MCEP05-0
日期：2018-9-27;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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Fanuc AC Servo Motor A06B-0165-B075 #7000 Alpha M22/3000 Neu/NEW
Siemens Servomotor 1FT6105-1AC71-1EH1 1FT61051AC711EH1
Control Techniques 142U2B301BARAA165240 Servomotor max.3000 2,83kW Unbenutzt OVP
Yaskawa AC Servo Motor SGMKS-30A5A-HS22 2900W 1500Umin ******NEW*****
Siemens Servo Motor 1FT5074-0AC01-0-Z G44 H40 Milacron 1-606-0735
Siemens Servo Motor 1FT6064-1AF71-4AG1
Siemens Servo Motor 1FT6064-6AC71-3ED1
Siemens Servo Motor 1FT6064-6AC71-3ED1
Siemens Servo Motor 1FT6064-6AC71-3ED1
Siemens Servo Motor 1FT6064-6AF71-4AA2
YASKAWA AC SERVO MOTOR USAFED-20CB2T_USAFED20CB2T_ENCODER: UTOPH-500VB
FANUC SERVO MOTOR A06B-0148-B177
NEW! Allen Bradley MPL-B540K-SJ72AA | SER. A | PN-12326 | AC SERVO MOTOR
Custom Servo Motors MPA-15-139, MPA 15 Servo amplifier, Parker, MTS , Sintec
MTS MPA-07-349 Servo amplifier, Custom Servo Motors, Parker
NEW! ALLEN BRADLEY N-2304-1-F04AA / 193901 / NEMA 23 / AC SERVO MOTOR W/ BRAKE
200V 4000W 4KW PANASO-NIC Servo (Motor+Drive) MHME402GCH + MFDHTB3A2 Original
200V 4000W 4KW Servo System (Motor + Drive) MHME402GCH + MFDHTB3A2E
Indramat MDD093C-N-040-N2M-130PA2 Servo Motor
MTS MPA-35-344 , MPA-35-IND-S, Servo Amplifier ,Custom Servo Motors, Parker
Schneider ELAU servo motor SH140/30270/0/0/00/00/00/01/00
MITSUBISHI SERVO MOTOR HC453BS FREE EXPEDITED SHIPPING NEW
Siemens Servo Motor 1FK7063-5AF71-1TG0 New
Siemens Servo Motor 1FK7063-5AF71-1TG0 New
Siemens Servo Motor 1FK7063-5AF71-1TG0 New
1 KOLLMORGEN M-807-A-A3-B3 BRUSHLESS P.M. SERVOMOTOR ***MAKE OFFER***
1 KOLLMORGEN GOLDLINE M-807-A-A3-B3 BRUSHLESS SERVO MOTOR ***MAKE OFFER***
Allen Bradley Y-2012-2-H00AA AC Servo Motor 193521 Y20122H00AA (TB)
NEW Indramat Servo Motor MAC112D-0-HD-4-C/130-A-0/WI520LV/S005
Siemens 1FT6086-8AH71-4AG2 Servomotor
Allen Bradley MPL-B680H-SJ72AA /A 2015 Brushless Servo Motor 460V 3500-RPM
FANUC AC Servomotor Servo Motor A06B-0313-B042 A06B-0314-B042 #386
TPM050-005I-600K-OW0-090UL410 600V 47.6A 1200RPM SERVOMOTOR WITTENSTEIN ID15692
Allen Bradley MPL-B680H-SJ72AA /A 2013 Brushless Servo Motor 460V 3500-RPM
ABB Servomotor - HDP 160/CN1
Allen Bradley CNC 1327 AC Servo Motor 1327AA-BB-30-G _ 1327AABB30G
New Allen Bradley MP-Series AC Rotary Servo Motor - MPM-B2152F-SJ72AA Ser. A
Goldenrod Unwind Shaft Assembly w/ Allen Bradley 1326AB-B720E-21 Servo Motor
FANUC A06B-0078-B403 Servo Motor new and original in box
Yaskawa USAGED-09A22T AC Servo Motor [PZ4]
ABB 3HAC17484-9 IRB6600 M2000, M2000A, M2004 Robot Servo Motor - Axis 2 & 3
Fanuc A06B-0243-B705 AiF12/3000 Servo Motor 14A 3Ph 200-240V ! NWB !
