;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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【主营产品】
1：Invensys Foxboro（福克斯波罗）：I/A Series系统，FBM（现场输入/输出模块）顺序控制、梯形逻辑控制、事故追忆处理、数模转换、输入/输出信号处理、数据通信及处理等。
2：Invensys Triconex: 冗余容错控制系统、基于三重模件冗余（TMR）结构的现代化的容错控制器。
3：Westinghouse（西屋）： OVATION系统、WDPF系统、WEStation系统备件。
4：Rockwell Allen-Bradley: Reliance瑞恩、SLC500/1747/1746、MicroLogix/1761/1763/1762/1766/1764、CompactLogix/1769/1768、Logix5000/1756/1789/1794/1760/1788、PLC-5/1771/1785等。
5：Schneider Modicon（施耐德莫迪康）：Quantum 140系列处理器、控制卡、电源模块等。
6：ABB：工业机器人备件DSQC系列、Bailey INFI 90等。
7：Siemens(西门子)：Siemens MOORE， Siemens Simatic C1，Siemens数控系统等。
8：Motorola（摩托罗拉）：MVME 162、MVME 167、MVME1772、MVME177等系列。
9：XYCOM：I/O 、VME板和处理器等。
10：GE FANUC(GE发那科)：模块、卡件、驱动器等各类备件。
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14:工业机器人系统备件。
NIB Executone power supply assy/model 15260 - 60 day warranty
Fanuc A16B01600470 A16B-0160-0470 - 60 day warranty
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Partoria Flood coat varnishing / ink unit - 60 day warranty
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Executone 22200 IDS 84 rack cabinet w/ power supply 22100 -new - 60 day warranty
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Gilbert Erector steel box with 10 motors - sold as is
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Ross 2783A4065 Valve 2-10 Bar
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MIC 82121-2 IFM Emerson --- 60 day warranty
MIC8245A PWM Emerson - --- 60 day warranty
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SIEMENS 6GK1901-0AA00-0AA0 SINEC Buskoppler - new - 60 day warranty
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Schneider Electric LR9 F7379 Class 10 Thermal Overload Relay - 60 day warranty
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AdvanTech FPM-3150TVE-T Flat LCD Panel Touch Screen Operator Interface
Arlacon WOU02000/2 relay output module - - 60 day warranty
Falk Ultramite gearbox 09UCBN2A181E ratio 18.43 input 28.7hp - 60 day warranty
Sony UNIPBU1 outdoor power supply & enclosure 120/240vac - 60 day warranty -
Allen Bradley MCC 12" Motor control center bucket 7A MCP 509-BOD nema size 1
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Sealmaster 2-27D Ball Bearing Insert - 60 day warranty
NIB ABB AL9 3P rev controller AL9R-30-10-81 24VDC 1NO - 60 day warranty
Allen-Bradley MCC Motor control center 1 1/2 space factor 1305-BA04A 2hp vfd
Square D SY/MAX processor module 700 8020 SCP-721 - 60 day warranty
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Schneider Electric SR2A201FU Zelio Logic Compact Smart Relay 240VAC
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Qty 1 Square D SY/MAX 8030CRM-232 B remote transfer interface 60 day warranty
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Compumotor DR-1015B-115 - - 60 day warranty
Siemens TI output 24DC 505-3716 - 60 day warranty
Approx. 1100 Yellow Fork Terminal Lock #6 Studs 10-12 AWG - 60 day warranty
Servo motor S-2005-N-H00AA with DCI MRB-20 -- - 60 day warranty
DynaFlo Filter Regulator FRC179434-MS W/3/4" Stainless Fittings -60 day Warranty
Telemecanique Square D drive ATV18U41N4 3HP 380V/460V - 60 Day Warranty
NIB Banner work light strip WLS28XW710XPBQ - 60 day warranty
Allen Bradley DL20 2706-B11J16 in Hoffman 16x14x8 - 60 day warranty
