ASIX AX58400-TSB-1 Manuel utilisateur

AX58400 MotorControl User Guide

Reference Design User Guide

Revision 1.20

October 17th, 2023

rch 14th, 2020

AX58400 MotorControl User Guide

Reference Design User Guide

Revision History

Revision

Date

Description

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.

 
 
 
 3 
Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation 
 
 
AX58400 MotorControl User Guide 
 
 
Reference Design User Guide 
CONTENT 
1. Introduction ....................................................................................................................7 
2. Requirements..................................................................................................................8 
3. Board Description.........................................................................................................14 
3-1 AX58400-TSB-1...................................................................................14
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..............................................22
5-4 Use STM32CubeProgrammer download ARM KEIL MDK firmware.....22
5-5 Use STM32 CubeIDE compiler firmware..............................................26
5-6 Use STM32CubeIDE download firmware.............................................28
6. Basic Operation of TwinCAT .......................................................................................29 
6-1 Open XAE through Visual Studio 2010 / 2013......................................29
6-2 Project creation & download EEPROM ................................................29
7. PLC Application............................................................................................................35 
7-1 Import PLC...........................................................................................35
7-2 PD Link ................................................................................................37
7-3 Link Reference.....................................................................................39
7-4 Execution PLC .....................................................................................40
8. Firmware Upgrade through EtherCAT FoE ................................................................46 
8-1 Firmware Upgrade................................................................................46
9. Object Dictionary..........................................................................................................48 
9-1 Objects Description..............................................................................48
10. Performance Evaluation .............................................................................................50 
10-1 Minimum DC Cycle Time....................................................................50
 
 

 
 
 
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Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation 
 
 
AX58400 MotorControl User Guide 
 
 
Reference Design User Guide 
 List of figure 
Figure 1 - 1 ..........................................................................................................................................................7 
 
Figure 2 - 1 ..........................................................................................................................................................8 
Figure 2 - 2 ..........................................................................................................................................................8 
Figure 2 - 3 ..........................................................................................................................................................9 
Figure 2 - 4 ..........................................................................................................................................................9 
Figure 2 - 5 ..........................................................................................................................................................9 
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Figure 2 - 8 ........................................................................................................................................................10 
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Figure 2 - 13 ......................................................................................................................................................13 
 
Figure 3 - 1 ........................................................................................................................................................14 
Figure 3 - 2 ........................................................................................................................................................15 
 
Figure 4 - 1 ........................................................................................................................................................15 
 
Figure 5 - 1 ........................................................................................................................................................16 
Figure 5 - 2 ........................................................................................................................................................16 
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Figure 5 - 33 ......................................................................................................................................................25 
Figure 5 - 34 ......................................................................................................................................................26 

 
 
 
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Copyright (C) 2021-2023 Reserved by ASIX Electronics Corporation 
 
 
AX58400 MotorControl User Guide 
 
 
Reference Design User Guide 
Figure 5 - 35 ......................................................................................................................................................26 
Figure 5 - 36 ......................................................................................................................................................26 
Figure 5 - 37 ......................................................................................................................................................27 
Figure 5 - 38 ......................................................................................................................................................27 
Figure 5 - 39 ......................................................................................................................................................28 
Figure 5 - 40 ......................................................................................................................................................28 
 
Figure 6 - 1 ........................................................................................................................................................29 
Figure 6 - 2 ........................................................................................................................................................30 
Figure 6 - 3 ........................................................................................................................................................30 
Figure 6 - 4 ........................................................................................................................................................31 
Figure 6 - 5 ........................................................................................................................................................32 
Figure 6 - 6 ........................................................................................................................................................32 
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Figure 6 - 11 ......................................................................................................................................................34 
 
Figure 7 - 1 ........................................................................................................................................................35 
Figure 7 - 2 ........................................................................................................................................................35 
Figure 7 - 3 ........................................................................................................................................................36 
Figure 7 - 4 ........................................................................................................................................................36 
Figure 7 - 5 ........................................................................................................................................................37 
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Figure 7 - 24 ......................................................................................................................................................45 
Figure 7 - 25 ......................................................................................................................................................45 
 
Figure 10 - 1 ......................................................................................................................................................50 
Figure 10 - 2 ......................................................................................................................................................50 
Figure 10 - 3 ......................................................................................................................................................51 
 
 

AX58400 MotorControl User Guide

Reference Design User Guide

List of Table

Table 2 - 1..........................................................................................................................................................12

Table 2 - 2..........................................................................................................................................................13

Table 2 - 3..........................................................................................................................................................13

Table 3 - 1..........................................................................................................................................................14

Table 4 - 1..........................................................................................................................................................15

Table 7 - 1..........................................................................................................................................................39

Table 9 - 1..........................................................................................................................................................48

Table 9 - 2..........................................................................................................................................................49

Table 9 - 3..........................................................................................................................................................49

AX58400 MotorControl User Guide

Reference Design User Guide

1. Introduction

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. We can execute the application through the IDE or pure BECKHOFF

runtime package (XAR). The firmware part of EtherCAT slave side develops using C language through ARM

KEIL MDK (Microcontroller Development Kit).

Figure 1 - 1

The firmware part mainly handles below tasks:

⚫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 position and actual position accessed by EtherCAT PD (Process Data)

⚫Motor control state machine handling, current reading, SVPWM driving.

⚫The PLC part mainly handles below tasks:

⚫PD mapping / handling by PLC for CSP mode

⚫A demo GUI

AX58400 MotorControl User Guide

Reference Design User Guide

2. Requirements

Before starting to setup 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 v3.1.4020 or later

Figure 2 - 1

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

AX58400 MotorControl User Guide

Reference Design User Guide

⚫STM32CubeIDE (for development only)

Figure 2 - 3

⚫Note: You can download the STM32CubeIDE here

⚫ARM KEIL MDK micro-Vision 5 V5.29 or later (for development only)

Figure 2 - 4

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

AX58400 MotorControl User Guide

Reference Design User Guide

[Hardware]

⚫AX58400-TSB-1 x 1

Figure 2 - 6

Figure 2 - 7

⚫STLINK-V3MINI x 1

Figure 2 - 8

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