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ASIX AX58100 User Manual

Motor control
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Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
AX58100 Motor Control
User Guide
Motor Control User Guide
Reference Design User Guide
January 20
1
AX58100
Revision 1.00
th
, 2025
th
rch 14
, 2020
th
rch 14
, 2020
th
rch 14
, 2020

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Summary of Contents for ASIX AX58100

  • Page 1 Motor Control User Guide Reference Design User Guide AX58100 Motor Control User Guide Revision 1.00 January 20 , 2025 rch 14 , 2020 rch 14 , 2020 rch 14 , 2020 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.

  • Page 2: Revision History

    AX58100 Motor Control User Guide Revision History Reference Design User Guide Revision Date Description 1.00 2025/01/20 Initial release Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.

  • Page 3: Table Of Contents

    12-4 Create Scope Project in TwinCAT ................ 52 12-5 Position Loop Gain Value Manual Tuning in TwinCAT ......... 55 12-6 Speed Loop Gain Value Manual Tuning in TwinCAT ........... 56 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
  • Page 4 Figure 5-32 ................................ 32 Figure 5-33 ................................ 34 Figure 5-34 ................................ 34 Figure 5-35 ................................ 34 Figure 5-36 ................................ 35 Figure 5-37 ................................ 35 Figure 5-38 ................................ 35 Figure 5-39 ................................ 36 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
  • Page 5 Figure 12-8 ................................ 53 Figure 12-9 ................................ 53 Figure 12-10 ..............................53 Figure 12-11 ..............................54 Figure 12-12 ..............................54 Figure 12-13 ..............................55 Figure 12-14 ..............................55 Figure 12-15 ..............................56 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
  • Page 6 Table 2-3 ................................13 Table 2-4 ................................14 Table 3-1 ................................16 Table 4-1 ................................17 Table 10-1 ................................45 Table 10-2 ................................46 Table 10-3 ................................46 Table 10-4 ................................47 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.

  • Page 7: Introduction

    PLC Demo Program This is a pre-developed procedure based on TwinCAT engineering (XAE) environment, then run on TwinCAT Master, it provided a visible dashboard for user manipulation. Figure 1-1 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
  • Page 8 EtherCAT Slave Controller It is responsible of EtherCAT communication, such as EtherCAT datagram encapsulation/de-capsulation, EtherCAT commands performing and distributed clock mechanism build-up. The AX58100 is an EtherCAT slave controller ASIC and used to handling these matters as mention above. ⚫...
  • Page 9 ST Motor Control Stack This software stack is provided in STM32 motor control SDK, the position and FOC control loops are illustrated as below. Reference Design User Guide Figure 1-3 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.

  • Page 10: Requirements

    ST MotorControl Workbench6 version 6.2.1 (for development only) You can download the MotorControl Workbench here. Figure 2-2 ⚫ STM32CubeMX version 6.12.1 (for development only) You can download the STM32CubeMX here. Figure 2-3 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
  • Page 11 You can download the STM32CubeProgrammer here. Figure 2-6 ⚫ SSC Tool V5.13 (for development only) You can download the SSC Tool from EtherCAT Technology Group (ETG) here Figure 2-7 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
  • Page 12 For more details, please refer to the link below and the following chapter. STMicroelectronics official link: https://www.st.com/en/ecosystems/x-nucleo-ihm08m1.html ⚫ MOTION TECH BL60M24D8E00430080 Motor x 1 For more details, please refer to the link below. MTM official link: http://www.motiontech.com.tw/ Figure 2-10 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
  • Page 13 AX58100 Motor Control User Guide Reference Design User Guide Table 2-1 Table 2-2 Table 2-3 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
  • Page 14 AX58100 Motor Control User Guide Reference Design User Guide Table 2-4 ⚫ 24VDC/8A Power Supply x 1 Figure 2-11 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.

