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IC37首页 > 非IC > 电工电气 > 工控系统及装备 > PLC > A16B-2200-0843/07E

A16B-2200-0843/07E

型  号:
A16B-2200-0843/07E
发货地点:
福建省 漳州
产品类别:
PLC
更新时间:
2021/2/23 16:35:43

商品详情

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


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。


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Servo Motor 1GH51340WF416HU7Z Siemens 1GH5134-0WF41-6HU7-Z


SIEMENS 1FT60841-AH71-4EH1 /1FT60841AH714EH1 SERVO MOTOR  4500 RPM  20 NM EQN, NEW #173319


1FT5074-0AF74-9-Z  , SIEMENS SERVOMOTOR


1FT5066-1AG71-3EB0, SIEMENS SERVOMOTOR


3HAB6249-1, ABB Servo Motor, ABB Motor, ABB Robot, ABB Robotics, Siemens Motor


3HAB6738-1, ABB Servo Motor, ABB Motor, ABB Robot, ABB Robotics, Siemens Motor


NEW! Allen Bradley N-4214-2-H04AA | P/N: 193904 | Servo Motor W/ Brake


Allen Bradley H-4075-R-H04AA | P/N: 193476 | Servo Motor | EXCELLENT!


CONTROL TECHNIQUES DUTYMAX BRUSHLESS SERVO MOTOR, 142DSC300CAAAA


Berger Lahr Telemecanique Three Phase 12000 RPM Servomotor SER3643L3SSOA1A


SIEMENS SERVO MOTOR 1FK6084-6AZ21-9ZZ9-Z S04 ABB 3HAB6738-1 **TESTED WARRANTY**


Rexroth / Indramat MAC071A-0-OS-2-C/095-A-1/S001, Servo Motor p/n:224988


PARKER SERVO MOTOR - EQUIVLALENT TO PROMESS MTS 1901DSJ7JX1N SERVO MOTOR


SIEMENS 1FT60841AH714EH1 SERVO MOTOR  4500 RPM  20 NM EQN, NEW #173320


MAGNA PERMANENT MAGNET DC SERVO MOTOR_183-18-0636_183180636


NEW! Allen Bradley MPG-A010-031S22 Geared Servo Motor


Allen Bradley H-4050-P-H00AA | P/N: 193470 | Servo Motor | EXCELLENT!


New Baldor BSM-6R-21-75-B5 Y210 Volt 4000 RPM Servo Motor


Sanyo Denki R05C432562 Servo Motor Axis 5 SM18077-B 007HXRZ1 01606B Motoman NEW


Allen Bradley Servomotor 1326AB-B720E-S2L Series: B


Indramat KDV2.2-100-220/300-220 A.C. Servo Power Supply


New Fanuc A06B-2078-B107 βiSC 12/3000 Servo Motor A06B2078B107 PLC Module Unit


NEW MITSUBISHI HF-SP202G7 2kW HFSP202G7 1/5 REDUCTION REDUCER AC SERVO MOTOR NEW


Yaskawa USAGED-13AS2KE Coder UTMAH-B15ASB AC Servo Motor "Exchange service"


Rexroth / Indramat MKD090B-058-KG1-KN Servo Motor, P/N:  277398


Yaskawa USAFED-13FA2 Coder UTOPI-600UB01 AC Servo Motor "Exchange"


Siemens Servo Motor 1FT5100-0AF71-1-Z G45 H27 K84


Siemens Servo Motor 1FT5100-0AF71-1-Z G45 K31 K93


3HAC3403-1, 3HAC4789-1 ABB Motor, ABB Servo, ABB Robot, ABB, Elmo motor


Siemens Servo Motor 1FT6082-1AH71-1AG1


Siemens Servo Motor 1FT6082-8AF71-1TA0


Siemens Servo Motor 1FT6082-8AF71-1TA0


Siemens Servo Motor 1FT6082-8AK71-4EG0


Siemens Servo Motor 1FT6084-1AF71-2EG1


Siemens Servo Motor 1FT6084-8AC71-1TG0


Siemens Servo Motor 1FT6084-8AK71-3EG1


Siemens Servo Motor 1FT6086-8AH71-4EB1


Allen Bradley Kinetix MPL-A330P-MJ24AA Servo Motor W/ BRAKE | EXCELLENT!


