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Description
Technical Description DDSCR-R84H:
CAN interface adapter is the bridge of data transmission and control between the host computer and the servo unit. The servo unit collects field data and transmits it to the host computer through the bus to realize real-time monitoring and control.
Digital servo system network hardware and software design
CAN bus interface hardware circuit
Advantech PCL-841 card is used for upper computer of NC system to realize CAN bus communication, and TI TMS320LF2407A chip CAN controller is used for servo drive system [3>. The controller is fully compatible with CAN2.0B protocol, has standard and extended identifier, has data frame and remote frame, 2407A chip CAN bus controller and CAN physical bus interface using 82C250 driver chip. 82C250 adopts 120Ω twisted pair wire as communication medium, signal adopts differential receiving and sending mode, strong anti-interference ability, the highest communication rate can reach 1Mbps. There are three different working modes: high speed, slope control and standby. This system uses slope control to reduce RF interference. In order to increase anti-interference ability and protect CAN controller, a high-speed photoelectric isolator is added between TMS320LF2407A and 82C250. The photoelectric isolator adopts HCPL-2630 chip of HP Company with a speed of 10MHz. The circuit is shown in Figure 2.
CAN bus network control software includes configuration and design of network application layer protocol, node function flow and coding [4>.
Configure the mailbox initially
Including pin configuration, baud rate setting, mailbox sending and receiving configuration. First, the MCRB register is configured with the IOPC6 and IOPC7 pins configured for special functions, namely CANRX and CANTX; Secondly, configure the MDER register, that is, configure the mailbox enable and mailbox 2 ~ 3 function. Finally, the mask ID register can be configured to mask any bits of ID. This register only works for the receiving mailbox.
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DDSCR-R84H
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