DDSCR-R84H
日期：2018-11-9CAN接口适配器是上位机与伺服单元数据传输和控制的桥梁，伺服单元采集现场的数据通过总线传给上位机，实现实时监视和控制。
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
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漳州鼎晟达自动化设备有限公司
联系人 林丽超
手机 ：18150708278
QQ ：2880842793
邮箱 ：2880842793@qq.com
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Allen-Bradley PLC RTU 5/03
SIEMENS S5 6ES5 955-3LF41 POWER SUPPLY UNIT 5V 8 AMP
Mazak Mazatek H-630 Horizontal Machining Center_SPINDLE ASSEMBLY_94219
INDROMAT MHD093B-035-NP0-AN **
RELIANCE ELECTRIC 30V4160 GV3000/SE 30HP AC DRIVE 30V4160
Mazak H-630 Horiz. Machining Center_ATC Tool Pod Pot Chain_Tool Gripper_94219
Allen Bradley 20BD034A0AYNADA0 Ser A Powerflex 700 AC Drice 480vac 3 Phase
Allen Bradley 20BD011A3AYNACC1 Ser A Powerflex 700 AC Drice 480vac 3 phase
SIEMENS PCU 50 (PII 333) PENTIUM II/333MHZ/128MB MCI-BOARD 6FC5220-0AA00-1AA0
TECH MOTIVE TOOL CS4000 CONTROLLER C4000B01K01C W/ 49-4100-03C5 SERVO CONTROL
GENERAL ELECTRIC 531X305NTBAPG1 TERMINAL DRIVE BOARD 3TB CARD
Allen Bradley 5KW SYSTEM MODULE DIGITAL SERVO CONTROLLER 1394C-SJT05-A Ser C F/
YASKAWA YASNAC CIMR M5A2011 SPINDLE DRIVE
#SLS1C21 D2E146-AA03-60 LMA-25/50A B84143-A75-R111 Uni-Pro Drives 16575CY
#SLS1C21 D2E146-AA03-60 LMA-25/50A B84143-A75-R111 Uni-Pro Drives 16576CY
Siemens 6ES7 318-2AJ00-0AB0 , 6ES7318-2AJ00-0AB0
GORING KERR TEK DSP1 OPERATOR INTERFACE TK7951/TK950 TEKDSP1 TK2012/300K-R
MOORE 15799-91 BLA PC BOARD
SIEMENS 6ES5581-0EB11 6ES5 581-0EB11 ``NICE`` Fast shipping
LUMONICS LASER CONTROL MODULE LUXTAR LXTR50 E80X7980X Expedited shipping
RELIANCE GV3000/SE AC DRIVE 30V4260 **
RELIANCE GV3000 AC DRIVE 30V4251 **
FISHER ROSEMOUNT CL6011X1-BA1
TLINE TETT-VGA-0045
GENERAL ELECTRIC DS3800HSQD1J1E
GENERAL ELECTRIC DS3800HSQD1G1C
BALDOR RELIANCE 803456-51R
BALDOR RELIANCE 803612-SE
BALDOR RELIANCE 0-57430-1
BALDOR RELIANCE 0-57430-1C
GENERAL ELECTRIC DS3800HSQD1E1B
FISHER ROSEMOUNT CL6003X1
GIDDINGS & LEWIS MOTION CNTRL DSA-130-230-S (, Cleaned, Tested 2 year warran
MODICON AS-D008-040
Fanuc Servo Drive A06B-6134-H303#A In Good Condition Warranty
SIEMENS SINUMERIK PCU 50, 500 MHz, 128 MB, WIN 2000_6FC5210-0DF03-0AA0_FTV 840
Fanuc Servo Amplifier / Velocity Control Unit, A06B-6050-H404, 90 DAY WARRANTY
Schneider Modicon Quantum 140NOE77100 Ethernet Module
Mazatrol M640M Fusion FCA HR841 HR555B HR083 Mazak VTC-160A FCU6-MU515-12
ALLEN BRADLEY 1394-SJT05-RL
ALLEN BRADLEY 4100-232
ALLEN BRADLEY 2711P-T10C4D2
MITSUBISHI.AS25VS.XLT.Fast shipping.
JOHNSON CONTROLS MS-NAE5521-0
INDRAMAT DSC1.6-50-200
ALLEN BRADLEY 1336S-B040-AN-EN5 SER. E AC DRIVE **
Mitsubishi Melsec A4UCPU With A4UMCA-128
KEARNEY & TRECKEY 1-2197701 CONTROL MODULE POWER SUPPLY **
SIEMENS 6es5948-3ua13 6es5 948-3ua13 948ucpu ``NICE`` Fast shipping
Siemens Simodrive E/R Module IP 6SN1145-1BA00-0DA0 Version A _ T-JN2001692
ABB PROCONTIC 07-KT-92 PLC MODULE 07KT92
COMCO CTC PARKER PS10-2T2-DD1-AD3 OPERATOR INTERFACE PS102T2DD1AD3
Fanuc A02B-0283-B502 Series 18i-TB Input-Output & Monitors
B&R CP360 3CP360.6-1 ``NICE`` FAST SHIPPING
TOYODENKI U-GPC2 QT39967 ``XLNT`` FAST SHIPPING
Allen-Bradley 1756-L73 Controllogix LOGIX Procesador 2014
MAGNETEK / PULSESTAR GA-610 CRANE CONTROLLER CS458, GA610
TOKYO ELECTRON compactPCI SC2410 NICE!! FAST SHIPPING! SC2410 00CP3
ABB ACS850-04-078A-5+E200+J410+K454+P904+R700 50 HP NICE! FAST SHIPPING!
