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ASIX AX58400-TSB-1 User Manual

Ax58400 motorcontrol
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AX58400 MotorControl User Guide
Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation
AX58400 MotorControl User Guide
Reference Design User Guide
1
Revision 1.20
th
October 17
, 2023
th
rch 14
, 2020
th
rch 14
, 2020
th
rch 14
, 2020

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Summary of Contents for ASIX AX58400-TSB-1

  • Page 1 AX58400 MotorControl User Guide Reference Design User Guide AX58400 MotorControl User Guide Revision 1.20 October 17 , 2023 rch 14 , 2020 rch 14 , 2020 rch 14 , 2020 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...
  • Page 2 1.00 2021/06/28 Initial release 1.10 2021/08/17 Modify AX58400-TSB-1 and encoder power source 1.20 2023/10/17 1. Added Evaluation Board License Agreement. 2. Added another power USB connectivity and update related figures and tables. Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...

  • Page 3: Table Of Contents

    3-2. X-NUCLEO-IHM08M1 ................. 14 4. Hardware Setup ......................15 4-1 Connectivity ..................15 5. Generate firmware and download to AX58400-TSB-1 ..........16 5-1 Use Beckhoff SSC tool to generate EtherCAT slave stack source code........................16 5-2 Use ARM KEIL MDK compiler firmware ..........21 5-3 Use ARM KEIL MDK download firmware ..........
  • Page 4 Figure 5 - 29 ..............................24 Figure 5 - 30 ..............................25 Figure 5 - 31 ..............................25 Figure 5 - 32 ..............................25 Figure 5 - 33 ..............................25 Figure 5 - 34 ..............................26 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...
  • Page 5 Figure 7 - 23 ..............................44 Figure 7 - 24 ..............................45 Figure 7 - 25 ..............................45 Figure 10 - 1 ..............................50 Figure 10 - 2 ..............................50 Figure 10 - 3 ..............................51 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...
  • Page 6 Table 3 - 1 ................................14 Table 4 - 1 ................................15 Table 7 - 1 ................................39 Table 9 - 1 ................................48 Table 9 - 2 ................................49 Table 9 - 3 ................................49 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...

  • Page 7: Introduction

    1. Introduction Reference Design User Guide This document introduces how to setup entire environment for motor control application on AX58400-TSB-1 with ST X-NUCLEO-IHM08M1. The demo application of EtherCAT master side develops using PLC (Programmable Logic Controller) language through BECKHOFF TwinCAT engineering (XAE). The IDE relies on Microsoft Visual Studio 2010 / 2013.

  • Page 8: Requirements

    Note: You can download the BECKHOFF TwinCAT here or contact ASIX Electronics Corporation. [Software at EtherCAT slave side] ⚫ STM32CubeProgrammer Figure 2 - 2 ⚫ Note: You can download the STM32CubeProgrammer here Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...
  • Page 9 If you use a version older than version 5.29, you can use STM32CubeProgrammer download firmware. ⚫ SSC Tool V5.12(for development only) Figure 2 - 5 ⚫ Note: You can download the SSC Tool V5.12 here Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...
  • Page 10 AX58400 MotorControl User Guide [Hardware] ⚫ AX58400-TSB-1 x 1 Reference Design User Guide Figure 2 - 6 Figure 2 - 7 ⚫ STLINK-V3MINI x 1 Figure 2 - 8 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...
  • Page 11 AX58400 MotorControl User Guide Reference Design User Guide Figure 2 - 9 ⚫ X-NUCLEO-IHM08M1 3-Phase Inverter Board x 1 Figure 2 - 10 Figure 2 - 11 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...
  • Page 12 AX58400 MotorControl User Guide ⚫ MOTION TECH BL60M24D8E00430080 Motor x 1 Please refer to MTM official website for more detail: http://www.motiontech.com.tw/ Reference Design User Guide Figure 2 - 12 Table 2 - 1 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...
  • Page 13 AX58400 MotorControl User Guide Reference Design User Guide Table 2 - 2 Table 2 - 3 ⚫ 24VDC/8A Power Supply x 1 Figure 2 - 13 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...

