520-MTB2

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。

;写CAN邮箱内容前寄存器设置
LDP#DP_CAN
SPLK #0040H,MDER ;不使能邮箱,邮箱2设为接收方式
SPLK #0103H,MCR;CDR=1,数据区改变请求
;写CAN邮箱内容
LDP#DP_CAN2
SPLK #2447H,MSGID2H;设置邮箱2控制字及ID
;IDE=0,AME=0,AAM=0
;标准方式为MSGID2H[12～2>
SPLK#0FFFFH,MSGID2L
SPLK#08H,MSGCTRL2;设置控制域
;数据长度DCL=8,RTR=0数据帧
SPLK#00000H,MBX2A;邮箱2信息初始化
SPLK#00000H,MBX2B
SPLK#00000H,MBX2C
SPLK#00000H,MBX2D
SPLK#2447H,MSGID3H;设置邮箱3的标识符
SPLK#0FFFFH,MSGID3L
SPLK#08H,MSGCTRL3;RTR=0,DCL=8
SPLK#02211h,MBX3A;邮箱3信息初始化
SPLK#04433h,MBX3B
SPLK#06655h,MBX3C
SPLK#08877h,MBX3D
;写CAN邮箱内容后寄存器设置
LDP#DPCAN
SPLK#0480H,MCR;DB0=1,AB0=1,STM=0
SPLK#04CH,MDER;ME3=1,MBX3发送,ME2=1接收
SPLK#0F7FFH,CAN_IMR;中断MBX3无效,MBX2使能,
;中断优先级
SPLK#0FFFFH,CAN_IFR;清全部中断标志
RET

  邮箱中断设置CAN模块专属中断寄存器有CAN_IFR和CAN_IMR，使用方法与一般中断寄存器相同。但TMS320LF2407A 采用二级中断方式，高优先级模式的CAN邮箱中断对应INT1，高优先级CAN错误中断对应INT2;而低优先级CAN邮箱中断和CAN错误中断都对应INT5。所以在程序中要开放对应一级中断。接收帧ID的读入在接收事件中，通常一个邮箱要接收多节点帧。因此，信息帧ID的读出也很重要。不管有没有屏蔽，所接收信息帧的ID会被置入MSGIDnH和MSGIDnL，但接收邮箱的ID并没有改变[5>。

   程序框图如图3所示,实验程序使用邮箱2接收，邮箱3发送。通讯软件可以采用查询方式或中断方式，主要包括CAN控制器初始化程序、接收邮箱与发送邮箱设置、发送程序、接收程序。

发送程序只需要设定发送控制寄存器相应位;接收程序要完成:

读取已接收的邮箱标识符格式;
读取接收的标识符;
读取接收的数据长度;
读取接收的数据值。

上位机通过适配器与CAN总线连接，用VC6.0编写监控软件，并定义上位机作为局域网操作服务器，用户通过它可以对各个伺服单元进行操作。

结语

  CAN总线具有良好的网络通信功能、高可靠性、抗干扰能力强且经济实用，是一种很有前途的现场总线技术。它的应用将为分布式运动控制提供一种新的解决方案，会受到人们越来越多的重视。新一代的智能数字伺服系统通过CAN总线于开放式数控系统互联，是运动控制领域发展的一个重要方向

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MILLIPORE CORP SLR0153E1 FILTER, SOLARIS DEVICE FOR CMP PROCESS

PARKER SQMICRO502PBIS VALVE Check 316 SS VERIFLO 45400622PA

PARKER SQMICROHF502PBIS VALVE Check 316 SS VERIFLO 45400622PA

SMC SR4110-03-X220 Clean Regulator SS 316L, Set Pressure: 0.5~7kgf/cm^2, 50~700k

ASCENT ST81295 BOTTLE CAP PRESSURE

MOTOYAMA SUSF316L VALVE, AIR-OPERATE, 2ES4CV-1LC (NC)