Ronan Series X87-300-GP-RSO R20 Temperature Alarm Card -
New L.J. Star 108 801 316SS Full View Industrial Sight Flow Indicator 1" 150PSI
A-B 6185-CACAAAA Operator Interface Touch Screen - - 60 day warranty
Oerlikon Leybold EV 16 EP AL Vacuum Angle Valve 28745 - 60 day warranty
A-B MCC BUCKET Motor control center 1 1/2 space factor 1305-BA03A 1hp vfd
NIB Electro Cam Corp. PS-4100-11-216 I/O Rack - 60 day warranty
Ford Meter Box 12" FS1-1302-75 Stainless Single Band Repair Clamp 12.52-13.02
NIB Allen-Bradley 1746-OW8 Series A SLC 500 Output Module - 60 day warranty
NIB 3/8" E Valve Repair Kit 07-07746-00 - 60 day warranty
New qty 50 Botron non-marking heel grounders w/ hook & loop fastener tape B7571
NIB Tadiran Telecom FlexSet 72440164685 - 60 day warranty
Allen Bradley 1791DS-IB16 serA DeviceNet safety quard I/O 60 day warranty
Tolomatic Screw Actuator 83250063 SK5 - 5in Stroke
Siemens 8 channel output analog 505-6208A - 60 day warranty
FluidFlow 3FT 300#W.P. 350deg F w/actuator Automax XL21000 - 60 day warranty
NIB Allen-Bradley safety relay MSR33RT 440R-F23199 - 60 day warranty
Sandex 15AD-04277R-LR3VW1 indexer SAN-SAVR 15TAD-100L - - 60 day warranty
New Xycom keyboard 2000-KB1 - 94687-001 - 60 day warranty
Allen Bradley 5150-RS A Remote I/O Scanner Host Board Ser A Rev A03 - Warranty
Qty1 Square D SY/MAX 8030 CRM-232X ser.B remote transfer inerface 60 day warrant
Qty1 Square D SY/MAX 8020 SCP-423 400 processor serB3 w/key 60 day warranty
NIB Dodge 033597 INS-LT7-115 S/Lube Inner Assy Sleeve Insert Bearing 1 15/16"
ABB ACS50-01N-02A2 - 60 day warranty
Bray Controls 91-0833-21320-532 Actuator - 60 day warranty
CB100199-01 Rev A Westronics Module CB10019901 - - 60 day warranty
Westronics CB100243-01 rev D & CB100244-01 rev F ADC boards - 60 day warranty
Baldor Super E Motor VEM3546T 1HP 3PH 1760RPM 60Hz Frame 143TC - Warranty
A-B 6185-CACAAAA 15" Operator Interface Touch Screen - - 60 day warranty
NIB Inter-tel daughter card IPRC-D - 60 day warranty
NIB Phoenix Contact FLPSE2TX 2891013 - 60 day warranty
Westinghouse 265C047A07 overcurent relay CO-11 - - 1 year warranty
NIB Takex ES-TR12 & ES-TL12 light curtains - 60 day warranty
Qty. 1 Clifton control transformer synchro CTC-8-A-6 - - 60 day warranty
Fanuc Yang SMV-600-003 circuit board - 60 day warranty
Baldor 7-2103-5038G1 ac motor 10hp saw duty 460vac 3ph 60hz 13amps 1725rpm
Allen Bradley 1336-B005-EAD-L1-S1 VFD - 60 day warranty -
Qty 1 W.L. Hamilton Unloader Safety Relief valve 52571 - 60 day wnty
Allen-Bradley 1785-LT4 Series A firmware Rev C -- 1 year warranty
SM-Cyclo 3000 Series Model HM3175/11/09A ratio 1705 output RPM 9.74 -
Flowserve 3339 33 39 SN R6 Series 39 with McCANNA positioner PM15
Chimera IISS soft box - 60 day warranty
Chimera IIS 1520 super pro II small soft box 24'' x 32'' - 60 day warranty
ABB non-reversing contactor A75-30-11-84 Series A - 60 day warranty
New E.I.S. Inc. IDS 42 EKSU 4X8 exp bd. assembly 23220 -60 day warranty EIS
NIB ABB A110-30-11 Contactor w/ CAL18-11 Aux Block 120 Volt AC Coil
Schneider ATV312H055N4 0.75hp 0.55kw 380-500v 3ph 3/4hp Altivar 60 day warranty
5820-EI Series A, -- 5820EI - 1 YEAR WARRANTY
1771-ISC Series A Rev 2 -1 year warranty
Alpha Gearbox VTD 050-MF1-4 -031-AC w/magnetic tech.- - 60 day warranty
Nordson SureBead A-012 850536B 240 147 SA15F58876
Endress Hauser Prowirl 77 p/n 77WS25-BA102D03 - - 60 day warranty