  • Page 14: Board Description

    3. Board Description Reference Design User Guide 3-1 AX58400-TSB-1 The AX58400-TSB-1 is a development board with AX58400 dual core MCU and EtherCAT Slave Controller, please refer to ASIX official website as below for more detail. https://www.asix.com.tw/ Figure 3 - 1 3-2.

  • Page 15: Hardware Setup

    Reference Design User Guide 4-1 Connectivity Please based on below table to connect all necessary equipment. Table 4 - 1 Then you can get the final slave side environment as following. Figure 4 - 1 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...

  • Page 16: Generate Firmware And Download To Ax58400-Tsb-1

    5. Generate firmware and download to AX58400-TSB-1 Reference Design User Guide If you want to generate firmware and download to AX58400-TSB-1, you have 2 steps basically: (1) Use EtherCAT Slave Stack Code to generate EtherCAT sources. (2) Use ARM KEIL MDK compiler and download firmware.
  • Page 17 Reference Design User Guide Figure 5 - 4 ⚫ Step 5: Press OK. Figure 5 - 5 ⚫ Step 6: Press Yes. Figure 5 - 6 ⚫ Step 7: Import object dictionary. Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...
  • Page 18 Figure 5 - 7 ⚫ Step 8: Select “AX58400_MotorControl.xlsx” from folder “AX58400_BSP_v100\SampleCode\AX58400_MotorControl\For_SSC_Tool\Import\Application”. Figure 5 - 8 ⚫ Step 9: Import object dictionary success. Figure 5 - 9 ⚫ Step 10: Create new Slave Files. Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...
  • Page 19 AX58400 MotorControl User Guide Reference Design User Guide Figure 5 - 10 ⚫ Step 11: Save project. Figure 5 - 11 ⚫ Step 12: Save project to folder “AX58400_BSP_v100\SampleCode\AX58400_MotorControl\For_SSC_Tool”. Figure 5 - 12 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...
  • Page 20 Step 13: Click “Yes” to replace “AX58400_MotorControl.esp”. Reference Design User Guide Figure 5 - 13 ⚫ Step 14: Create new Slave Files. Figure 5 - 14 ⚫ Step 15: Create new Slave Files success. Figure 5 - 15 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...

  • Page 21: Use Arm Keil Mdk Compiler Firmware

    Step 1: Open “AX58400_MotorControl.uvprojx” in folder “AX58400_BSP_v100\SampleCode\AX58400_MotorControl\MDK-ARM”. Figure 5 - 16 ⚫ Step 2: Select project “AX58400_MotorControl_CM4” and “Rebuild”. Figure 5 - 17 ⚫ Step 3: Select project “AX58400_MotorControl_CM7” and “Rebuild”. Figure 5 - 18 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...

  • Page 22: Use Arm Keil Mdk Download Firmware

    Ax58400_Bldr_CM7.bin. Please refer to Chapter 5-4 Step1~5 for the download method. 5-4 Use STM32CubeProgrammer download ARM KEIL MDK firmware ⚫ Step 1: Click “+”->”Open file…”. Figure 5 - 21 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...
  • Page 23 Figure 5 - 22 ⚫ Step 3: Config address “0x08000000”. Figure 5 - 23 Step 4: Click “Download”. ⚫ Figure 5 - 24 ⚫ Step 5: Download complete. Figure 5 - 25 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...
  • Page 24 Figure 5 - 26 ⚫ Step 7: Open” AX58400_MotorControl_CM4.bin” in path ”AX58400_BSP_v100\SampleCode\AX58400_MotorControl\MDK-ARM\AX58400_MotorControl_CM4”. Figure 5 - 27 ⚫ Step 8: Config address “0x08100000”. Figure 5 - 28 ⚫ Step 9: Click “Download”. Figure 5 - 29 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...
  • Page 25 Step 11: Click “+” -> ”Open file…”. Figure 5 - 31 ⚫ Step 12: Open” AX58400_MotorControl_CM7.bin” in path ”AX58400_BSP_v100\SampleCode\AX58400_MotorControl\MDK-ARM\AX58400_MotorControl_CM7”. Figure 5 - 32 ⚫ Step 13: Config address “0x08020000”. Figure 5 - 33 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...