NEW! ALLEN BRADLEY N-4220-2-H00AA / 193530 AC SERVO MOTOR NEMA 42


FANUC A06B-0321-B033 AC SERVO MOTOR 1200 RPM (OC252)


Kollmorgen TTB3-2934-3063-BA Servo Motor, New


3HAC0468-1, Abb Servo Motor, Elmo Motor, ABB Robotics, ABB Robot, 3HAC0666-1


Kessler Servo Motor MIF 90L MIF90L


FANUC A150/1200 A06B-0303-B176#0692 12 KW (16 HP) 46A 166V 80HZ SERVO MOTOR


Siemens Servo Motor 1FK6063-6AF71-1GG0 NEW


Siemens Servo Motor 1FK6063-6AF71-1TG0 (1TG2)


Indramat Servo Spindle Motor 2AD-132B-B350R1-BS03-A2N2_2AD132BB350R1BS03A2N2


Siemens Servo Motor 1FT5064-0AF71-1-Z G42


Siemens Servo Motor 1FT5064-0AF71-1-Z G42


FANUC  ALPHA 3/3000 127V 200HZ 3PH 4.60A AC SERVO MOTOR A06B-0123-B076-R NNB


Servo Motor 2AD100D-B050B1-AS03-D2N1 Indramat 2AD100D-B05OB1-AS03-D2N1


New in Box Fanuc A81L-0001-0160 AC Servo Motor Reactor PLC Module A81L00010160


Rexroth / Indramat MHD093B-058-NP0-BA Servo Motor, P/N:  287126


200V 5000W 5KW PANASON-IC Servo (Motor+Drive) MSME502GCH + MFDHTB3A2E Original


ALLEN BRADLEY MPL-B640F-MJ24AA GEAR 460V 32.1A 6.11KW 36.7NM SERVO MOTOR D528537


ALLEN BRADLEY MPL-B680D-MJ22AA SER. A SERVO MOTOR *NEW NO BOX*


Servo Motor Siemens 1FT6105-1AC71-1AH1 1FT61051AC711AH1


Siemens 1FK7105-5AF71-1GB0  servomotor  1FK71055AF711GB0 servo motor


NEW GE Fanuc AC Servo Motor A06B-0148-B188 A06B0148B188#7008


Rexroth / Indramat MKD071B-035-KP0-KN Servo Motor, P/N:  274565


Rexroth / Indramat MKD071B-061-KP0-KN Servo Motor, P/N:  262599


Allen Bradley 1394C SJT 10D system 10kW digital servo control


Fanuc A06B-0356-B756 Servo Motor "Warranty"


Yaskawa USAPEM-07YR21 Servo Motor "Warranty"


Fanuc A06B-0502-B756 AC Servo Motor 20S


Fanuc A06B-0357-B756 AC Servo Motor 30F/2000 "Warranty"


Yaskawa SGMG-75A2V-KM51 AC Servo Motor "Exchange"


Fanuc A06B-0147-B175#7000 AC Servo Motor a22/2000 "Warranty"


1 PC New Fanuc A06B-2085-B103 Servo Motor In Box UK


Fanuc A06B-0590-B001 Class F Servo Motor 3Ph 8-Pole 16A 156V 1200RPM ! WOW !


Yaskawa USAFED-30FB20E AC Servo Motor 2.9kW 20A 1500RPM ! WOW !


Allen Bradley 1326AB-B430E-M2L Servo Motor 460V 3000PRM ! WOW !


Parker MPM1423CTJ7G1N Servo Motor 9.8HP 7.3Kw 3400RPM ! NEW !


Indramat MDD090C-N-030-2NL-110PB0 Servo Motor 92lb-in 19.5A 3000RPM ! WOW !


Fanuc A06B-0545-B231 Servo Motor 3000RPM 114V 3ph 6Amp ! WOW !


