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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Square D 9007-C54K NSFP **GENUINE** 9007 C54K

Square D 8501X00604V02   NSFP **GENUINE**

Square D 8501XO0604V02 NSFP **GENUINE** Schneider Telemecanique

SQUARE D HCN52TSD NSFP HCN52TSD

8536SCO3H616S SQUARE D NEMA SIZE 1, NEW!!!

Square D 8501XDO42V53 NSNP **GENUINE** 8501 XDO42 V53 Schneider Telemecanique

NEW SQUARE D 8536-SAG12-V02S STARTER 8536SAG12V02S

Square D 8020 SMM-100 One Year Warranty !

Square D 8501XO40XLV02 NSFP **GENUINE** Schneider Telemecanique

Square D, EDB34020, Circuit Breaker 20A 3Pole NEW

Square D H362 Heavy Duty Safety Switch 60A New

SQUARE D MICRO-1 CP36 & EX36  CLASS 8003 SERIES A1 REVISION 100

Square D 8502SAG12V02 NSNP **GENUINE** SD 8502 SAG12 V02

NEW SQUARE D 9012-GAW-1 PRESSURE SWITCH  9012GAW1

Square D BO1EV02 AC Pneumatic Timing Relay B01EV02 86982 9050B01EV02 B01EV02 NEW

SQUARE D 2510-KR2 **

SQUARE D 8911DPSG13V02 SER.B *NEW OUT OF A BOX*

SQUARE D FAL34100 CIRCUIT BREAKER 100A *NEW IN BOX*

GE Fanuc VersaMax Micro Controller IC200UAA007-BD 100-240VAC missing covers 

SQUARE D 2510-FW2P NSPP 2510FW2P

SQUARE D 8501-XO00-XTD2-V02 USPP 8501XO00XTD2V02

SQUARE D 2510-KR-2H USPP 2510KR2H

SQUARE D 9422-RT1-9/11IN USPP 9422RT1911IN

SQUARE D 9422-ATCF301 USPP 9422ATCF301

SQUARE D 8804-PT00CG1 USPP 8804PT00CG1

SQUARE D H361R3 USPP H361R3

SQUARE D VVE4 NSFP VVE4

SQUARE D S434210 NSFP S434210

SQUARE D SD7505V1B USPP SD7505V1B

SQUARE D SY/MAX CLASS 8030  TYPE CRM 232 

SQUARE D SY/MAX 8020 TYPE SCP-311 

NEW Square D 8502-AG-2 A C Magnetic Contactor, In NEMA 1 Enclosure, Coil 208-60

SQUARE D CLASS 8030 TYPE HOM-271 NEW

Square D 52046-124-50 Petron Interface Board New

SQUARE D CLASS 8030 TYPE HOM-221 REMANUFACTURED

Industrial Automation Control Relay Switch Sensor Contact Block HUGE LOT SquareD

Square D 8501BHO80 110/115V NSNP **GENUINE** 8501 BHO 80 Schneider Telemecanique

SQUARE D 9001-BWAEQ3439G3 PENDANT STATION "NEW"

SQUARE D 30A 3-PHASE 480VAC BUSWAY SWITCH PQ-4603 FBL NEW

NEW UN! SQUARE D SY/MAX PLC EXTERNAL POWER UNIT 8005-EPU-1

Square D 9007C54GY1901 NSFP **GENUINE** 9007 C54G Y1901 Schneider Telemecanique

SQUARE D FAB-34100 USPP FAB34100

Square D 9007CR53D NSNP **GENUINE** Schneider Telemecanique

SQUARE D 8536-CO3-V02S USPP 8536CO3V02S

SQUARE D 8536-SAG11-V02 NSFP 8536SAG11V02

SQUARE D 2510-MGG-2 NSPP 2510MGG2

SQUARE D FAL-22100WB8041 USPP FAL22100WB8041

SQUARE D FA-32070 NSFP FA32070

Square D KAL-36125 Circuit Breaker 125 Amp 3 Pole 240/600 Vac 42 KA ! WOW !