WASCO INC SV120-3-W2A-X-9217VAC-SW SWITCHVAC 100TORR W/KF 16

SMC SY114-5LZB VALVE Solenoid 6 pos ASSY., BASE MT, SOL

MEMTEC T3BB10Y-M3 MEMTEC FILTERITE FILTER

USF T8121223300 CMP 102-10UV-M3 300

CKD TMD00-X6 VALVE PFA

BECO TP-2W8P-0 VALVE PTFE Teflon

TOKYO ELECTRON TS3286-000265-15 WIRE GROUND CHUCK P-8; 026514

Texas Instruments TSP50C34 PCB, PWA, Q2/62, SRC Board

SMS TUB1B0008 SMS SPIKE TUBE-QUARTZ - 6MM

NIPPO LTD UMP-09496 OUTER RING, INNER Alpha8

CKD USG3-6-1-E VALVE, SOLENOID 316 SS, 24 VOLTS, 4 WATTS, PRESSURE 0-0.7MPa, PIP

VALCOM VHR3-A4-S-4 PRESSURE TRANSDUCER, SWITCH, EBARA, RANGE -10-150kPa

SMC VP542-5GSC-02AF VALVE, SOLENOID BASE

THK VR3-150HX21Z 150mmX18mmX8mm Cross Roller Guide PKG 2

THK VR3M-200HX28Z 200mm Cross Roller Guide Bearing PKG 2

TOFLE VWF800016-A TUBE, FLEXIBLE VENDED PIPE

AIR LIQUIDE W22-14RS gas Bottle Connector DPU, W22-14RS

MILLIPORE WGGB36WS1 FILTER MAX PRESS 600PSI

EDWARDS VACUUM Y04210183 Interface Module I/Face

BOC HELIOS TPU 120V TMS MONITOR

BOC EDWARDS Y04999553 TPU 120V TMS MONITOR

CANON Y75-6748-000 HAMAMATSU L937-01; LAMP, MERCURY OZONIZER

MILLIPORE YY5500010 Wafergard Housing Halar

MILLIPORE YY5032PR1 FILTER, GAS

RECIF VMT8-A1200 KEYBOARD,VMT8

Mega Test 113131 Controller, Operator Interface Box

CDA INTERCORP 1176291 Brushless PM Motor

MEGATEST 125868 Polaris/MegaOne Incremental Release Software 4.3; TAPE, M1, PLRS

MEGATEST 127866 Polaris/MegaOne Incremental Release Software 4.3.1.1; Software T

Nikon 13032B PCB - AGC

Nikon 13037-3A PCB

Generic 138395-1 PCB Extender

EATON 1501490 Data Aquisition Power Supply Board

Nikon 15021-2A PCB

AXCELIS 210026 Power Supply, 230VAC, 50/60Hz, 23A

ELECTROGLAS 248058-002 ARM ASSY

Nikon 30134 PCB

MKS 370HA-00010 Pressure Head, Baratron,10 TORR

SCIENTIFIC TECHNOLOGIES INC 43268-04- POWER SUPPLY LIGHT CURTAIN MODEL #MS43

SCIENTIFIC TECHNOLOGIES INC 43268-08- POWER SUPPLY LIGHT CURTAIN MODEL #MS43

ALLEN BRADLEY 440R-M23143 SAFETY RELAY WITH DELAY OUTPUTS; MSR138DP harvested o

TIGRIS ELEKTRONIK 4541474C45 SCR INTCON H7-01-099; CARD, VISION CAMERA FRAME GRA

INTER-TEL 550.011 POWER SUPPLY

INTER-TEL 550.26 OPC BOARD

INTER-TEL 550.273 T1C BOARD

INTER-TEL 550-2733 CARD FOR AXXESS PHONE SYSTEMS

AVIZA TECHNOLOGY 600057-01 PCB, TOP MOTHER BOARD backplane

Muhlbauer AG 60616552 STEPper MOTOR Z AXIS P & P

SCIENTIFIC TECHNOLOGIES INC 70010-1080 POWER SUPPLY LIGHT CURTAIN MODEL #MS4316B

Parker 71-009019-01 Compumotor C-Drive

SYSTENCE 732232134521 WAFER lift PALLET EXIT LOCK

TESCOM 74-3061TSN30-056 Regulator, 60 PSIG Max. Outlet, Max Inlet 600 PSI

AKRION 746-256-2A PC BOARD BAM I/O INTERFACE (FOR 9200); SCP 171-462-1B

Reichert 7579 stage wafer inspection 4 Reichert, elevator

IP&T 790-31-00-0999-6-D-34 Temperature Chart Recorder 18-26 degC, 3 cm/hr

SVG 80172A-01 PCB DOUBLE RELAYS REMOTE CONTROL, 99-80172-01, 551035106

AMAT 9090-01165 BATTERY B/UP ASSY STD

AVIZA 986359-001 Manifold Leak Check, 9-Inlet

CTI-CRYOGENICS ADSORBER Filter - CTI ADSORBER (HELIUM FILTRATION CARTRIDGE - HEL

Generic Actuator, Source Assembly with FESTO Pneumatic Cylender ADVULQ-32-25-PA

Canon BH4-0992-01 PCB Extender test

Canon BH4-0993-01 PCB Extender Test

Brooks Instruments BM05750RB Sensor Encoder Interface

