JANCD-HA03
日期：2018-11-9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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6fc5210-0df05-0aa0 PCU 50 500mhz 128mb Win NT 4.0 SINUMERIK 840d Siemens id13653
COMAU SAU2-MOD-2
VALMET 9825 24609 **
* Tested * Allen-Bradley 1794-L34/B FlexLogix Processor
Modicon 120-087-001 One Year Warranty !
ABB DSDX 452 L 5716075-U
Indramat AC Main Spindle Drive KDA 3.3-100-3-ap0-w1 300 apo mainspindle
Indramat AC Main Spindle Drive KDA 3.3-150-3-ap0-u1 300 apo mainspindle
Indramat AC Main Spindle Drive KDA 3.2-100-3-dp0-u1 300 dpo mainspindle
BALDOR RELIANCE B/M-60001
GE FANUC IC3600AIAD1
ALLEN BRADLEY 4100-214-RL
INDRAMAT DDC01.2-N200A-DS50-00-FW
ALLEN BRADLEY 1771N-0NNTTTTTT
FANUC A860-0056-T020
ALLEN BRADLEY 1394C-SJT05-L-RL SER C 5KW 1.5 AXIS V3.9A
XYCOM 9460 OPERATOR INTERFACE PANEL 9460-01001020011004 (RUST) **
Modicon CM 1000 One Year Warranty !
ABB ROBOTICS ROBOTIC SERVO MOTOR 3HAC3697-1 REV 7_281316498D
GE Fanuc SERVO AMPLIFIER A06B-6058-H102 A16B-1100-0300
GENERAL ELECTRIC DS3800HCMB1C1C W/ DS3800DCMB1D1B GENERATOR REGULATOR **
ALLEN BRADLEY 20AE032A0AYNNNC0 AC DRIVE **
CUTLER HAMMER V201K5CJZ1 CONTACTOR (AS PICTURED) **
DATALOGIC DS8100-4000 SH1937 **
Allen-Bradley 1756-A17/B 17-Slot Chassis W/ 1756-PA72/B Power Supply & Modules
ADEPT TECHNOLOGY 1033012350 SIO CONTROL MODULE
Allen-Bradley 1756-A17/B Slot Chassis, 1756-PA72/C Power Supply & Modules
BAILEY INFI 90 +5VDC 10W PROGRAMMABLE CONTROL COUPLER MODULE IMPCC01
SICK OPTIC ELECTRONIC CLX-490-0010
EUROTHERM DRIVES 590L/0350/9/0/0/0/0/00/000 (, Cleaned, Tested 2 year warran
STROMBERG SAFT-110-POW
YASKAWA ELECTRIC SGMGH-55A2A-YR14
ALLEN BRADLEY 6500-PS7DSP
Siemens 8377629 K1626 FOC_P30F component
SIEMENS 6AV7501-0BA00-0AA0 TESTED GOOD Condition
GENERAL ELECTRIC DS3800HSQD1J1G
BALDOR RELIANCE 45C115
GENERAL ELECTRIC DS3800NGRA1L1E
6FC5210-0DF05-0AA0 PCU 50 500MHZ 128MB WIN NT 4.0 SINUMERIK 840D SIEMENS ID13653
YASKAWA ELECTRIC DDSCR-GL60H3
ALLEN BRADLEY 2711-K6C15L1
ONE FANUC A06B-1409-B150 TESTED GOOD Condition
AUTOMATED LOGIC X4106E
SIEMENS 6ES5-470-7LA11
FOXBORO P0912AR
FANUC A06B-6050-H203
SANYO DENKI 27BA030FXTH1 BL SUPER AC SERVO AMPLIFIER GI
GENERAL ELECTRIC 44A717564-G01
GENERAL ELECTRIC 374M0197
GENERAL ELECTRIC DS200GGDAG1AGD
Fanuc A06B-6121-H045#H550 Servo Drive Amplifier TESTED GOOD Condition
