PC-E984-685原装进口
日期：2022-3-2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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KAWASAKI P60B13150HCX2R
COMPUMOTOR CPX2500S/F3
BALDOR RELIANCE 61C-351
FIREYE 45RM1-1001
FIREYE 45RM2-1000
FANUC A06B-6107-H002 Board TESTED GOOD Condition A06B6107H002
1 PC Fanuc A06B-6107-H002 Drive Board In Good Condition
AVTRON A19359-1
FORNEY 34727701
SIEMENS 6SN1-111-0AA01-2CA0
GENERAL ELECTRIC 531X175SSBADM1
INDRAMAT MDD093B-N-040-N2L-110GA0
ASEA BROWN BOVERI ACS601-0040-4-000B1200800 (, Cleaned, Tested 2 year warran
ABB 3HAC028357-001 robot pendant controller consol control panel DSQC 679
** , IN GOOD CONDITION ** 6es5525-3ua11 Siemens/6es55253ua11
1 PC Fanuc A06B-6079-H303 Servo Amplifier In Good Condition UK
6es5095-8fb01 /worn - 12 months Warranty/12 Months Warranty
BALDOR RELIANCE 01MAF98523-C-001-WW
YASKAWA ELECTRIC SGDB-75ADG
1 PC IC698RMX016-ED In Good Condition UK
6ds4415-8aa, Siemens, TELEPERM,, 6ds44158aa
Siemens Simatic s7 CPU 416f-2 6es7 416-2fk04-0ab0 // 6es7416-2fk04-0ab0/e2
OMRON ITNCEIS01DRM
API CONTROLS PS-33061-R
SAFTRONICS CIMR-P5U4037
** , IN GOOD CONDITION ** 6es5955-3lc42 Siemens/6es59553lc42
TELEMECANIQUE TSXP573623AM
LENZE EVD4907-E
OPTEK C4101
ALLEN BRADLEY PANELVIEW 1000 2711-T10G20L1 SER E FRN 4.46 24VDC 1A ETHERNET
FUJI ELECTRIC FTU-441A
Siemens Gracis Communication Processor, 6av4531-0ae00-0ca0
FANUC A06B-6079-H304
ASEA BROWN BOVERI EH450C-32VDC-T
AMK AZ20
SIEMENS A5E00135620
OMRON FND-R10
MODICON AS-P840-000
OMRON FZ3-350
FURNAS ELECTRIC CO 40KB32AE
SONY SRX-C60
6es7416-2fn05-0ab0, Siemens 6es74162fn050ab0
SICK OPTIC ELECTRONIC S30A-6111CA
SIEMENS 6ES5-095-8ME03
ALLEN BRADLEY 1400-PD51A POWER MONITOR SERIE A FW 1.2 communication mod 1400-dcu
ALLEN BRADLEY 3500-A21
GENERAL ELECTRIC CR306G004MAH
GENERAL ELECTRIC CR306G004MCH
WESTINGHOUSE MC3600
GRANVILLE PHILLIPS CO 316035
INDRAMAT MDD090C-N-040-N2L-110GA0
OMRON F200-C10E
ASEA BROWN BOVERI GNT2009455R0007
** , IN GOOD CONDITION ** 6es5580-0ua12 Siemens/6es55800ua12
INDRAMAT KSM01.2B-071C-35N-M1-HP0-SE-NN-D7-NN-FW (, Cleaned, Tested 2 year w
ASEA BROWN BOVERI GNT0137211P5
SUNDSTRAND 65001554
GENERAL ELECTRIC 4006L6501AA-G002
TEXAS INSTRUMENTS PLC CVU1000-8001
6ds1401-8aa, Siemens TELEPERM 6ds14018aa TELEPERM
MATTEC 561-1039A CONTROL PANEL **
ALLEN BRADLEY 1771-PM
ALLEN BRADLEY 20DD027A3EYNANABE
ONE FANUC TEACH PENDANT A05B-2518-C370#SGL
CUTLER HAMMER CPS100480DSC
SICK OPTIC ELECTRONIC DME3000-211S02
XYCOM 9450-27B1317010000
OMRON FQ2-S40100N-08
ASEA BROWN BOVERI 57360001-HX
ALLEN BRADLEY 1336S-B010-AA-EN4-HA2-L4 SER. D AC DRIVE **
HONEYWELL XFC3D06001
GENERAL ELECTRIC 137D5103G1
TEXAS INSTRUMENTS PLC 500-7102
LEXIUM MHDA1056N00
WINDSOR MPM-ZL5S112
ALLEN BRADLEY 1336VT-B020-EAP-FA2-L1
Elau PMC-2 PMC-2/11/05/000/00/00/03/00/0K
TEXAS INSTRUMENTS PLC 560-2123
SIEMENS 6SL3-000-0BE28-0AA0
Siemens/TI 555-1106 SIMATIC TI555 Processor.