Crestron TPS-6000 Touchscreen Panel - 60 day warranty
Scherr Tumico Inc rotary X Y table with 2 minute vernier --
Executone power supply assy/model 15260 - 60 day warranty
Telemecanique MC-0-274-12 Contactor 100AMP 600VAC - 60 day warranty
Qty 1 Modicon/Gould AS-B885-110 motion module - 60 day warranty
Qty 1 Modicon/Gould AS-D908-110 distributed control processor 60 day warranty
83020 Asco 3/8npt 120vac 50/60hz valve hazardou location - nib - 60 day warranty
New Panamax M4300-EX Home Theater Power Conditioner - 60 day warranty
New approx Qty 19000 / 6lbs of #8 external lock washer steel - 60 day warranty
IC693CPU340G IC693CPU340 GE-Fanuc - 60 day warranty
Hub City 0220-00505-011 Gear Drive Model 11 Style CF - 60 day warranty
Videojet RP14811 cap 5G ads all inks w/float - nib - 60 day warranty
NEW Qty 26 AJVS KF-40 Vacuum Fitting Tri Clamp - 60 day warranty
New Valcom rotary tone intercom V-136RT - 60 day warranty
Declutchable manual overide gear operator for butterfly valve for 10" Bray valve
NIB Sentrol Industrial safety gate relay INT-03-024 - 60 day warranty
1791-0B16 17910B16 1791-OB16 - 60 day warranty
Siemens 230v single phase 1.5hp 6SE3014-8BC00 - - 60 day warranty
NIB Tadiran 77449301100 8T-C ipx trunk card - 60 day warranty
8 1/2 Feet of Uni Chains LFI 1873 Brown Grip D Snap-On Chain K325 uni 1873
FACTORY SEALED Pilz PNOZ s9 751109 Safety Relay 24VDC - 60 day warranty
5150-RS 5150-MRS Series A -- 1 year warranty
Numatic 031SA4004000061 pneumatic solenoid valve manifold 31sv- 60 day warranty
Maple Systems OIT4175-A00 4line 20character VFD - sales demo- 60 day warranty
Texas system 505 plc rack w/ power supply 505-6660
1785-L20B Series C firmware rev B Allen-Bradley - 1 Year warranty
Fanuc A20B-0002-0942 A20B00020942 - 60 day warranty
NIB Alvarion base station outdoor radio unit BMAX-BST-AU-ODU-HP-2.5-A -Warranty
NIB ABB universal interface 1SNA631179R0300 BUNI 20-L 063117903 -60 day warranty
Fisher DH7001X1-A3 CIA card 39A0727X042 Rev K - - 60 day warranty
Endress+Hauser PROWIRL77 77WS50-BA012D00 - 60 day warranty
Executone Isoetec 22200 rack cabinet with power supply - - 60 day warranty
Allen-Bradley 1336-B020-EAE-S1-L3 Series A 1336 Drive 1336-B020 - Not working
NIB Alvarion BreezeACCESS VL wireless bridge SU-A-5.3-3-1D-VL - 60 day warranty
Allen Bradley 2803-CSM1 Ser A Rev A Camera Switch Module - - 60 day warr.
Allen-Bradley 1492-IFM40F-FS120-2 Series A - New Other - 60 day warranty
Asea SIZE 5 EG 315-1 and ASEA SIZE 6 EG 630-2 contactors w/ mechanical interlock
Panasonic interface unit WRT2648-8 - 60 day warranty
Allen-Bradley 1336F-BRF75-AN-EN sweries A w/ 1201-HJ2 - 60 day warranty -
Setra pressure differential transducer 26410R1WB11A1G - 60 day warranty - nib
1775-MR8 Allen-Bradley - ----- 1 Year warranty
Telemecanique Square D ATV16U41N4 3HP 2.2kW 400/460V - 60 day warranty
Telemecanique Square D ATV16U41N4 3HP 2.2kW 3Ph 400/460V - 60 day warranty
NIB AMETEK Muffler Silencer P/N: 522948 Dia. 2" NPT 18-1/2" overall -60 day wnty
STI 42687-0080 MiniSafe Light Curtain Transmitter 1-30ft - 60 day warranty
Allen-Bradley AC Drive 1336S-BRF75-AN-EN5 Ser E 380/480V w/ 1201-HA1 HIM
Sensor Electronics Gas Detector for Isopropyl Alcohol
Advanced Control Systems MCU-2E Step Pak Motor Control - 60 day warranty
6ES5858-0AA11 Siemens NIB 6ES58580AA11 - 60 day warranty