Square D 8020-SCP-522 Processor Module ! WOW !

Telemacanique LX1FL110 NSFP **GENUINE** LX1 FL110 Schneider Square D

Square D 9012GOG1 NSNP **GENUINE** SD 9012 GOG1

Square D FAL34070 Circuit Breaker 70A 3P 480V NEW

SQUARE D 8910-MO-2 NSPP 8910MO2

SQUARE D 9422ARG21 NSFP 9422ARG21

SQUARE D QOU30001 USPP QOU30001

SQUARE D S48601 NSFP S48601

SQUARE D 9050 BO 23E/C PNEUMATIC TIMING RELAY 120 VAC COIL ***NNB***

#422 Square D 9003-K2M021NA ?CAM Switch  NEW   9003K2M021NA

Square D 9036GG2S6 NSNP **GENUINE** 9036 GG 2S6 Schneider Telemecanique

SQUARE D 9012-GAW-5-G18 NSPP 9012GAW5G18

Square D Power Logic Power Meter 3020PMD-32

SQUARE D 8501-XMO60-V02 USPP 8501XMO60V02

SQUARE D 8502-SBG2-V02S NSFP 8502SBG2V02S

SQUARE D 8501-HLO80-V02 USPP 8501HLO80V02

SQUARE D 8910-DPA12-3S15-V02 USPP 8910DPA123S15V02

SQUARE D 8903-SMO1-V02 USPP 8903SMO1V02

SQUARE D 9422-CFT31 NSFP 9422CFT31

SQUARE D 8903-LO30-V02 USPP 8903LO30V02

SQUARE D 9422-ATCF331 USPP 9422ATCF331

SQUARE D FCL24100 USPP FCL24100

SQUARE D FAL26040 NSFP FAL26040

SQUARE D Q2L3150H USPP Q2L3150H

SQUARE D QO120GFI FNFP QO120GFI

Square D NF18SBRG3 PowerLink 18 Circuit Control Bus 

Square D 9001BR214 NSNP **GENUINE** SD  8501 BR2 14

SQUARE D 31074-400-47 NSFP 3107440047

Square D 2510MCO3 NSFP **GENUINE** Schneider Telemecanique

Square D 60197 NSFP **GENUINE** Schneider Telemecanique

Square D 9001SKRU5 NSFP **GENUINE** SD  9001 SKRU 5

Square D 9025BCW54 NSFP **GENUINE** 9025 BCW54 Schneider Telemecanique

SQUARE D 8536-SDO1S MOTOR STARTER SIZE 2 220/240V COIL

Square D 9001BR214 NSFP **GENUINE** 9001 BR214 Schneider Telemecanique

SQUARE D 9070-KF50-D23 USPP 9070KF50D23

Square D FAL 26100 One Year Warranty !