BROOKS INSTRUMENT BM302650000 ASSEMBLY MOTOR HXFR

BROOKS INSTRUMENT BM302650000 ASSEMBLY MOTOR HXFR

GOLDSTAR BRI4630 Parallel / Serial Card; EUD 5U9

Canon Manual Canon Operating Manuals consist of 32 Manuals (6: FPA-2500 i2/i3

Vacuum General CMHT-11 Transducer, Pressure, Range: 10 Torr

Tempshield Inc. Cryogenic Apron, 42" Length X 24" Width Small Tear

Tokyo Electron CT024-015312-1 Air Cylinder, CDU25D....., Maximum Pressure: 0.7MP

MKS CTS-5 Controller, Tester Simulator

Tektronix DM 501 Meter, Digital Multi

MICRO-TECH INSTRUMENTS, INC EKE Microscope Light Source / Illuminator, Input: 11

NEC GLG5322 Laser Radiation Laserstrahl Rayons Laser, Wavelength Range: 632.8nm,

USHIO INC HB-10201-AF Front Panel Remote Power Supply, Mercury Lamp, Omron: Kth-

USHIO HB-10201AF-PANEL Power Supply, Mercury Lamp, Control Panel Only

Matsusada Precision HV-1.5PN High Voltage Power Supply Assembly

RECIF IDLW DISPLAY FLAT PANEL

LAMBDA JWS120P-24 Power Supply; 24V output voltage, 5.0A average output current,

GRANVILLE-PHILIPS L02469 Convectron Gauge

LAMBDA LIS-9I-24 Power Supply, Regulated Input: 85-132 VAC(~)47-63Hz or 170-250

PIAB M20A6-CN M20 THETA VACUUM Gnerator

OPTO22 PB8AH PCB- signal wiring

KLA TENCOR 54-0220 H2 THETA INTERFACE PCB

ADLINK PCI-7300A 006 80 MB/s High-Speed 32-CH Digital I/O Card

OMEGA PX655-0.1DI Differential Pressure Transmitter, Range: .1" wc, Accuracy: PE

PULS QS10.301 Dimension Power Supply harvested off un system

Sedlbauer RTO 853785 Polytronik-Ringkern-Transformer, 265VA, ta=40'C

Sedlbauer RTO 853788 Polytronik-Ringkern-Transformer, 115VA, ta=40'C

H-SQUARE CORP SQ21796-2 8" CASSETTE HANDLE Teflon

SHIMADEN SR24-41-0090 Controller TEMP

Alcatel TL-01693 ROBOT ARM 5 INCH

Texas Instruments TSP50C14 PCB

KROMSCHRODER UVS-8 Sensor - UV light detector

KINEX VAM-7L Power Supply

AMAT 0200-02449 RING, COVER 300MM; TOSH C40-013-Q-91R

AMAT 0200-03574 RING QUARTZ STEPPED PRODUCER ETCH; TOSH C40-032-Q-91

KULICKE AND SOFFA 08001-4080-000-01 PCB, COMMUNICATION

EBARA 10X7-END-CAP-01 Ebara 10-1/8" x 7-7/8" END CAP; ISO 40

EBARA 10X8-END-CAP Ebara 10-1/8" x 7-7/8" END CAP; ISO 40

EBARA 12X7-END-CAP Ebara 12-1/16" x 7-7/16" END CAP; ISO 40

TEL 1386-444581-11 SMC CDG1BN20-100-G79-XB9; SENSOR SCAN UP/DOWN RINSE

VARIAN 150-96-2.6BBVAR BELLOWS UNIVERSEEL STAINLESS ST

LEYBOLD 20076967 DURADRY Control Board Assembly

BARNANT CO. 2450-701227 Barnant 7017-21; RyanHerco 6001.117; PUMP HEAD Peristalt

AMAT 3800-00291 FESTO NITROGEN REGULATORY ASSY

SCP GLOBAL 4180161A-REFURB GAUGE,GUARD,TFE

TENCOR METROLOGY 52-0639 Monitor UV Tools Repaired

AVIZA TECHNOLOGY 600053-01 PCB, ANALOG OUTPUT

LAM 715-443180-304 HOT RING EDGE; ALUMINUM, ANODIZE; TOSH C39-006-AT-91

LAM Research 716-011963-003 PLATE, CLAMP ATTACHMENT

SNT JAPAN 716-S012503-001-01 PLATE, QTZ

KULICKE & SOFFA 08001-4105-000-04 AMP, X/Y POWER

G2/G3 DELATCH & PROTECTION PCB 9090-00788ITL G2/G3 DELATCH & PROTECTION PCB

ASML 918043-001 N2 SHIELD 8 IN

AVIZA TECHNOLOGY 929343-001 N2 SHIELD

EBARA A-T-BOOSTER-END-PLATE BOOSTER END PLATE

PWR INC C-10131E PCB, GATE DRIVE/1PHASE REGULA

TEL C-4120-093-0001 PLATE, ENTRY SIDE(A30W) Ebara

TEL C-4120-094-0001 ENTRY SIDE PLATE; (A70W) Ebara

SOJITZ PLA-NET C-4120-096-0001 Plate Attachment Side (A30W)