  • Page 26: Use Stm32 Cubeide Compiler Firmware

    Reference Design User Guide Figure 5 - 34 ⚫ Step 15: Download complete. Figure 5 - 35 5-5 Use STM32 CubeIDE compiler firmware ⚫ Step 1: Open “.project” in folder “AX58400_BSP_v100\SampleCode\AX58400_MotorControl”. Figure 5 - 36 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...

  • Page 27: Figure

    ⚫ Step 2: Right click “AX58400_MotorControl_CM4” and click “Build Project”. Reference Design User Guide Figure 5 - 37 ⚫ Step 3: Right click “AX58400_MotorControl_CM7” and click “Build Project”. Figure 5 - 38 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...

  • Page 28: Use Stm32Cubeide Download Firmware

    Step 2: Select project “AX58400_MotorControl _CM7” and click menu “Run→Run”. Figure 5 - 40 Attention! In addition to AX58400_MotorControl _CM4 and AX58400_MotorControl _CM7, you also need to download Ax58400_Bldr_CM7.bin. Please refer to Chapter 5-4 Step1~5 for the download method. Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...

  • Page 29: Basic Operation Of Twincat

    EtherCAT port. If you have 2 adapters, the second adapter can be used for deploy redundancy. Whatever, you should create a TwinCAT project first for any EtherCAT related affairs under TwinCAT XAE. Please refer to below steps: ⚫ Step 1: Click the “New TwinCAT Project…” Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...
  • Page 30 Reference Design User Guide Figure 6 - 2 ⚫ Step 2: Specify “Name” and “Location” and click “OK”. Figure 6 - 3 ⚫ Step 3: Click the “TWINCAT -> Show Realtime Ethernet Compatible Devices…”. Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...
  • Page 31 AX58400 MotorControl User Guide Reference Design User Guide Figure 6 - 4 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...
  • Page 32 If not installed, please click “Install”. Reference Design User Guide Figure 6 - 5 ⚫ Step 5: Please copy the ESI (EtherCAT Slave Information) file “AX58400_MotorControl.xml” to TwinCAT directory: “C:\TwinCAT\3.1\Config\Io\EtherCAT\”. Figure 6 - 6 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...
  • Page 33 Step 6: Click “TWINCAT -> EtherCAT Devices -> Reload Device Descriptions”. Reference Design User Guide Figure 6 - 7 ⚫ Step 7: Right-click on “IO / Devices” and select “Scan”. Figure 6 - 8 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...
  • Page 34 Step 9: Wait for progress bar at lower right corner of the TwinCAT screen. Figure 6 - 10 ⚫ Step 10: Select “Device N (EtherCAT)”, right-click, choose “Remove” and rescan Devices. Figure 6 - 11 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...

  • Page 35: Plc Application

    “AX58400_BSP_v100\SampleCode\AX58400_MotorControl\For_TwinCAT\PLC”. User just needs to insert the file into PLC entry of TwinCAT project. Please refer to below steps: ⚫ Step 1: Right-click on “PLC” entry and select “Add Existing Item…”. Figure 7 - 2 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...
  • Page 36 Yellow color indicates the software variables are used for read PD (Process Data) input value from slave. Red color indicates the software variables are used for write PD (Process Data) output value to slave. Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...

  • Page 37: Pd Link

    We illustrate procedure of PD link here. If you want to create a PD link, please follow below procedure: ⚫ Step 1: Right click “MAIN.arrAms_NetId” and click “Change Link”. Figure 7 - 6 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...
  • Page 38 Step 3: Right click “Global_Value.Axes[0].nStateWord”, click “Change Link” and select “Statusword”. Figure 7 - 8 ⚫ Step 4: Right click “Global_Value.Axes[0].nPosActVal”, click “Change Link” and select “Position actual value”. Figure 7 - 9 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...

  • Page 39: Link Reference

    Position actual value Input 4bytes, CiA402 object for CSP mode Global_Value.Axes[0].nCtrlWord Controlword Output 2bytes, CiA402 object for CSP mode Global_Value.Axes[0].nTargetPos Target position Output 4bytes, CiA402 object for CSP mode Table 7 - 1 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...