Beckhoff Servo Motor: AM3031-0C30-0000
2AD100B-B35OA4-AS03-D2N1 INDRAMAT SERVO MOTOR
GE FANUC A06B-0128-B175#7000 AC SERVO MOTOR **
Allen Bradley 1326AH-B440E-21-K4 Servo Motor
Pacific Scientific R33GENC-R2-NS-NV-00 Brushless Servo Motor NEW
Fanuc 5F/3000 AC Servo Motor A06B-0346-B256
Fanuc A06B-0143-B175 AC Servo Motor [PZ4]
Reliance Electric Servo Motor: F-4075-R-H00AA
Indramat DDS02.1-W025-D AC Servo Amplifier - Refurbished
(New) YASKAWA SGMGV-1AADA21 Servo Motor Free "FedEx" intl' shipping!
GE Fanuc A06B-0146-B675 SERVO MOTOR
Siemens 1FT50660AK011-Z Servo Motor 1FT5066-0AK011-Z 0AK01-1-Z NEW
New Sealed Allen Bradley Stainless Steel Servo Motor MPS-B4540F-SJ52DA Ser A
NEW! Panasonic MDM102A4C AC Servo Motor
Control Technique BLE-4120W-4 Servo Motor Brushless 460V 3.9HP 4000RPM
Fanuc Servo Motor A06B-0243-B100 A06B0243B100 Encoder A860-200-T301 New
Fanuc Model 20 A06B-0602-B232 DC Servo Motor A06B0602B232 A860-0300-T002
Cincinnati Siemens Servo Motor 1FT6086-8AF71-3AB0 _ No Z # _ B01 2048
Allen Bradley Bulletin 1326 AC Servo Motor 1326AB-B2E-11 p/n 122243 13.4 amp
Fanuc Alpha, A06B-0273-B200 Servo Motor, Model aiS40/4000HV, *NEW*
***FACTORY PACKING***FANUC A06B-0243-B100 SERVO MOTOR NEW NIB
Aerotech ART310 Precision Rotation Stage w/ BMS60_UFA Brushless Servo Motor 2PCS
ALLEN-BRADLEY AC Servo Motor MPL-B580J-SJ24AA ServoFit Precision Gearhead 33.8:1
Yaskawa, SGMRS-20A2A-YR11, 149569-12, AC Servo Motor 1500rpm NEW
Allen Bradley, MPL-B330P-MK22AA , 7033-05-4201, Servo Motor 5000rpm NEW
REXROTH MKE037B-144-GP0-AUNN SERVO MOTOR *NEW IN A BOX*
Allen Bradley AC Servo Motor F-4075-R-H00AA 2.2/2.95HP W/Alpha Getriebebau 10:1
(New) FANUC A06B-0265-B100 AC Servo Motor Free "FedEx" intl' shipping!
ALLEN BRADLEY MPL-A330P-MJ24AA KINETIX AC SERVO MOTOR w/ ALPHA TP GEARHEAD
FANUC AC SERVO MOTOR A06B-0148-B076 **TESTED WARRANTY**
YASKAWA SERVO MOTOR SGMD-40AWA-YR12 **TESTED WARRANTY**
Fanuc Servo Motor a4/4000i A06B-0223-B000 Pulsecoder A860-2000-T301 Rebuilt!