1771-CFM 1771CFM series C 1771-CFM/C - 1 year waranty
Qty 1 NORGREN F47-C01-A0DA 2" Inlet & Outlet 250 PSI Max - 60 day warranty
NIB Telemecanique Schneider Multifunctional Control Unit LUCM18BL - 60 day wrnty
New Tadiran 77449301100 trunk card - 60 day warranty
PR Electronics 9113BA Temperature mA Converter - 60 day warranty
Horner Analog Input HE800ADC110C 60 day warranty - nib
NIB lot of 90 Niedax SL4.6 hook head screws HK 610/30 - 60 day warranty
Lot of 90 Niedax Hook Head Screws HK 610/40 - 60 day warranty
Mitsubishi Freqrol-E700 inverter FR-E740-2.2K 3Phase 380 - 480vac 50.60Hz
Hydraulic Pump Motor for Electric Forklifts 36-48 VDC - 60 day warranty
Allen Bradley 18" MCC motor control center bucket dual size 1 509-BOD 3amp hmcp
NIB Allen-Bradley compact flash 2711P-RC3 - 60 day warranty
New Allen-Bradley 1492-ACABLE025UB Ser A Pre-Wired Cable for 1756 Analog l/O
Allen-Bradley converter 4100-AEC Series B frn 323001.2 - 60 day warranty
Allen-Bradley 1794-IE8 Series B Flex I/O Analog Input Module
IC300DIM210C GE-Fanuc input module 12/24VDC - nib
NIB Inter-tel daughter card IPRC-D - 60 day warranty
Illumination Technologies LED strobe controller LCM 5000 5010-333-AN
NIB Phoenix Contact relay 2297057 ELR W3-24DC/500AC-91 - 60 day warranty
HPI AU3480 AMJ5729 24V DC Electric Motor for Hydraulic Pumps 3000rpm 1,5kW
Allen-Bradley 509-A0H Series B Motor Starter 200-208V 60Hz - 60 day warranty
New Intertek GX+(S2100+) 7" Type HT Factory-Built Security Chimney 7" X 18"
Allen-Bradley 140M-C2E-B40 Ser C Reversing Starter
1771-E2C --- Includes new wiring arm -- 1 Year warranty
5130-RM 5130-MRM1 Series A Rev A09 - 1 year warranty
Mitsubishi Freqrol-E700 inverter FR-E740-1.5K 3Ph 380 - 480vac 50/60Hz
NIB Rauland-Borg switch panel adapter ICSSPA - 60 day warranty
Sieb & Meyer CSS91 Spindle processor 43.11.03 - - 1 year warranty
MTI wireless edge MT-486001 antenna 5.15-5.85 GHz - 60 day warranty
NIB Dodge 006297 1090T Rb Hub Grid Coupling Hub - 60 day warranty
Qty 1 Serta 26710R1WB11A1HD differential press transducer - 60 day warranty
NIB Rauland Borg ACC1208 Vandal Resistent Loudspeaker Assembly - 60 day warranty
New Oerlikon Leybold 5" Diameter 4" Tall Metal Bellow - 60 day warranty
Qty. 1 Nilfisk Advance 56315956 Brush Housing Assembly Right - New other
OHIO D-481548X7923A DC Motor 36/48v .7/.8hp 1510/2050rpm - 60 day warranty
Allen Bradley 12" mcc size 1 - 509-BOD 592-A2DA 1 - 2.9a ol Motor control center
Erector No. 7 1/2 steel box with many misc. manuals
FANUC A16B-1211-0860 controller - 60 day warranty - new
A-B 512 Combination starter 509-BOD with 75va Transformer - 60 day warranty
SUMITOMO SM-CYCLO reducer Model HF188425 - - 60 day warranty
NIB Sharpe model SP085N - 60 day warranty
Fanuc A16B-1211-0041 Controller - 1 Year warranty - New -
Pair of Hoffman Black 80" Aluminum 19" rack rails / chassis 45U - Warranty
Allen-Bradley 855BM-N10BR6 blue 120vac strobe 1/2"npt - 60 day warranty
Dwyer GFM-371-10-DWY-MIX digital mass flow meter - - 60 day warranty
Maple Systems OIT4160-B00 2line 20character - demo- 60 day warranty
Sevcontrol accelerator 656/12000 - 60 day warranty
Honeywell SDS-ACT1000 - 60 day warranty
Twin screw Extruder Housing Casing 19.75"L x 11.375"Wx7.5"tall Approx 5" bores
Total Control AB remote I/O comm interface module QPI-ABR-201 - 60 day Warranty
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