82407465-001,AF-300-F11

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 Auxiliary Contactor 3rh1122-1ap00 3rh 1122-1ap00

Siemens Auxiliary Contactor 3rh1422-1ap00 NEW!

Rittal enclosure Light sz4138.140

WAGO 750-405 2di 230v AC

IFM Compactline m8 4di

Siemens Module 6es7132-4bd32-0aa0 Module 6es7 132-4bd32-0aa0

Siemens Contactor 3rt1024-1bb40 NEW!

Phoenix Interbus-S-LINE NO 2784175 LB

Phoenix Interbus-S IB ST 24 do 32/2

Vulkollan Wheel 125x50 560kg

Festo PNEUMATIC CYLINDER adn-16-20-a-p-a

EC Motion 2 Phase Stepper Motors ecm265-e2.6a

EC Motion 2 Phase Stepper Motors ecm265-e2.6b

Eaton Supply Module xn-br-24vdc-d NEW!

Turck Sensor bi2-s12-ap6x NEW!

Turck Proximity Switch ni5-k11k-ap6x NEW!

Turck Proximity Switch ni5-p12k-ap6x NEW!

Festo Compact Cylinder ADVU - 32-65-p-a 156004

Siemens Simatic s7 Electronics Module 6es7132-4bb00-0ab0 6es7 132-4bb00-0ab0 NEW...

Beckhoff 2-Channel Digital Output Terminals DC 24 V 0,5a 4-Head kl2012

TWK Elektronik Absolute Encoder winkelcodierer KDB 58-K 8192 R l01

Heidenhain Strip Lida 17c ID:. no 312 110-a8

Rittal enclosure Filter Fan SK 3325107

Siemens Relay 3rn 1010-1cm00 3rn1010-1cm00

Siemens Main Switch 3ld2504-0tk53

Siemens 3rs1800-2bp00 Relay 3rs 1800-2bp00

IFM evc024 Ecomat 400 connection units EVC 024

Siemens TRANSFORMER Transformer 4am4042-8dd40-0fa0

SKF Deep Groove Ball Bearing 10 Single 6001-2z

Mushroom module PSSu it 4 DI

Mushroom Module misplacement EF PS-P

Horst Sensor NiCr 070210 stabf. NICR-Ni O. St 1,5 * 80 NEW!

LAMBDA Din Rail Power Supply dlp240-24-1/e

Siemens Fiber Connection Cable 6xv1820-5bh50

Siemens Simatic Electronics Module 6es7131-4bb00-0aa0

INA Flange Bearing pcjt 25

Nanotec Stepper Motors sh5618s2608-b

Elra 2 Phase Stepper Motors hesm 266-e3.0b

Pilz SAFETY RELAY PNOZ 1 24vdc

Siemens 6xv1875-5ch20 6xv1 875-5ch20

WAGO 750-502 24vdc 2,0a

Heidenhain Connecting Pipe 284 135 03 1 M

Phoenix Interbus-S IB ST 24 di 16/4

Adept Video Bus 10330-01610

Festo Standard cylinder dnc-32-35-ppv-a 163304

Schneider Electric limit switch 10 amp, Toggle NO/NC, 240v, ip66 xy2cd111 NEW!

Schneider Electric TeSys D Breaker lc1d25bd

Phoenix Contact Expansion Module IBS STME 24 BK-T O. No 2754367

Festo Standard cylinder dnc-40-40-ppv 163352

Siemens Simatic s7 Power Supply 6ep1332-1sh31

Telemecanique Square D Contactor Relay Control Relay cad32bd 040416

Siemens 6es5 430-4ua13 6es5430-4ua13 Digital Input

Telemecanique Inductive Proximity Switch xs1m18pa370d

Siemens Simatic s5 Digital Output 6es5445-3aa12 6es5 445-3aa12

MW Mean Well Power Supply dr-120-24

Siemens Simatic s7 Electronics Module 6es7134-4nb01-0ab0 6es7 134-4nb01-0ab0

Festo Compact Cylinder ADVU - 50-40-pa 156555

Siemens Simatic s7 Interface 6es7 361-3ca00-0aa0

Sew EMC Module ef014-503-4-00

Siemens Simatic s7-200 6es7-132-4bb00-0ab0 5st. NEW

Siemens Simatic s7 RS 485-Repeater 6es7972-0aa01-0xa0 6es7 972-0aa01-0xa0

MITSUBISHI MELSEC-Q output module QY 10

Siemens Simatic s5 Analog Input 6es5464-8me11 6es5 464-8me11

Honeywell IPC Disk Memory Module 626-8026

Honeywell IPC Executive Memory Module 626-8022

Siemens Simatic s5 Memory Module 6es5377-0ab21 6es5 377-0ab21 NEW!

Siemens Simatic s5 Digital Output 6es5415-7ab21 6es5 415-7ab21

Siemens Simatic CPU 942 Central Assembly 6es5942-7ua12 6es5 942-7ua12

Siemens LOGO! Power Regulated Power Supply 6ep1322-1sh02

Mushroom c-pc-pap-2 pegelanpa.v24/rs485 305155

Conta Clip PLC Digital I/O modules sd-s37la

Comtrol Device Master db9m 4-port ID: 5002111

Baumer IR Optical proximity switch fzam 18p6460/s14 NEW!

