CAN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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KENT TAYLOR 2021WZ10106A

COGNEX 800-5855-1RB

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ASEA BROWN BOVERI MDI32BIS

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ALLEN BRADLEY 1404-M805A-CNT

NORAND 705-374-001/001

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FANUC A06B-0500-B004

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BALDOR RELIANCE 1SU41020

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ACCU SORT AV4000

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Adept Technology CPU Module 10332-44710 _ 1033244710 Rev B _ 2810475

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Simatic s5 CPU 947r Central Assembly 947r, 6es5947-3ur21

1 PC  ABB DSQC679 3HAC028357-001 Robot Teach Pendant In Good Condition UK

GENERAL ELECTRIC 143D1113G2

GENERAL ELECTRIC 143D1573-G1

Berger Lahr WDP 5-228.05100

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AVAYA P5507FT-C

FANUC A06B-6064-H303-H550

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Mitsubishi FR-SF-2-18.5KP-C Spindle Drive TESTED GOOD Condition

HONEYWELL 09437703/A PIDP PC BOARD **

ONE  FANUC A20B-8200-0719 TESTED GOOD Condition

Industrial CPU with Motherboard fab101-14p13 Rev. b0-rc id35457

AMERITHERM 003-0044-1

FANUC A06B-0754-B100

Fanuc A05B-2255-C102#JMH TESTED GOOD Condition

SIEMENS 6FC5-210-0DA20-2AA0

ASEA BROWN BOVERI 3HAC0468-1

ALLEN BRADLEY SP-502979

YOKOGAWA 436102-2

1 PC  Fanuc A05B-2301-C190 Teach Pendant In Good Condition UK

ALLEN BRADLEY 1336-B020-EJE-L3

Fanuc A05B-2255-C100#ESW TESTED GOOD Condition

MEASUREX 51304362-150

SIEMENS 1FT6086-8AF71-1TK0

INTEGRAL TECHNOLOGIES IN3785-00160

ALLEN BRADLEY 1391B-AA45-A06

Yaskawa DX 100 CPU Board JANCD-YCP01-E *Tested*

GENERAL ELECTRIC 6V15F3515

CUTLER HAMMER SV9015AC-5M0B00

SYMAX 8881-MLI-224

GEMCO ELECTRIC 1989-M-16-R-12-S-C-X

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Allen Bradley  ,IMC S Class, 4100-234-RL

1 PC  Fanuc A06B-6134-H301#C Servo Amplifier In Good Condition

1 PC  Fanuc A06B-6134-H301#C Servo Amplifier In Good Condition

1 PC  Fanuc A06B-6134-H302#C Servo Amplifier In Good Condition

1 PC  Fanuc A06B-6134-H302#C Servo Amplifier In Good Condition

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1 PC  Fanuc A06B-6134-H203#C Servo Amplifier In Good Condition

1 PC  Fanuc A06B-6134-H201#C Servo Amplifier In Good Condition

1 PC  Fanuc A06B-6134-H201#C Servo Amplifier In Good Condition

KDV 3.1-100-220/300-220 Power Supply Indramat 12m Warranty id24638

SIMPLEXGRINNELL 562-355

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Siemens Servo Motor 6.9kw, 20.5a, 55nm 1ft5108-0aa71-1

Allen Bradley 8000 8200c933 AB mbaz MBC RA AGZ iobb AG DG MDB Control 14 Cards

6sl3225-0be32-2aa0 /worn - 12 months Warranty/12 Months Warranty

A06B-6134-H201#A Fanuc motor amplifier 90 days warranty

1 PC  Fanuc A06B-6134-H201#A Servo Amplifier In Good Condition

BAILEY CONTROLS NGCM-01

Microstar Laboratories DAP 5200a/626 Data Acquisition Board MSPCB079-03

Laboratories DAP3200a/214 High Profile Analog Data Acquisition Board MSPCB043-06

BBC Network Device 89ng03g gjr4503500r0001 #k2 Geb

BBC Network Device 89ng03g gjr4503500r0001 #k2 Geb

ORMEC SAC-D19P/I

MITSUBISHI Q4A-CPU

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ALLEN BRADLEY 8520-ENET

ALLEN BRADLEY 1326AB-B740C-21-MK7L

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Siemens Teleperm Me 6ds1121-8aa 6DS1 121-8aa Central Voter Module ZV 1

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ZINWAVE ZIN-302-0001 OPTICAL BASE UNITS 8 SLOTS