SIEMENS S42024-C3014-A1
MITSUBISHI Q173CPU
FISHER ROSEMOUNT 475
CUTLER HAMMER LEP3600T57
Telemecanique TSX RAM 102416, , TSXRAM102416, Fast Shipping
SIEMENS 6RA7075-6DV62-0-Z 6RA70756DV620Z TESTED GOOD Condition
MITSUBISHI E1100
FANUC A16B-2100-0200
GENERAL ELECTRIC DS3800NDID1P1G
SIEMENS 6SN1112-1AC01-0AA0 SIMODRIVE UEB-MODUL INT/EXT **
6es5580-3ua12, Siemens Simatic s5 6es55803ua12 cp580, 40mb, 8m Ram spots, w/387
BALDOR RELIANCE 057552
BALDOR RELIANCE 0-57552-2
BALDOR RELIANCE 0-57552-4
PROSOFT 1100-MBM
FOXBORO F0109AB-C
** , IN GOOD CONDITION ** 6es7412-2xg04-0ab0 Siemens/6es74122xg040ab0
MEASUREX 09437320
MITSUBISHI K3N-CPU
MODICON AS-884A-301
ASEA BROWN BOVERI 57520001-BZ/5
Modicon AS-L206-011 One Year Warranty !
Allen Bradley Panelview Plus 1250 2711P-T12C4D1
Fanuc 18i-M Controller, 18i-MA, A02B-0238-B531, Mfg'd: 2000.10. , WARRANTY
PARKER MPM1901BSG7G1N SERVO MOTOR **
GRAF-SYTECO TG 4002CXU.DA30D ALFA NUMERIC DISPLAY JENBACHER ENERGIE
ALLEN BRADLEY 1326AB-B410G-21-K4
INDRAMAT CSH01.1C-PB-EN1-NNN-NNN-NN-S-NN-FW (, Cleaned, Tested 2 year warran
INDRAMAT CSH01.1C-PB-ENS-EN2-NNN-NN-S-NN-FW (, Cleaned, Tested 2 year warran
AIS 630VME
ALLEN BRADLEY 1394-SJT10-E
Allen Bradley 150-A500NBD 400 HP 480V SMC Dialog Plus Soft Starter 300HP Control
EATON CUTLER-HAMMER S801T24N3W 92EA10060G0003G STARTER 240A A AMPS 600 VAC 24VDC
FANUC AISV 180HV SERVO AMPLIFIER A06B-6124-H106
Square D 8055 SCP-654 Lifetime Warranty !!!
ACCURAY 086161-002
Industrial PC c6150-1006 2.4ghz Beckhoff 12m Warranty id28047
Siemens Simatic PC IL77 IL 77 6AG7102-0AA00-1AC0 6AG7 102-0AA00-1AC0
SIEMENS 6ES7 488-5FY00-0AC0 CPU 488-5 6ES7488-5FY00-0AC0 Estand: 01
SIEMENS 6ES7 417-4XL00-0AB0 Simatic 6ES7417-4XL00-0AB0 E-Stand: 03
Siemens 6AV7614-0AF32-0AG0 6AV7 614-0AF32-0AG0 Touch Panel PC 670
Siemens 6AU1300-0FA00-0AA0 + 6AU1350-1AF13-1BC1