  • Page 40: Execution Plc

    1ms Figure 7 - 12 ⚫ Step 2: Set I/O Idle Task(Cycle ticks Figure 7 - 13 ⚫ Step 3: Set Plc Task(Cycle ticks Figure 7 - 14 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...
  • Page 41 Step 5: Set Master Distributed Clocks in DC mode Figure 7 - 16 ⚫ Step 7: Set Box1→Advanced Settings to DC Synchron, Enable SYNC1 and Use as potential Reference Clock Figure 7 - 17 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...
  • Page 42 AX58400 MotorControl User Guide ⚫ Step 8: Active configuration Reference Design User Guide Figure 7 - 18 ⚫ Step 9: Confirm the AX58400 in “OP” state Figure 7 - 19 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...
  • Page 43 AX58400 MotorControl User Guide Step 10: Click “Login” and then click “Yes” Reference Design User Guide Figure 7 - 20 ⚫ Step 11: Click “Start” Figure 7 - 21 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...
  • Page 44 AX58400 MotorControl User Guide ⚫ Step 12: Double click Demonstration to open PLC GUI Reference Design User Guide Figure 7 - 22 ⚫ Step 13: Power On Figure 7 - 23 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...
  • Page 45 Highlight 3: Power On/Off. Highlight 4: Power Lamp. Highlight 5: Fault Reset request. Highlight 6: Fault Lamp. Highlight 7: Offset angle after homing. Highlight 8: Homing. Highlight 9: Start/Stop Demonstration. Figure 7 - 25 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...

  • Page 46: Firmware Upgrade Through Ethercat Foe

    This section shows the steps of firmware update with EtherCAT FoE. Step1: Right click Box1 and select Firmware Update Figure 8 - 1 Step2: Select AX58400_MotorControl_CM4.efw from folder “AX58400_BSP_v100\SampleCode\AX58400_MotorControl\MDK-ARM\FoE” Figure 8 - 2 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...
  • Page 47 Figure 8 - 4 Step5: A dialog will pop up and just click “OK” button. Figure 8 - 5 Step6: Repeat Step1-5 to update AX58400_MotorControl_CM7.efw from folder “AX58400_BSP_v100\SampleCode\AX58400_MotorControl\MDK-ARM\FoE” Figure 8 - 6 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...

  • Page 48: Object Dictionary

    Mapped objects status word RECORD Tx pdo mapping of csp/csv actual position actual velocity mode of operation display 0x1A01 PDO Mapping Mapped objects: RECORD Tx pdo mapping of csp status word actual position Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...
  • Page 49 Supported drive modes UNSIGNED32 supported in this FW verson) 0xF000 RECORD Modular device profile 0xF010 Module profile list UNSIGNED32 0xF030 ARRAY Configured module Ident list 0xF050 ARRAY Module detected list Table 9 - 3 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...

  • Page 50: Performance Evaluation

    6bytes input and 6bytes output, under this setting, the minimum DC cycle time can down to 100us. Figure 10 - 1 Without frame lost and Tx/Rx error at Master side. Figure 10 - 2 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...
  • Page 51 AX58400 MotorControl User Guide Also, without detected SM-Event Missed, Cycle Time Too Small and Sync Error at Slave side. Reference Design User Guide Figure 10 - 3 Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...
  • Page 52 (4) You may not alter, modify, copy or otherwise misappropriate any ASIX electronic product, whether in whole or in part. ASIX Electronics shall not be liable for any loss incurred by you or a third party as a result of altering, modifying, copying or otherwise misappropriating ASIX Electronics products.
  • Page 53 No part of this document may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopying and recording, for any purpose, without the express written permission of ASIX. ASIX may make changes to the product specifications and descriptions in this document at any time, without notice.
  • Page 54 AX58400 MotorControl User Guide Reference Design User Guide 4F, No.8, Hsin Ann RD., Hsinchu Science Park, Hsinchu, Taiwan, R.O.C. TEL: +886-3-5799500 FAX: +886-3-5799558 Email: support@asix.com.tw Web: https://www.asix.com.tw Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation...

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