Brand New MITSUBISHI SERVO MOTOR HA-100NCB-S
Bosch Servomotor SF-A4 0230 030-04 050 SF-A4.0230.030.04.050 SFA4023003004050
FANUC A06B-6096-H208 SERVO AMPLIFIER #695
SIEMENS 1FT5076-0AF01-1-Z 1FT50760AF011Z Z: K04 AC SERVOMOTOR
SIEMENS 1FT6081-8AF71-3AA2 1FT60818AF713AA2 AC SERVOMOTOR
SIEMENS 1FT60828AF718BG3-Z 1FT6082-8AF71-8BG3-Z AC SERVOMOTOR
GE FANUC AC SERVO MOTOR 6S/3000 A06B-0320-B605 A06B0320B605
Allen Bradley 1326AB-C3E-11-A7 /A AC Servo Motor 230V 3000RPM 90V DC Brake
Siemens Servomotor 1FT6108-8AC71-1DH1 1FT61088AC711DH1 - un -
Rexroth Indramat Permanent Magnetmotor MHD 115B-058-PG1-BA Servomotor --
Siemens Servomotor 1FT7105-1AC71-1DG1 1FT71051AC711DG1 - un -
Lenze Servomotor MCA 19S42-T20BO-ZOGO-KS5SOON-ROSU-un-
ABB 3HAB5558-1 Axis 5 Servo Motor with Pinion for Irb 2400 Part# 3HAC10601-1
SEW-Eurodrive Servomotor PSF801N/ES10DY112LBTHAGYS Planetengetriebe
(NEW) YASKAWA SGMCS-14C3B11 AC SERVO MOTOR
Brand New MITSUBISHI SERVO MOTOR HA83C-S
Brand New MITSUBISHI SERVO MOTOR HC153BS-SZ
ABB ELMO 3HAB4041-1 REV NO: 8 SERVO MOTOR ART NO: 281320298B SER: 0507.12288410
Yaskawa UGCMEM-04-MC51 ***FREE SHIPPING*** DC Servo Motor [PZ4]
Yaskawa UGCMEM-04-MU12 DC Servo Motor [PZ4]
Allen Bradley Servo Motor - 1326AS-B660E-21-A
ALLEN BRADLEY 1326AB-B2E-11 AC SERVO MOTOR 2.5 KW 3000 RPM *NEW IN BOX*
MITSUBISHI SERVOMOTOR HC-SFS202K
200V 5000W 5KW PANASON-IC Servo (Motor+Drive) MSME502GCG + MFDHTB3A2CA1 Original
200V 4000W 4KW Servo System (Motor + Drive) MDME402GCG + MFDHTB3A2E
Pacific Scientific R65GENA-R2-NS-NV-00 Brushless Servo Motor 320V, 1700 RPM New
Brand New DELTA ECMA-F21845SS SERVO MOTOR A2 SERIES PLC (AC6)
Fanuc A06B-0143-B175-7076 AC Servo Motor [PZ4]
Yaskawa SGMG-13AWA-YR12 Servo Motor "Exchange Warranty"
Yaskawa SGM-04UWB4CL Servo Motor "Exchange Warranty"
Yaskawa USASEM-15FJ21 Servo Motor "Exchange"
Yaskawa USAFED-09CS10E AC Servo Motor "Exchange"
Yaskawa SGMDH-12A2A-YR12 Servo Motor "Exchange"
Yaskawa SGM-02AWSU13 AC Servo Motor "Exchange Warranty"
Yaskawa SGMG-13ASA Servo Motor "Exchange Warranty"
SGMGV-1AADA61 AC Servo Motor 11kw 1500rpm 70N.m 220mm frame AC200V
NEW Schneider Lexium Servo Motor BPH0751N5AF2CA1
1 NEW PAREX HD830EQR6300-Z SERVO MOTOR NNB *MAKE OFFER*
Reliance Electric 1326AS-B660E-21 Servo Motor 11.8A 460VAC 3.4kW 3000RPM ! RFB !