SQUARE D 2510MC03 USPP 2510MC03

SQUARE D 9070-TF100D14 NSFP 9070TF100D14

SQUARE D 8502-PDD-2.10E-V01 FNFP 8502PDD210EV01

SQUARE D 9012-BMG1 USPP 9012BMG1

SQUARE D QOB2205252 NSFP QOB2205252

Square D 9001SKRU5 NSNP **GENUINE** 9001 SKRU5 Schneider Telemecanique

SQUARE D 8501XMO40V03 NSFP 8501XMO40V03

SQUARE D 8501-XO1000-V02 NSFP 8501XO1000V02

SQUARE D 8501-XO40-V53 NSPP 8501X040V53

SQUARE D 8501-XDO8-0XDL USPP 8501XDO80XDL

SQUARE D 8501-GG80-V02 NSPP 8501GG80V02

SQUARE D 8536-SAO12-V02-H21S NSPP 8536SAO12V02H21S

SQUARE D 8501-PO2-V08 NSFP 8501PO2V08

SQUARE D 9070-EO-61D1 USPP 9070EO61D1

SQUARE D 8501-XO20XL-XL23B NSPP 8501XO20XLXL23B

SQUARE D 9070-TF100D16 NSFP 9070TF100D16

SQUARE D 9012-ACW-21 USPP 9012ACW21

SQUARE D REG96PUN1RHU NSFP REG96PUN1RHU

Square D 9025BFW33 NSFP **GENUINE** Schneider Telemecanique

New EDB34030 - Schneider Electric / Square D Bolt-On Circuit Breaker

SQUARE D 9065-SFC20 FNFP 9065SFC20

Square D 9007C54B2P10Y19021 NSFP **GENUINE** 9007 C54B2 P10Y19021 Telemecanique

Square D 9007C54B2P10Y19021 NSNP **GENUINE** Schneider Telemecanique

Square D 9012-GDW-5 Pressure Switch 9012GDW5 Series C - New No Box

SQUARE D 31071-400-53 NSFP 3107140053

SQUARE D 9001KYK34 USPP 9001KYK34

SQUARE D 8536-AG2-V06 USPP 8536AG2V06

SQUARE D 9080-LBC-363106 NSFP 9080LBC363106

SQUARE D DU324 NSPP DU324

SQUARE D LAL36000 USPP LAL36000

Square D Neutral Assembly 125A 240VAC SN12-125

SQUARE D 8536SCO3SE N CoilNOT INCLUDEDV NEW

Square-D PowerLogic Circuit Monitor, 3090/VPN-277-C1, free shipping

SQUARE D 9001-KYK33 NSFP 9001KYK33

SQUARE D FAB-22030AB NSPP FAB22030AB

SQUARE D 8502-D0-1-P7 USPP 8502D01P7

SQUARE D 8502-SCO1-V02S USPP 8502SCO1V02S

SQUARE D 9007-TAR-5 NSFP 9007TAR5

SQUARE D 9050-AO-10E-V02 USPP 9050AO10EV02

SQUARE D 9065-SEO6B NSPP 9065SEO6B

SQUARE D 9070-T250D3 NSFP 9070T250D3

SQUARE D 9070-T250D13 NSFP 9070T250D13

SQUARE D HQ0306 NSFP HQ0306

EDB34030 Square D EDB Series Molded Case Circuit Breaker 3p 480v 30a 18kA@480...

SQUARE D 8910-DPA122V02 USPP 8910DPA122V02

Square D 9007SGS1DK NSFP **GENUINE** SD  9007 SGS1 DK

Square D 9007SGSIDK NSNP **GENUINE** 9007 SGSIDK Schneider Telemecanique

SQUARE D 9007-CR67T10 USPP 9007CR67T10

SQUARE D 9007-SGS1DK NSFP 9007SGS1DK

SQUARE D 8502-SCO5-V02S NSPP 8502SCO5V02S

SQUARE D 8430-DAS-440 USPP 8430DAS440

SQUARE D 9012-ACW-8 USPP 9012ACW8

SQUARE D FAB24020AB NSFP FAB24020AB

SQUARE D LE1UD0936T61307 NSFP LE1UD0936T61307

SQUARE D Q2L3125 NSFP Q2L3125

SQUARE D 9422CLA30,  OPERATING SWITCH FOR CIRCUIT BREAKERS, 400AMP, NEW #134082

Telemecanique TSXTA42 NSNP **GENUINE**  Schneider Square D  TSX TA42

Telemecanique TSXDST1632 NSNP **GENUINE**  Schneider Square D  TSX DST 1632

NIB SQUARE D 8030-HIM-101 INPUT MODULE SER A 120VAC/DC 8030HIM101

Square D MHAB115 NSFP **GENUINE** MHA B115

Square D MHBC115 NSFP **GENUINE** MHB C115

Square D MHCA115 NSFP **GENUINE** MHA CA115

SQUARE D 8702-SCO8V01S USPP 8702SCO8V01S

SQUARE D 9001-GW-310 NSPP 9001GW310

SQUARE D 9999-SB-10 NSFP 9999SB10