  • Page 15: Board Description

    Attention! Before starting to build-up the system, please make sure the X-NUCLEO-IHM08M1 board is ready by check these jumps and components status as below table. R170 C3, C5 JP1, JP2 Figure 3-2 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
  • Page 16 Motor Control User Guide X-NUCLEO-IHM08M1 Components Status Reference Design User Guide Opened JP1, JP2, Closed J5, J6 Short 3sh side R74, R86, R170, C3, C5, C7 Unmounted Table 3-1 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.

  • Page 17: Environment Setup

    4-1 Hardware Connectivity Please based on below table to connect all necessary equipment. Table 4-1 If your environment is set up ready, it should look like this. Figure 4-1 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.

  • Page 18: Building The Reference Design Begin With Motorcontrol Workbench

    In order to keep the corrected reference path in BSP, please save the project folder in the path below. BSP_ROOT\SampleCode\ Figure 5-1 Step 2: Select SM-PMSM 24V motor, X-NUCLEO-IHM08M1 power board and NUCLEO-F303RE control board. Figure 5-2 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
  • Page 19 Step 3: Setup “Motor” Properties as below Reference Design User Guide Figure 5-3 Step 4: Setup “Power Supply” Properties as below Figure 5-4 Step 5: Setup “PWM Generation” Properties as below Figure 5-5 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
  • Page 20 Step 6: Setup “Speed Sensing Selection” Properties as below Reference Design User Guide Figure 5-6 Step 7: Setup “Current Sensing” Properties as below Figure 5-7 Step 8: Setup “Bus Voltage Sensing” Properties as below Figure 5-8 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
  • Page 21 Motor Control User Guide Step 9: Setup “Temperature Sensing” Properties as below Reference Design User Guide Figure 5-9 Step 10: Setup “Speed Sensing Config.” Properties as below Figure 5-10 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
  • Page 22 AX58100 Motor Control User Guide Step 11: Setup “Drive Settings” Properties as below Reference Design User Guide Figure 5-11 Step 12: Setup “User Interface” Properties as below Figure 5-12 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
  • Page 23 So far, the settings on MC Workbench have done, about the detail please refer to the file as below. BSP_ROOT\SampleCode\Ax58100_MotorControl\Ax58100_MotorControl.stwb6 Reference Design User Guide Step 13: Generates the source code with the CubeMX v6.12.1, Firmware Package Version v1.11.1. Figure 5-13 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.

  • Page 24: Modify Peripheral Settings In Stm32Cubemx

    Step 2: Add pin assignment as the below in “Pinout & Configuration > System Core > GPIO > GPIO”. Figure 5-15 Step 3: Add pin assignment for SPI2 and USART3. Firstly, set PF0 pin to “Reset State”, then add the pins as below. Figure 5-16 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
  • Page 25 Reference Design User Guide Figure 5-17 Step 5: Enable SPI2 with the setting as highlighted in red. Figure 5-18 Step 6: Disable DMA function on USART2 for debug console. Figure 5-19 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
  • Page 26 Step 7: Enable USART3 with DMA for MCP. Reference Design User Guide Figure 5-20 Step 8: Modify MCP settings in “Pinout & Configuration > Middleware and Software Packs > MotorControl” as below. Figure 5-21 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
  • Page 27 AX58100 Motor Control User Guide Step 9: Modify the NVIC setting as below. Reference Design User Guide Figure 5-22 Figure 5-23 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
  • Page 28 Motor Control User Guide Step 10: Adjusting the clock tree in “Clock Configuration” page. Modify the settings as the red highlighted as below. Reference Design User Guide Figure 5-24 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.

  • Page 29: Generate Source Code In Stm32Cubemx

    Figure 5-26 Step 3: In “Project Manager > Advanced Settings” page, disable initial code generation of USART2, SPI2, TIM6 and TIM7. Figure 5-27 Step 4: Generates the source code. Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.