Fanuc GE A06B-6079-H208 Servo AmplifIer, Alpha 80/80, New


Sanyo Denki BL Super P50B07030DXM20 Servo Motor 300W 2.2A  Motoman NEW


Fanuc DC Servo Motor Model 10 A06B-0651-B012#0003 (2500M)  A06B-0651-B012


YASKAWA SGMG-44V2A  SERVO MOTOR


ABB IRB Robot Motor 3HAC3403-1, 3HAC4789 Axis 1 or 3 Servo Elmo motor w/Exchange


Panasonic MSMA152A1G 1.5kw MSMD153A1A AC Servo Motor and Driver


NEW! Yaskawa SGMPS-04 AC Servo Motor with Gear Head


Yaskawa SGMGH-20ACA6S AC Servo Motor Un


REFURBISHED FANUC SERVO MOTOR, A06B-0319-B081#7008, 1 YEAR WARRANTY


ALLEN BRADLEY LDC-C150300-DHT20 LINEAR SERVO MOTOR COIL


GIDDINGS & LEWIS HSM 610 SERVO MOTOR


1 NEW KOLLMORGEN B-402-A-31 SERVO MOTOR BRUSHLESS NNB *MAKE OFFER* *MAKE OFFER*


EXLAR SR41-0602-SFM-EM2-238 SERVO MOTOR SR SERIES - NEW - FREE SHIPPING


FANUC A06B-0147-B088 AC SERVO MOTOR FNIP


PRI ROBOT SERVO MOTOR, SICK SRM50-FFA0-S02


PRI ROBOT SERVO MOTOR, SICK SRM50-FFA0-S02 #3


Yaskawa SGMD-45AWB-YR14 4500 W 31.6 A Servo Motor SGMD45AWBYR14


FANUC SERVO MOTOR A06B-0243-B400 iF 12/4000 NEW IN BOX


SIEMENS 1FT6105-1AC71-4EH1 SERVOMOTOR 1FT61051AC714EH1 servomotor


ELECTRO-CRAFT SERVO MOTOR XBR-4230 , 90 DAYS WARRANTY , FAST SHIP IS AVAILABLE


GE FANUC  A06B-0163-B575 #7000 SERVO MOTOR M9/3000


GE FANUC SERVO MOTOR A06B-0858-B100 #3000


BOSCH SERVO MOTOR SE-B4.090.030-14.000 ( SEB409003014000 ) SE-B4.090.030-14


Yaskawa EEVA-5IK-7.5-11 AC Servo Motor [PZ4]


SIEMENS 1FT6105-1AC71-4EH1 SERVO MOTOR 1FT61051AC714EH1 SERVO MOTOR


SIEMENS 1FT6105-8AC71-1AA1 servo motor 1FT61058AC711AA1


NEW KAWASAKI P80B22450LCX2A AC SERVO MOTOR, 4.2 kW, 1-1/4" DIA. 60601-1116 BR


SIEMENS 1FK7042-5AF71-1SH3 SERVO MOTOR, NEW


NEW SANYO DENKI KAWASAKI P80B22450LCX2A SERVO MOTOR


Yaskawa SGMS-15-XX21 AC Servo Motor  [PZO]


3HAC8280-1/3HAC6935-1 ABB Robot Servo Motor Axis 3 for IRB6400R.  Warranty!!


YASKAWA AC SERVO MOTOR SGMSH-20A2A-YR21 *FULLY TESTED*


1 new OMRON R88M-W5K030H-S2 AC SERVO MOTOR NEW!