FANUC A06B-0147-B088 ALFA SERIES AC SERVO MOTOR NEW
Siemens 1FT6086-1AF71-3AG1 AC Servo Motor [PZO]
Yaskawa SGMP-15AWHG11 AC Servo Motor [PZO]
SERVOMOTOR MKE116B-024-NG1-KN R911290622 BOSCH REXROTH 12M WARRANTY ID26208
CONTROL/EMERSON/Unimotor W/MOTOVARIO 5284993 B-A72 2.16kW 480V AC SERVO MOTOR
Siemens Servo Motor 1FT5076-0AC01-0-Z G44 Milacron 1-606-0765
Siemens Servo Motor 1FT5076-0AC01-2-Z G44 Milacron 1-606-4507
Siemens Servo Motor 1FT5076-0AC01-1-Z G44 K83 K93
Siemens Servo Motor 1FT6062-6AF71-3AB2
YASKAWA SGMS-10V6ABB AC SERVO MOTOR (NEW)
ABB Robot Motor 3HAB 5558-1 Axis 5 Servo IRB 2400 Part# 3HAC 10601-1 w/Exchange
200V 4000W 4KW PANASO-NIC Servo (Motor+Drive) MSME402GCH + MFDHTB3A2CA1 Original
Siemens Servo Motor 1FK6060-6AF71-1EG0 NEW
Siemens Servo Motor 1FT5064-0AF71-1-Z G42
SIEMENS 1FK6083-6AZ21-9ZZ9-ZS01 3HAB5760-1/05 AC SERVO MOTOR
SIEMENS SERVOMOTOR 1FT5072-0AK71-1 BRUSHELESS WARRANTY 12 MONTHS
SIEMENS 1FT6082-8AH71-1AG1 Drehstrom Servomotor
Brand New DELTA ECMA-F21875D3 SERVO MOTOR A2 SERIES PLC (AC6)
Indramat Servomotor MDD093B-N-020-N2L-110-PB2 MDD093B-N-020-N2L-110PB2 Neuwert
Rexroth Indramat Servomotor MDD112D-N-030-N2L-130GB3 NEU
Yaskawa USAFED-20FS2 AC Servo Motor 1.8kW 1500 RPM 11.5 Nm 15A Encoder 15 Bit
Yaskawa SGMG-13AWA-YR12 AC Servo Motor [PZ4]
Indramat Servomotor MAC112C-1-HD-2-C/130-B-0/S005/400865 NEW
Indramat Servomotor MAC112C-1-HD-2-C/130-B-0/S05 NEW
Indramat Servomotor MAC112D-1-HD-2-C/130-B-0/S005/400865 NEW
1FT5076-0AC71-1-Z, SIEMENS Servomotor 22Nm 600V 2000RPM 1FT50760AC711Z
SIEMENS 1FT6082-8AH71-1AG1 Corriente trifásica Servomotor
Allen bradley 1326-B515G-M2K5L SERVO MOTOR MOTOR SERVO
SIEMENS 1FT6105-1AC71-4EH1 servo motor servo motor
SIEMENS 1FK6103-8AF71-1EB0 3~Brushless Servomotor
NEW ALLEN BRADLEY MPL-B560F-SJ22A 460V-AC 5.5KW 26.8NM SERVO MOTOR D529990
Rexroth / Indramat MHD071B-035-PP0-UN Servo Motor, P/N: 282844
Brand New in Box Fanuc Servo Motor A06B-0061-B503
SIEMENS 1FK7101-5AF71-1KG3 SERVO MOTOR *NEW IN A BOX*
SIEMENS 1FT6105-1AC71-4EH1 servo motor servo motor
Yaskawa USAGED-09A22T Servo Motor "Warranty"
Yaskawa SGM-01AGSU21 AC Servo Motor "Warranty"
Vickers FAST2M8030001615, Brushless Servomotor Ferromatik Elektra 50 Schlie?e
Yaskawa USAGED-13AMW11 AC Servo Motor
Yaskawa SGMG-13V2ABC AC Servo Motor "Warranty"
Siemens Synchron-Servomotor 1FT6102-8AF71-1EG1 NOV
Siemens 1 FT5064-0AF01-2-Z or 1FT5064-0AF01-2-Z Servomotor "Warranty"
Yaskawa SGMG-13VSAAS AC Servo Motor "Exchange"
Mitsubishi HA103NC-S or Spec. No. 93017 AC Servo Motor "Exchange"
