Q13UDEHCPU模块_漳州鼎晟达自动化设备有限公司

Q13UDEHCPU模块

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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Siemens 6ES5955-3LC41 One Year Warranty !

GIDDINGS & LEWIS MACHINE TOOLS 1-21783

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