BOSCH REXROTH MAC063B SERVO MOTOR, NEW #165181


SIEMENS 1FT6044-4AF71-4EB2  SERVO MOTOR, NEW* #164892


SIEMENS 1FK7086-7AF71-1EH5 SERVOMOTOR, 28 NM, 3000RPM, ABS ENCLOSURE, NE #155383


NEW FANUC DC SERVO MOTOR PULSE ENCODER 10M 2000M A06B-0651-B011


FANUC A06B-0153-B675 α30/3000 3 PH 200 HZ 17 A 3000 RPM 4.8 KW AC SERVO MOTOR


1 PC New Fanuc A06B-2085-B103 Servo Motor In Box


Panasonic MQMA012S2Q, MOTOR, SERVO CRA * #01, NP8174R705-1


5040-000049-11 ASSY,MOTOR,SERVO,AC, SGMCS-08DDA-TE14, YASKAWA


AC SERVO MOTOR,LIFTER SYSTEM;0190-33877,Lift assy, Load  SGMM-A2C3Y,1W0420-5A-1


MOTOR-SERVO, SGMCS-08 DDA-TE14  CT5040-000049-11, YASKAWA


FANUC SERVO MOTOR A06B-0243-B100 Alpha iF12/3000


Mitsubishi Electric SJV 18.5-02-U01 Spindle Servo Motor 600-6000RPM 200-230V 3PH


NIB Yaskawa SGMP-15U314M AC Servo Motor


New in Box Fanuc A06B-0061-B403 Servo Motor BiS2/4000 ST SLK 24vBRK A06B0061B403


ABB 3HAC17484-10 IRB6600 M2000, M2000A, M2004 Robot Servo Motor - Axis 4 & 5


ABB 3HAC17484-6 IRB6600 M2000, M2000A, M2004 Robot Servo Motor - Axis 1


New in Box Fanuc A06B-0205-B200 AC Servo Motor AiF2/5000 ST KEY A06B0205B200 1PC


ALLEN BRADLEY 1326AB-B520E-21 SER. C AC SERVO MOTOR (REMANUFACTURED)*NEW IN BOX*


Fanuc AC Servo Motor A06B-0205-B100


Indramat MDD090B-N-040-N2L-110PB0 Servo Motor, P/N:  261342


Brand New MITSUBISHI SERVO MOTOR HA100NC-S


Festo Zahnriemenachse EGC-120-2600-TB-KF-0H-GK-KL Servomotor 1FK7022-5AK71-1VG3


REXROTH Servomotor MDD112A-N-020-N2L-130PA0 REM


Siemens 1FT6105-1AC71 1FT6105-1AC71-1EG1 Servomotor max 2500 Unbenutzt


SIEMENS 1FT7044-5AF71-1FG1 SERVO MOTOR DC, NEW #196904


ABB 1FK6084-6AZ21-9ZZ9-ZS04 SERVO MOTOR


Fanuc AC Servo Motor A06B-0590-B001  #75095


Fanuc AC Servo Motor A06B-0590-B001-R  #75096


Siemens Servo Motor 1FT6082-8AK71-4EK5


Siemens Servo Motor 1FT6084-1AF71-1EH1


Siemens Servo Motor 1FT6086-1AF71-3EG1


Siemens Servo Motor 1FT6086-1AF71-3EG1


REFURBISHED FANUC SERVO MOTOR, A06B-0590-B205#7008, 1 YEAR WARRANTY


Fanuc Servo Motor A06B-0651-B012 (2500M) 10M WITH ONE YEAR WARRANTY  A06B0651B01


Fanuc Servo Motor A06B-0651-B011 (2000M) 10M WITH ONE YEAR WARRANTY


Rexroth Indramat MKD071B-061-GP0-KN Servo Motor


Siemens Servo Motor 1FT5074-0AK71-1-Z, VMC-500


Fanuc A06B-0345-B231 Servo Motor


MTS MPA-35-460-167 servo amplifier, Custom Servo Motors, Parker


Siemens Servo Motor 1FT5062-1AF71-4EA0


Siemens 1FK7083-5AF71-1FA0-ZN05 Synchronous Servo Motor Compact 10.5 NM 3000RPM


Servo Motor Rexroth Indramat MDD115C-F-030-N2L-130GA0 MDD115CF030N2L130GA0


(J1) Huge Indramat Servo Motor MAC090B-2-JD-4-C/100-A-1/WI520LX


SERVOMOTOR USAGED-20VML11 1.8KW 200V 1500R/MIN YASKAWA 12M WARRANTY ID23961


Yaskawa SGMP-04U314EPT Servo Motor "Warranty"


Yaskawa USAGED-30A22T ***FREE SHIPPING*** AC Servo Motor [PZ4]


NEW Panasonic AC Servo Motor MDM152A4C


Gettys 16-0071-82 (M233-H60A-900N-AB) Servo Motor


Siemens Servomotor 1FT6108-8AC71-1EB0 1FT61088AC711EB0  - un -


Siemens Servomotor 1FT6108-8AF71-1EA0 1FT61088AF711EA0  - un -


Siemens Servomotor 1FT6108-8AF71-2EA0 1FT61088AF712EA0 - un -


Fanuc AC servo motor 3.8KW a2/22000 A06B-0147-B675 C062M1507 B-61542E


CONTROL TECHNIQUES DXE-455C SERVO MOTOR**


(NEW/UN) PANASONIC MSMA402D1C Servo Motor


Yaskawa SGMG-20A2A  AC Servo Motor "Warranty"


