Introduction - ASIX AX58200 User Manual

1. Introduction

This document introduces how to setup entire environment for motor control application on AX58200
evaluation platform (TSB + EXB-SMDB 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).
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 CSV mode operating.
⚫
Control word, status word, target velocity and actual position accessed by EtherCAT PD (Process Data)
⚫
Motor control state machine handling, current reading, HALL sensing and Six Step PWM driving.
The PLC part mainly handles below affairs:
⚫
PD mapping / handling by PLC for CSV mode
⚫
A demo GUI
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Motor Control User Guide
Reference Design User Guide
Figure 1 - 1
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AX58200