ASEA BROWN BOVERI BVC4HRD040302P

ALLEN BRADLEY 2711E-T12C4

ASEA BROWN BOVERI BV91HRA011805P

Siemens SINUMERIK PCU 50 6fc5210-0df22-2aa0 // 6fc5 210-0df22-2aa0 1.2ghz

SIEMENS 6ES5-985-1AA11

Fanuc A02B-0247-B531 TESTED Good

Industrial PC c6330 Beckhoff id26515

Siemens simatic S7 CPU 416F-2 6ES7 416-2FN05-0AB0 6ES7416-2FN05-0AB0 / E2

Siemens Simatic PC FI 15 6ES7646-1DC10-0AC0 6ES7 646-1DC10-0AC0

SIEMENS 6ES5-266-8MA11

FANUC A06B-6136-H201

ONE  FANUC A16B-3300-0030 TESTED GOOD Condition

LIQUIDATION   590L/0020/3/1/0/0/0/2/0/530/00/000  Eurotherm Drives  #5764

LIQUIDATION  590L/0012/3/1/0/0/0/0/0200/00/000  Eurotherm Drives  #5766

1 PC  Fanuc A06B-6102-H245 Servo Amplifier In Good Condition

1 PC  Fanuc A06B-6102-H245 Servo Amplifier In Good Condition

6av6542-0aa15-1ax0 /worn - 12 months Warranty/12 Months Warranty

6av6542-0ad15-2ax0 /worn - 12 months Warranty/12 Months Warranty

BAILEY CONTROLS NMPC-01

ALLEN BRADLEY PR060367

ALLEN BRADLEY 20BD040A3AYNAND0

Cc424 Id. No. 366376-02 Heidenhain 12m Warranty id36261

C-IPC Intel Celeron Compact Industrial PC m440 01-450-152-d 1gb SigmaTek id26217

ALLEN BRADLEY 1326DP-U2A-G1-X025

MITSUBISHI FR-A240-5.5K-UL

Siemens 6rb2025-4dg00, SIEMENS D165 G200/25 Transistor Controller, Rack koplett

POWERTEC C0202AN4CH000

1 PC  Fanuc A06B-6102-H226#H520 Servo Amplifier In Good Condition UK

ALLEN BRADLEY 1398-DDM-075

TAYLOR ELECTRONICS 6027BZ10000A

YASKAWA ELECTRIC CIMR-H15G2

ALLEN BRADLEY 1336T-B003-AA-GT1EN

GENERAL ELECTRIC 142D7274G2

FCA64S Mitsubishi Control Unit DC 24V 3A Free Shipping

KEYSIGHT AGILENT HP 1201B

SIMPLEXGRINNELL 4100-3102

MODICON AS-P451-681

ARO 939-72768

INDRAMAT MAC093A-0-PS-4-C/110-B-1/WI520LV/S001 (, Cleaned, Tested 2 year war

ALLEN BRADLEY 20F11ND065AA0NNNNN

Bailey IMPCC01 PROGRAMABLE CONTROLLER MODULE COUPLER -

SIEMENS C98043-A1200-L22

1 PC  Fanuc A02B-0283-B500 In Good Condition

1 PC  Fanuc A02B-0283-B500  In Good Condition

ASEA BROWN BOVERI 1FT3070-5AZ21-9-Z-N

Allen-Bradley 1747-L551 Series C - CPU MODULE SLC 5/05 (1-YR WARRANTY)

INDRAMAT HDS03.2-W100N-HS32-01-FW

BALDOR RELIANCE 1AC4007U

BALDOR RELIANCE T18R1105T-TX

SCHLEICHER P-PM/3

MARPOSS 6307421007

ALLEN BRADLEY 6152-BHTZFEAAAAZ

SIEMENS 6ES5-243-1AC11

IRD MECHANALYSIS 8803

SICK DME3000-111S01 DISTANCE MEASURING DEVICE **

ALLEN BRADLEY 1336-FAN-SP4B

SEW EURODRIVE MCH42A0110-5A3-4-0T

SICK 1023890 / S30A-7011BA S3000 SAFETY LASER SCANNER (A-38)

COMPUMOTOR 469876-01F

ALLEN BRADLEY 6181-H12FPXPHDC

AMK KU-BF1

FOXBORO D0137AV

GENERAL ELECTRIC DS3800HSQD1J1F

Mitsubishi Motion Controller A273UHCPU  #75371

NORDSON MODEL 2304 HOT MELT UNIT

GE FANUC IC698CPE010-JS RX7I 300MHZ CPU PROCESSOR WITH ETHERNET 10/100 D550035

SIEMENS SIMOREG  DC DRIVE  A1-116-180-501  A1-116-101-501   60 Day Warranty!

ALLEN BRADLEY 150-B24NCR SMC DIALOG PLUS **

#SLS1C21 LMA-25/50A Siemens B84143-A75-R111 Uni-Pro Drives 16899CY

AB PLC  PLC-5/V30B 1785-V30B   PLC-5-V30B  ``NICE`` Fast shipping

MITSUBISHI   MELSERVO-SA  MR-SA11K2L   ``NICE``  FAST  SHIPPING

MITSUBISHI  FA CONTROLLER   L30CPU    Fast  shipping

Busch NC0400.BLZ1.ZZZZ, NC0400 vacuum pump with motor, Serial C08917000 101

ALLEN BRADLEY 2711-K10G9 SER. D REV. C FRN 4.46 PANELVIEW **

Fanuc Makino A02B-0222-C058 Professional 3 LTD Unit Warranty! Fast Shipping!

RELIANCE ELECTRIC GV3000/SE AC DRIVE 25V4160

MTS SYSTEMS MPM1901CSJ7G3N MOTOR 13.1 HP 3000 RPM **

MITSUBISHI FA CONTROLLER L61CPUH2J NICE! FAST SHIPPING!

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