CTC PARKER AUTOMATION P91-5PD-1A0J-4A3
TECH MOTIVE TOOL 4240-0151-01
ASEA BROWN BOVERI SDCS-CON-4
1 PC Fanuc A06B-6117-H209 Servo Amplifier In Good Condition UK
Fanuc A06B-6134-H202#A Servo Spindle Module Good Condition
ALLEN BRADLEY 2711-K5A20L1
SQUARE D KC32225
GENERAL ELECTRIC IC3600LRDJ1
PROSOFT PC56-NT-IDE
MOOG A58179-001
MITSUBISHI FR-F740-00930-NA
FOXBORO 123-FE
FANUC A06B-6050-H006
CONTROL TECHNIQUES 861115-50
1 PC Fanuc A06B-6140-H011 Servo Drive In Good Condition UK
TREND IQ3-4002K4096
TREND IQ3XCITE/96/USA/UL/BAC/24
KEB COMBIVERT 22F5M0R-55GA
Fanuc A05B-2255-C100#EGN TESTED GOOD Condition
TEXAS INSTRUMENTS PLC PM550-112
SIEMENS 6ES5-247-1AA11
MEASUREX 51402089-100
BALDOR RELIANCE 200FB4031
BAILEY CONTROLS SLC02
MARKEM 960 TOUCH DRY JET MAR501B-001 **
SIEMENS 6SC9811-2BE34
GIDDINGS & LEWIS MACHINE TOOLS 502-03638-61R4 (, Cleaned, Tested 2 year warr
FISHER ROSEMOUNT DPR-960
INDRAMAT PPC-R02.2N-N-T2-P2-NN-FW
KEARNEY & TRECKER 1-21762-01
6ds3900-8ad, Siemens TELEPERM 6ds39008ad TELEPERM
OMRON F300-S
MODICON MM-PMA1-10S
Fanuc a06b-0852-b301#3000 a06b0852b3013000 (Net: 2350eur)
INDRAMAT TRANS-01-M0-2-0000
TEXAS INSTRUMENTS PLC 575-2104
GENERAL ELECTRIC 17FB160C1
MODICON 110-094
STELLARNET EPP2000C Spectrometer & BP1 Battery Pack & SL1 Halogen Light Source
Siemens 6fc5210-0df20-0aa0 SINUMERIK PCU 50, 566 MHz, Ver. B
Siemens 6fc5210-0df20-0aa0 SINUMERIK PCU 50, 566 MHz, Ver. B, SINUMERIK 840d
6es5311-5aa11, Siemens Simatic s5 6es53115aa11
DEKOLINK WIRELESS LTD MW-CCSR-SMR89-2470
GENERAL ELECTRIC DS3800NPRB
SEW EURODRIVE K127-AM132ML
SIEMENS 6ES7-414-2XG00-0AB0
BARBER COLMAN GCM-86110
BARBER COLMAN GCM-86120
ACTUS POWER NPSA-2.5NN-40E3
MOELLER ELECTRIC RA-SP2-HE-343-230-2K2/C3A-060 (, Cleaned, Tested 2 year war
ALLEN BRADLEY 1326AB-C2E-11-A7
GENERAL ELECTRIC 44C372641G01
OMRON ZS-HLDS10 2M
ASEA BROWN BOVERI 3HAB8798-1
ROBUSCHI RBS-75/V-UNI/ANSI
WESTINGHOUSE 40K4226
BALDOR RELIANCE 45C-631
GENERAL ELECTRIC 698E874G2
BALDOR RELIANCE 57C-442
BALDOR RELIANCE 57C-442-A
WESTINGHOUSE 4256A94G01
6es5581-1ea11 /worn - 12 months Warranty/12 Months Warranty
HICKOK PRO-SPEC-1000
ALLEN BRADLEY 1771-NBVC
1 PC LeCroy WaveRunner 6050 Oscilloscope Tested
SIEMENS 6RA7-031-6GV62-0
GENERAL ELECTRIC DS3800NPSE1B1B
GENERAL ELECTRIC DS3800NPSE1B1A
INTERMEC CV60-C13AA4003304
ALLEN BRADLEY 1379-345A