Yaskawa USAFED-13CA2KE Coder UTOPH-600VB AC Servo Motor
Elektromotor Vickers FAST2V80300016C9, Brushless Servomotor, Ferromatik
REXROTH Servomotor MDD112B-N-020-N2L-130GA0 REM
REXROTH Servomotor MDD112B-N-020-N2L-130PA0 REM
REXROTH Indramat Servomotor MDD115B-N-020-N2L-130GA0 GEB
FANUC A06B-0227-B300 Servo Motor new and original in box
Fanuc AC Servo Motor A06B-0501-B751
RELIANCE ELECTRIC 1326AB-B430E-21-L SERVO MOTOR 1.5 kW 3200 RPM *NEW NO BOX*
Mitsubishi HC203S-A42 AC SERVO MOTOR
120-086-001 MODICON SERVO MOTOR REMANUFACTURED *1 YEAR WARRANTY*
NEW ALLEN BRADLEY MP SERIES 480V AC ROTARY SERVO MOTOR PN# MPL-B4540F-MJ72AA
GE Fanuc AC Servo Motor A06B-0331-B277 A06B0331B277 #7000
Allen Bradley 1326AB-B720E-M2L AC Servo Motor
ALLEN BRADLEY 1326AB-B2E-11 AC SERVO MOTOR MAX CONT OUTPUT POWER 2.5KW, #143930
Yaskawa UGCMED-08-YR23 ***FREE SHIPPING*** DC Servo Motor [PZ4]
SERVOMOTOR MKD112B-048-GG0-BN 4500MIN-1 35.6A INDRAMAT ID26623
Yokogawa DR1200A00 DD Servo Actuator Theta TEL 2986-402876-13 ACT12 Working
Indramat Servo Motor MDD093C-L-030-N2M-110PB2
Yaskawa UGJMED-80MA2SF DC Servo Motor [PZO]
Control Techniques Dutymax DS Brushless Servo Motor 95DSE301CAAAA
Fanuc Servo Motor: A06B-0115-B804
Mitsubishi servo motor HA-SH352-Y New
Mitsubishi servo motor HA-SH352C-UL New
CONTROL TECHNIQUES 142DSC300CAAAA DUTYMAX DS BRUSHLESS AC SERVO MOTOR D543254
BOSCH REXROTH Press Spindle 0 608 600 001 w/ Servo Motor 0-608-701-014
RELIANCE ELECTRIC W-3016-N-H00AA NEW SERVO MOTOR 7-22494 W3016NH00AA
Fanuc A06B-0501-B611 AC Servo Motor 2000 RPM Model 10 A06B0501B611 2000RPM
NEW ALLEN BRADLEY 1326AB-A3E-11 SERVO MOTOR 122245, 1326ABA3E11
New Allen Bradley 1326AS-B420G-21-K4 460 VAC Low Inertia Brushless Servo Motor
NIB ALLEN BRADLEY 1326AB-A3E-11 SERVO MOTOR 3000RPM, 1.2KW, 122245, 1326ABA3E11
NEW ALLEN BRADLEY 1326AB-B2E-11 SERVO MOTOR 122249, 1326ABB2E11
Parker, SMN1002S5D-KPSN, Compumotor Servo Motor
FANUC DC SERVO MOTOR MODEL 30M, A06B-0653-B011
FANUC A06B-0162-B075 AC SERVO MOTOR A06B0162B075
FANUC A06B-0162-B175 AC SERVO MOTOR A06B0162B175
SIEMENS SERVO MOTOR, MOD# 1FK7064-7AF71-1EG0 W/ 1 YEAR WARRANTY
Allen Bradley MPL-B560F-MK22AA Servo Motor
Allen Bradley MPL-B580J-MK22AA Servo Motor
OTC Daihen DR Robot Axis 4 AC servo motor W-L00855
NEW SIEMENS BRUSHLESS SERVOMOTOR 1FT5076-0AF71-1-Z
FANUC A06B-0123-B675#7008 AC SERVO MOTOR *NEW IN BOX*
Allen Bradley servo motor control 1391B-ESAA15, ~4hp
NEW FANUC SERVO MOTOR ( A06B-0123-B175 )
YASKAWA YASNAC USAFED 30FA2 SERVO MOTOR