KARL SUSS POWER SUPPLY CIC500 NICE! FAST SHIPPING!
SIEMENS DC MASTER CONVERTER 6RA7085-6FV62-0-Z NICE! FAST SHIPPING!
SWEO CONTROLS 614-1020-176-S002 NICE!! FAST SHIPPING!
OMRON F400-C15E vision mate controller
ALLEN BRADLEY T7122 PROCESSOR MODULE
#SLS1C21 PLC- ZENTRAL GERAT ZENTRALGERAT 23.054840 Control 16527CY
INDRAMAT 112B-2-GD-4-B/130-A-2/I00625/S013 MOTOR **
INDRAMAT 112D-0-ED-4-C/130-A-0/WI520LX/S005 SERVO MOTOR **
INDRAMAT 112B-2-GD-1-B/130-A-2/I00625/S013 MOTOR **
INDRAMAT 112B-2-GD-4-C/130-A-1/WI524LV w/ SP140-IS1-9 **
Siemens P/N 10500993 PCI_RX16 D3 16 Channel PCI-X MRI Controller Board
INDRAMAT KDA3.2-150-3-DPD-01 DRIVE **
GENERAL ELECTRIC IS200SCTTG1AAA FIBER OPTIC BOARD
ALLEN BRADLEY 8510A-A22-C2 T111394R0 8510 AC SPINDLE CONTROLLER
MOTION CONTROL SYSTEMS 1206390-BF SERVO CONTROL AMPLIFIER SA1000 **
Cincinnati Milacron 3-424-1935A One Year Warranty !
Siemens 6AV6644-0AA01-2AX0 SIMATIC MP377 MultiPanel 12-in,
MITSUBISHI AC SERVO MR-SA502-S04A ''NICE!'' FAST SHIPPING!
MCS MOTION CONTROL SYSTEMS 1210930 SA SERIES PWM SERVO AMPLIFIER SA1000
REXROTH VT-HNC100-2-20/W-16-0-0 AXIS CONTROLLER VTHNC100220W1600
TAYLOR ELECTRONICS 6214BZ10120B-690 PC BOARD 6214BZ10120B 6214BZ10120B690
SICK DME3000-111S01 DISTANCE MEASURING DEVICE (AS PICTURED)**
SIEMENS SHND69120A CIRCUIT BREAKER 3 POLE 1200 AMP 600 AC **
INDRAMAT DKC02.3-100-7-FW
Mazatrol M640M Fusion FCA HR841 HR555B HR083 Mazak VTC-160A FCU6-MU515-12 640M
SIEMENS SIMATIC PC FI15 COMPUTER 6ES7646-1CB00-0AC0
Allen Bradley 1398-DDM-030 9101-1459 FIRMWARE V1.32 Ultra Series Servo Drive
Allen Bradley Ultra 5000 Servo Drive 2098-IPD-020-DN Ser B Frn V1.10
Siemens 6FM1726-3AA00 One Year Warranty !
GENERAL ELECTRIC DS3820FE3G1A1A REGULATED CURRENT SUPPLY **
GENERAL ELECTRIC IC3606SPCC1F CONTROL BOARD **
SENSIS CORPORATION GBT VAT CAT# 100-011007-G002 TRANSMITTER
SIEMENS SIMATIC 6ES5948-3UA22 S5-155U CPU948 NICE XLNT FOR REPAIR M/OFFER!!
Allen-Bradley 1756-A17/B Slot Chassis, 1756-PA75/B Power Supply & Modules
Allen-Bradley 1756-A17/B Slot Chassis, 1756-PA75/B Power Supply & Modules
SIEMENS 6ES5-955-3LF41
TELEMECANIQUE TSX-P87-455
SIEMENS 6ES7-621-1AD02-0AE3
Nachi Fujikoshi RBX1100G Robot Servo Drive Unit (TSC)
YASKAWA ELECTRIC SERVO UNIT CACR-UP6AAC / JUSP-RCP01AAD MISSING JASP-WRCF01
SIEMENS 6SE7023-8ED61
Allen Bradley 1746-QS /A FRN 1.20 SLC 500 Synchronized Axes Control Module
MANNESMAN REXROTH SIEMENS SIMATIC BASE ASSEMBLY G26004-A3118-P110
RELIANCE ELECTRIC 86466-74RC RECTIFIER STACK, THRYSTORS: 410403-51AW, *TESTED*
Siemens Inverter 6SE7033-8EE8S-0AA0-Z
WTC Inverter 480V 902-1300R
ALLEN BRADLEY 150-B135-NBD
ALLEN BRADLEY 150-B180NBD
SCHNEIDER Inverter ATV71HD90N4 TESTED GOOD Condition
Newport ESP7000 Universal Motion Controller/Driver
SIEMENS SIMATIC S5 155U 6ES5 948-3UA11 948CPU
Vaisala DM50W22 MILOS 500 DPS50 DMM50 DMC50 DML50 DMI50
PLEIGER SONTHEIM PPC-IPC-S INDUSTRIAL PC