Leuze Light Switches energetic RK 85/4

Siemens Simatic s7 Digital Output 6es7322-1hh00-0aa0 6es 7322-1hh00-0aa0

Murr Elektronik SV-SUB D 50bu. - KL Transfer Module 54044

Siemens Simatic s7 Power SITOP Power 6ep1333-2aa00 6ep1 333-2aa00

Siemens Simatic SC Terminal Block 6es7120-0ah01-0aa0

Festo Standard cylinder dnc-50-125-ppv-a 163374

Phoenix Contact Relay Socket PLC-BSC - 24dc/21 2966016 6 Piece

Siemens s5 Module 6es5306-7la11 6es5 306-7la11

Siemens Simatic s5 cpu926 6es5 926-3sa12 6es5926-3sa12

Siemens simirel 3ug3522-1ac48-0aa1

Siemens signal pillar 8wd4308-0aa NEW!

Siemens Simatic s7 Load Power Supply 6es7307-1ka00-0aa0 6es7 307-1ka00-0aa0

Indramat Programming Module mod13/1x0025-001

Turck optoelectronic Sensor s18sp6dq

Siemens Simatic 6es5377-0aa11 6es5 377-0aa11

Mushroom contact Extension Block PZE 9 24vdc 8/no 1/n/c 774150

Siemens Connection Cable w6fx2002-1cad1-1acd 2 M

MITSUBISHI Line Filter fr-BLF bk0-c2101h01

Siemens Simatic s5, Digital 454 Edition 6es5 454-7la11

Rosenberger Flange Coupler rmtsp 01-004 RMT sp01-004 Lot. No.: 394220

Siemens LOGO! Power Regulated Power Supply 6ep1321-1sh02

Festo Pressure Sensor sde1-d10-g2-h18-c-p1-m8 192766

Mushroom PSS SB Bridge 301131 Ver. 1.2

Mushroom Emergency Stop switchgear PNOZ x3 24vac 24vdc 3n/o 1n/c 1so 774310

OMRON Connector Block interface modules xw2b-20g5

Rosenberger Flange Coupler rmtsp 001-004 RMT sp001-004 Lot. No.: 401485

Siemens Simatic s7 Digital Electronic Module 6es7132-0bh01-0xb0

Murr Elektronik Mains Unit/Transformer NSS 5-220/24, Art. No. 85 560

Siemens Simodrive 611 Mains Filter 6sn1111-0aa01-1ba0

Leuze Light Switches energetic RK 72/4-200 l.2

Baumüller donor Line hiperface 12/26 Pol. (10 M)

Fanuc Power Supply lda30f-24

Siemens Simatic Active Bus Driver c8451-a203-a8-99

Siemens F Disconnect Switch 3np1133-1bb11 3np 1133-1bb11 NEW!

Siemens Simatic s7 Terminal Module 6es7193-7ca10-0aa0 6es7 193-7ca10-0aa0 NEW!

BALLUFF network device b-3 BES 516-706-b-3 NEW

Siemens simadyn D Round Cable sc39 6dd1684-0dk0 NEW!

Sick REFLECTION LIGHT BARRIER wl160-e440 NEW!

Phoenix Contact UMK-SE 11,25-1 ID. - Nr: 3538882

Phoenix Contact PHG-rangiermodul UMK-SE 11,25-1

TESCOM Control Pressure Gauge -1,0 to 2,0 Bar Oxygen -14 to 30 PSI

TESCOM Control Pressure Gauge -1,0 to 2,0 Bar Oxygen -14... 30 PSI with Sensor

Siemens Simatic s7 Electronics Module 6es7138-4fb03-0ab0 6es7 138-4fb03-0ab0

Festo Combination Filter Regulator 529188 with power valve 529841

Festo maintenance equipment-Combination lfr-1/8-d - Mini-KC 185731

Phoenix Contact Safety Relay psr-scp-24 psr-scp-24uc/esm4/3x1/1x2/b

OMRON Temprature Controller e5b-ypt NEW!

Phoenix Contact PHG-rangiermodul UMK-SE 11,25

Phoenix Contact Safety Relay PSR-SCP - 24uc/esa2/4x1/1x2/b - 2963802

Siemens Simatic s7 Electronics Module 6es7138-4fa03-0ab0 6es7 138-4fa03-0ab0

Siemens Simatic s7 Digital Output 6es7322-1bh01-0aa0 6es7 322-1bh01-0aa0 V: 01

Siemens Simatic s7 Digital Output 6es7322-1bh01-0aa0 6es7 322-1bh01-0aa0 V: 03

Siemens Simatic s7 Digital Output 6es7322-1bh01-0aa0 E-Stand: 5

Siemens Simatic s7 Digital Output 6es7322-1bh01-0aa0 6es7 322-1bh01-0aa0 V: 02

Siemens Simatic s7 Digital Output 6es7322-1bh01-0aa0 E-Stand: 6

Siemens Simatic s7 Digital Output 6es7322-1bh01-0aa0 6es7 322-1bh01-0aa0 V: 4

Siemens Simatic s7 Digital Output 6es7322-1bh01-0aa0 E-Stand: 7

Siemens Contactor 3rt1026-1ab04 NEW!

Fuji Electric Breaker bu-eca2030 30a

Siemens Simatic s7 SITOP Buffer Module 6ep1961-3ba00

Baumer Electric Sensor fvdk 10p67y0/s35a

Siemens Simatic s7 SITOP Power 10 Power Supply 6ep1434-2ba00

SUNX dp2-42e Air Pressure Switch

Siemens Permanent Light Element 8wd4420-5ac NEW!

Siemens signal pillars 8wd4300-1ad NEW!

Siemens Flashing Element 8wd4300-1ab NEW!

Siemens Permanent Light Element 8wd4420-5ad NEW!

Siemens Permanent Light Element 8wd4420-5ab NEW!

Siemens Simatic s5 CPU 6es5924-3sa12 6es5 924-3sa12

Siemens Sirus Safety Switch 3tk2830-1cb30