  • Page 30: Source Code Adjustment

    Step 3: Adjust the Linker setting. As highlighted in the figure below, modify file content in the path: ⚫ For Keil MDK IDE: Please skip this step. ⚫ For STM32CubeIDE: BSP_ROOT\SampleCode\Ax58100_MotorControl\STM32CubeIDE\STM32F303RETX_FLASH.ld Figure 5-29 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
  • Page 31 As highlighted in the figure below, modify file content in the path: BSP_ROOT\SampleCode\Ax58100_MotorControl\Src\main.c Reference Design User Guide Figure 5-30 As highlighted in the figure below, modify file content in the path: BSP_ROOT\SampleCode\Ax58100_MotorControl\Src\stm32f30x_mc_it.c Figure 5-31 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
  • Page 32 AX58100 Motor Control User Guide As highlighted in the figure below, modify file content in the path: BSP_ROOT\SampleCode\Ax58100_MotorControl\Src\mc_tasks.c Reference Design User Guide Figure 5-32 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.

  • Page 33: Generate Ethercat Slave Stack Code

    Due to the ETG Slave Stack Code (SSC) license limitation, the user must re-generate the source code by the SSC tool locally, about how to get the SSC tool and how to generate targeted source code, please refer to the user guide as below. BSP_ROOT\Document\AX58x00_SSC_Tool_Configuration_Import_UserGuide_vXXX.pdf Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.

  • Page 34: Ide Setting Adjustment

    Click on “Project > Options for Target ‘xxxx’… > Utilities > Settings”, then select “Flash Download” page to add “Programming Algorithm” as the value below. Figure 5-35 Start = 0x08004000, Size = 0x0003D800 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
  • Page 35 Find the setting of “Project > Options for Target ‘xxxx’… > Target > Read/Write Memory Areas”, then modify it as the value below. Figure 5-38 IROM1 Start = 0x8004000, Size = 0x3D800 Now, entire building procedure has done for Keil MDK IDE. Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
  • Page 36 Add Virtual Folder: Right click on target project and select “New > Folder”, then enter new folder name and select “Folder is not located in the file system (Virtual Folder)” to create a folder. Figure 5-40 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
  • Page 37 Find setting on “Project > Properties > C/C++ Build > Settings > Tool Settings > MCU/MCP GCC Compiler > Include paths”, then add paths as the figure below. Figure 5-43 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
  • Page 38 Reference Design User Guide Figure 5-44 ../../../../Tools/FileInfoAdder Ax58100_MotorControl.bin ../../For_TwinCAT/FoE/AX58100_MotorControl.efw Now, entire building procedure has done for STM32CubeIDE. So far, the entire project source has been ready for building firmware binary. Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.

  • Page 39: Build Up And Download Firmware

    Step 1: Double clicks the project file as below path to open project. BSP_ROOT\SampleCode\Ax58100_MotorControl\STM32CubeIDE\.project Step 2: Select the project node and execute “Build Project” under “Menu Bar > Project”. Figure 6-2 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.

  • Page 40: Download Bootloader Firmware

    Step 1: Click “Menu bar > Flash > Download” to download firmware into MCU. Figure 6-4 ⚫ For STM32CubeIDE: Step 1: Click “Menu bar > Run > Run As > STM32 C/C++ Application” to download firmware into MCU. Figure 6-5 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
  • Page 41 For Keil MDK IDE: BSP_ROOT\SampleCode\Ax58100_MotorControl\MDK-ARM\Ax58100_MotorControl\ Ax58100_MotorControl.bin ◼ For STM32CubeIDE: BSP_ROOT\SampleCode\Ax58100_MotorControl\STM32CubeIDE\Debug\ Ax58100_MotorControl.bin Please ensure the “Start address” is 0x08004000. Figure 6-6 Step 3: Press “Start Programming” button to download Motor Control firmware. Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.

  • Page 42: Basic Operation Of Twincat

    Motor Control User Guide 7. Basic Operation of TwinCAT Reference Design User Guide Please refer to the file “AX58x00_TwinCAT_UserGuide” Chapter 3. 8. PLC Application Please refer to the file “AX58x00_TwinCAT_UserGuide” Chapter 5. Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.

