ASIX AX58200 Manuale utente

AX58200

Motor Control User Guide

Reference Design User Guide

Revision 2.00

Oct.20th, 2021

rch 14th, 2020

AX58200 Motor Control

User Guide

AX58200

Motor Control User Guide

Reference Design User Guide

Revision History

Revision

Date

Description

1.00

2020/03/27

Initial release

2.00

2021/10/20

Modified the control mode to FOC and three-loop PI controller

 
 
 3 
Copyright (C) 2020-2021 Reserved by ASIX Electronics Corporation, All Rights Reserved. 
AX58200 
Motor Control User Guide 
 
 
Reference Design User Guide 
CONTENT 
1. Introduction__________________________________________________________________ 8 
1-1 Introduce Block Diagram of System __________________________________________________ 9 
2. Requirements________________________________________________________________ 10 
3. Board Description____________________________________________________________ 15 
3-1 AX58200-TSB-1 Rev3.0____________________________________________________________ 15 
3-2. AX58200-EXB-SDB-1 Rev1.0 ______________________________________________________ 16 
4. Hardware Setup _____________________________________________________________ 17 
4-1 Connectivity _____________________________________________________________________ 17 
5. Basic Operation of TwinCAT __________________________________________________ 18 
5-1 Open XAE through Visual Studio 2010 / 2013 _________________________________________ 18 
5-2 Project Creation & Download EEPROM _____________________________________________ 18 
6. Download Firmware/Parameter to AX58200______________________________________ 26 
6-1 Mass Storage Method _____________________________________________________________ 27 
6-2 NUVOTON ICP Tool Method ______________________________________________________ 28 
6-3 ARM KEIL MDK Method _________________________________________________________ 33 
6-3-1 Use Beckhoff SSC Tool to Generate EtherCAT Slave Stack Code ______________________________34 
6-3-2 Use ARM KEIL MDK Download Firmware________________________________________________42 
6-4 IAR EWARM Method ____________________________________________________________ 43 
6-5 Firmware Upgrading by TwinCAT FoE______________________________________________ 44 
6-6 Servo Parameter Upgrading by TwinCAT FoE________________________________________ 47 
6-6-1 Download Servo Parameter File to AX58200 _______________________________________________47 
6-6-2 Servo Parameter File Generation for TwinCAT FoE_________________________________________50 
6-7 Check Firmware Status by Debug Port_______________________________________________ 51 
7. PLC Application _____________________________________________________________ 53 
7-1 Import PLC _____________________________________________________________________ 53 
7-2 PD Link_________________________________________________________________________ 55 
7-3 Link Reference___________________________________________________________________ 59 
7-4 Set DC Cycle Time________________________________________________________________ 59 
7-5 Execution PLC___________________________________________________________________ 62 
8. Object Dictionary ____________________________________________________________ 67 
8-1 Objects Description_______________________________________________________________ 67 
9. Performance Evaluation_______________________________________________________ 69 
9-1 Minimum DC Cycle Time__________________________________________________________ 69 
 
 

 
 
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Copyright (C) 2020-2021 Reserved by ASIX Electronics Corporation, All Rights Reserved. 
AX58200 
Motor Control User Guide 
 
 
Reference Design User Guide 
 List of figure 
Figure 1 - 1 _______________________________________________________________________________________ 8 
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Copyright (C) 2020-2021 Reserved by ASIX Electronics Corporation, All Rights Reserved. 
AX58200 
Motor Control User Guide 
 
 
Reference Design User Guide 
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AX58200

Motor Control User Guide

Reference Design User Guide

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AX58200

Motor Control User Guide

Reference Design User Guide

List of Table

Table 2 - 1 _______________________________________________________________________________________ 13

Table 2 - 2 _______________________________________________________________________________________ 14

Table 2 - 3 _______________________________________________________________________________________ 14

Table 3 - 1 ...........................................................................................................................................................................16

Table 4 - 1 ...........................................................................................................................................................................17

Table 7 - 1 ...........................................................................................................................................................................59

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Table 8 - 2 ...........................................................................................................................................................................68

Table 8 - 3 ...........................................................................................................................................................................68

AX58200

Motor Control User Guide

Reference Design User Guide

1. Introduction

This document introduces how to setup entire environment for motor control application on AX58200

evaluation platform (TSB + EXB-SDB boards). The demo application of EtherCAT master side develops by

PLC (Programmable Logic Controller) language through BECKHOFF TwinCAT engineering (XAE). The IDE

rely Microsoft Visual Studio 2010 / 2013. We can execute the application through the mentioned IDE or pure

BECKHOFF runtime package (XAR). The firmware part of EtherCAT slave side develops by C language

through ARM KEIL MDK (Microcontroller Development Kit) or IAR EWARM (Embedded Workbench for ARM).

Figure 1 - 1

The firmware part mainly handles below affairs:

⚫BECKHOFF SSC (Slave Stack Code)

⚫Hardware access of SSC through SPI interface at MCU side

⚫CiA402 state machine and CSP mode operating.

⚫Control word, status word, target velocity and actual position accessed by EtherCAT PD (Process Data)

⚫Motor control state machine handling, current reading, Incremental encoder sensing and 3-phase AC

induction motor drives theory.

The PLC part mainly handles below affairs:

⚫PD mapping / handling by PLC for CSP mode

⚫A demo GUI

AX58200

Motor Control User Guide

Reference Design User Guide

1-1 Introduce Block Diagram of System

The following figure is a simple servo drive block diagram. The software used on the PC side is “TwinCAT

XAE”. The communication connection method is to connect to the AX58200-TSB through a network cable. In

terms of usage, TwinCAT XAE is biased towards demonstration.

Different from the previous version is that the motor control theory uses FOC and three-loop PI controller, the

three loops are position loop, speed loop, and current loop. General position loop with current loop or speed

loop with current loop can only be used for constant position or constant speed. The three-loop controller can

achieve the simultaneous constant position and constant speed requirements.

Motors have many interfaces for detecting rotor angle and speed. For example, relative encoder, absolute

encoder, hall sensor... etc. This article is a simple servo drive and only supports incremental encoder

interface.

Figure 1 - 2

⚫Use software tools on PC:

TwinCAT XAE.

⚫Communication:

EtherCAT.

⚫Motor Control Theory:

FOC control and three-loop PI controller.

⚫Feedback Interface:

1. Three phase current sensor.

2. Incremental encoder.

AX58200

Motor Control User Guide

Reference Design User Guide

2. Requirements

Before setting up the environment, we should prepare some software and hardware. Of course, they are all

running based on general desktop PC with windows 7 / 10 operation systems. We list software / hardware

requirements as following:

[Software at EtherCAT master side]

⚫Windows 7 / 10 operation system

⚫Microsoft Visual Studio 2010 / 2013

⚫Beckhoff TwinCAT XAE v3.1.4022.28 or later

Figure 2 - 1

Note: You can download the BECKHOFF TwinCAT here or contact ASIX Electronics Corporation.

[Software at EtherCAT slave side]

⚫ARM KEIL MDK micro-Vision 5 (for development only)

Figure 2 - 2

⚫IAR Embedded Workbench for ARM 7.40 (for development only)

Figure 2 - 3

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