ELWOOD GETTYS S74D-E00-P010 3.24 AC SERVO MOTOR ***NNB***


Fanuc ac servo motor model 20S Typ: A06B-0502-B203


1FT5072-0AF01-2-Z, SIEMENS SERVOMOTOR


Yaskawa SGMG-20ASAB AC Servo Motor [PZ4]


SIEMENS SERVO MOTOR, MOD# 1FK6080-6AF71-1EBO, W/ 1 YEAR WARRANTY


BECKHOFF AM3074-0Q21-0000 Servo Motor With Gudel 0923644 Gear


BECKHOFF AX5106-0000 & AX5112-0000 Digital Compact Servo Drive


Industrial servo motor SGMGH-75ACA61 NEW


FANUC SERVO MOTOR, A06B-0319-B002#7008, 1 YEAR WARRANTY


Giddings & Lewis AC Servo Motor. Model HSM630-B24.


GE FANUC 30S/3000 A06B-0319-B074#7008 AC SERVO MOTOR **


Bosch Servo Motor: SF-A4.0230.030-00.048


INDRAMAT MDD-B-N-030-N2L-130PA0 SERVO MOTOR 260370 *NEW NO BOX*


Pacific Scientific BRUSHLESS SERVOMOTOR R63HENA-R2-NS-NV-00


Indramat Perm Mag Servo Motor MDD112A-N-030-N2L-130PB0 _ MDD112AN030N2L130PB0


Emerson DXE-455CB Servo Motor 1.95HP 3000RPM 3PH 8.0A 240V DXE 455CB 960100-13


Siemens Servomotor 1FT6084-8AC7-3AK0-Z


Rexroth / Indramat MAC071B-0-TS-3-C/095-B-0/S001, Servo Motor p/n:223995


Rexroth / Indramat MAC071C-0-NS-3-C/095-A-0/S001, Servo Motor p/n:224549


PACIFIC SCIENTIFIC R67HENA-R2-NS-NV-00 SERVOMOTOR R67HENAR2NSNV00


Fanuc Alpha, A06B-0141-B175#7008 Servo Motor, Model aC12/2000, *NEW*


(NEW) Omron AC Servo Motor R88M-G3K020T-S2


CONTROL TECHNIQUES 142UMD301CARAA NEW BRUSHLESS AC SERVO MOTOR 878258 3000 RPM


Simodrive Siemens AC Servomotor Dubai Stock 1FK7083-5AF71-1AA0 1FK70835AF711AA0/


FANUC / AC SERVO MOTOR / A06B-0502-B232 / MODEL 20S / A06B 0502 B232


A06B-0728-B402#5000 FANUC AC SERVO SPINDLE Recently Remanufactured 90 D Warranty


Fanuc Alpha, A06B-0141-B175#7076 Servo Motor, Model aC12/2000, *NEW*


Fanuc Alpha, A06B-0141-B175#7076 Servo Motor, Model aC12/2000, *NEW*


Fanuc Alpha, A06B-0141-B177#7076 Servo Motor, Model aC12/2000, *NEW*


GE FANUC  A06B-0502-B205#7075  AC SERVO MOTOR A06B0502B2057075


SIEMENS PERMANENT MAGNET SERVO MOTOR 1FT6105-8AF71-3EH1


Indramat MDD090C-N-030-N2M-110PB2 AC Servo Motor


GIDDINGS & LEWIS FSM 610 SERVO MOTOR


INDRAMAT SERVO MOTOR, MOD# MAC112C-0-HD-2-C/180-A-0/S03, W/ 1 YEAR WARRANTY


FANUC A06B-0590-B205#7008 SERVO MOTOR **


GE Fanuc A06B-0147-B184 #F000 22/2000 Servo Motor


Peerless 181-18-0238-0 Permanent Magnet Dc Servo Motor 230VDC DPM56ZF4 Frame


NEW SIEMENS BRUSHLESS SERVO MOTOR 1FT6136-6AB71-1AA2


FANUC SERVO MOTOR A06B-0243-B100 iF 12/4000 NEW IN BOX


GE FANUC SERVO MOTOR A06B-0501-B754


1FT6084-1AF71-3EG1 Motor Siemens Servo Drive 206850


Brand New MITSUBISHI SERVO MOTOR HC202BS-SZ + encoder


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