SOJITZ C-4120-136-0001 PLATE, ATTACHMENT SIDE(A70W) Ebara

SOJITZ C-4120-242-0001 COVER, GEAR Ebara

SOJITZ PLA-NET CORPORATION C-5138-023-0001 SENSOR, FLOW,GAS: N2,RANGE: 3.4PA

MITSUBISHI CHEMICAL ENGINEERING C-H3PO4-QE2-G-F2 COUPLER, LIQUID SIDE

EBARA D-V-BOOSTER-END-PLATE BOOSTER END PLATE

EBARA D-W-BOOSTER-END-PLATE BOOSTER END PLATE

Daifuku DM-ID3 INFRARED SENSOR

EBARA E-A-BOOSTER-END-PLATE BOOSTER END PLATE

EBARA E-B-BOOSTER-END-PLATE BOOSTER END PLATE

EBARA F-B-BOOSTER-END-PLATE BOOSTER END PLATE

FUJIKIN INC FPR-6-35 VALVE 316 SS Micro Weld, AIR OPE

EBARA G-W-BOOSTER-END-PLATE BOOSTER END PLATE

XP IFC400-56B Power Supply: 15VDC for Cenrura, Input: 100-240V~ 7.1A Maximum, 47

FASTCOM IG422 FULLY ISOLATED RS-422 ADAPTOR

UNIT PCB-1100 PCB Unit MFC

NETMERCURY PW680009 Cylinder LINEAR

SSI SQV140-1322 Power Supply, Input: 120/240VAC, 50/60Hz, 4A

AIHARA ELECTRIC YS-750 750VA 50/60HZ CENTER TRANS FORMER; 220V-100V

AMAT 0090-09062 ASSY THERMAL ELEC DRIVER

EATON 1501050 Electrode Suppression Power Supply

AXCELIS 28285880 PCB, Intell Stepper

ACS Electronics UNILITE II Compact Motion Control Module

KENSINGTON LABORATORIES 4000-60062-00 4000-60062 AXIS BOARD AND 4000-60062-00 FO

ORIENTAL MOTOR 4GN18K GEAR HEAD Reduction

Watlow 500W10 115VAC 500W HEATER; 05-11-10

PROMETRIX 54-0127 FT-500 REAR PANEL BOARD

PROMETRIX 54-0147 PCB ASSY, EDGE SENSOR FA, UV 1250

Kwik 5699993 Clamp-C; Seismic anchoring device PKG 4

AMAT 5880-1211-0001 Plate

LAM 715-032439-001 Shaft, Axle, Long, Converter Synergy--not in original packagi

NK PRECISION MACHINING 839-031454-NK Bracket Mounting Window--not in original pa

SVG 8849-0072 PCB, TV INTERFACE AND CC ADAPTOR

ATEC ENGINEERING 90072 HCLU Cap--not in original packaging

OPTO 22 AD5T thermocouple input analog isolated module

CKD AGD11V-4RM Valve Diaphragm , 1/4 mvcr 316 SS, O.P. 0.4~0.6MPa--not in origin

Swagelok Heated Valve Surface Mount ALD--not in original packaging

APTech AP1010S 2PW MV4 FV4 Gas Stick

GENERIC Pulley Drive---not in original packaging

NISCO AV30-3WHPT11-1-4-PP Valve 3 way Poly Pro, OPE.A 3kg

TOKYO ELECTRON (TEL) BB10-306294-12 Quartz Rubber, Alpha 8

AEG MODICON BDAP-216 PLC Output: 16x24VDC, SCHNEIDER Automation TSX Compact DAP

Canon BM3-9072-000 I-4 Reticle Lifter Motor

RKC C100FK02-M-CN Temperature Controller, SUPPLY 100-240V AC, 50/60Hz, 17 VA MAX

YAMATAKE C10TODTA0100 Temperature Controller AC100-240V, 50/60Hz, 7VA Maximum--n