  • Page 43: Flash Memory Allocation And Foe Upgrading

    The .efw file is dedicate use for FoE transfer, it’s a firmware binary file with 32-bytes header pre-fix. Every time the project build done, the .efw file will auto be generated in the path below by “FileInfoAdder.exe” utility. BSP_ROOT\SampleCode\Ax58100_MotorControl\For_TwinCAT\FoE\AX58100_MotorControl.efw Figure 9-2 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.

  • Page 44: Foe Firmware Upgrade

    Step 3: Check the progress bar status and waiting for the processing done. Figure 9-4 Step 4: If the firmware upgrading is complete successfully, the pop up dialog will appear as the figure below. Figure 9-5 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.

  • Page 45: Object Dictionary

    Tx pdo mapping of csp/csv Position actual value Velocity actual value Modes of operation display Mapped objects: 0x1A01 PDO Mapping RECORD Tx pdo mapping of csp Statusword Position actual value Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
  • Page 46 0x3013 SpdKiDivisor INTEGER16 0x3014 SpdKdGain INTEGER16 0x3015 SpdKdDivisor INTEGER16 0x3020 TrqKpGain INTEGER16 0x3021 TrqKpDivisor INTEGER16 0x3022 TrqKiGain INTEGER16 0x3023 TrqKiDivisor INTEGER16 0x3024 TrqKdGain INTEGER16 0x3025 TrqKdDivisor INTEGER16 Table 10-3 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
  • Page 47 RECORD Supported homing methods 0x60FD Digital Inputs UNSIGNED32 0x60FF Target velocity INTEGER32 0x6502 Supported drive modes UNSIGNED32 0xF000 RECORD Modular device profile 0xF010 Module profile list UNSIGNED32 Table 10-4 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.

  • Page 48: Performance Evaluation

    14bytes input and 14bytes output, under this setting, the minimum DC cycle time can down to 250us. Figure 11-1 Without frame lost and Tx/Rx error at Master side. Figure 11-2 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
  • Page 49 AX58100 Motor Control User Guide Also, without detected SM-Event Missed, Cycle Time Too Small and Sync Error at Slave side. Reference Design User Guide Figure 11-3 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.

  • Page 50: Tuning The Pid Loop Gains With Twincat

    12-2 Link New Objects to Data Structure Step 1: Add new members in CiA402_OBJ_T data structure, notes each data type must be same as the new objects on “AX58100_MotorControl.xlsx”, like this. Figure 12-2 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.

  • Page 51: Add Handling Functions According To New Object Indexes

    Step 1: Add new objects index for write operations as below. Figure 12-4 Step 2: Add new objects index for read operations as below. Figure 12-5 Step 3: Re-build the project and update new firmware into MCU. Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.

  • Page 52: Create Scope Project In Twincat

    Please follows the steps below to do this. Figure 12-6 Here selects the “Scope YT Project” then click “OK” button to complete the scope creation. Figure 12-7 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
  • Page 53 Please follows the steps below to do this. Reference Design User Guide Figure 12-8 Figure 12-9 Here we create a new plot axis to display speed response curve. Figure 12-10 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
  • Page 54 Reference Design User Guide Figure 12-11 Figure 12-12 So far, the scope is ready to record the process data, we can start to tuning the position and speed loop gains. Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.

  • Page 55: Position Loop Gain Value Manual Tuning In Twincat

    “drive_parameters.h” file, then re-build and upgrade the firmware. Figure 12-14 If the tuning is complete, please turn off the “CSP ON/OFF” switch and wait for the motor stop. Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.

  • Page 56: Speed Loop Gain Value Manual Tuning In Twincat

    Similarly, switch back to “CoE-Online” function tab to adjust SpdKpGain and SpdKiGain until satisfying the application requirement. Figure 12-15 Copyright (C) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.
  • Page 57 (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 58 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 59 AX58100 Motor Control 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) 2025 Reserved by ASIX Electronics Corporation, All Rights Reserved.

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