ASIX AX58200 User manual

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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
Revision 2.00
Oct.20th, 2021
rch 14th, 2020
rch 14th, 2020
rch 14th, 2020
AX58200 Motor Control
User Guide

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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
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

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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
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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AX58200
Motor Control User Guide
Reference Design User Guide
Figure 6 - 15 ........................................................................................................................................................................34
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AX58200
Motor Control User Guide
Reference Design User Guide
Figure 7 - 18 ........................................................................................................................................................................60
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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 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
Table 8 - 1 ...........................................................................................................................................................................67
Table 8 - 2 ...........................................................................................................................................................................68
Table 8 - 3 ...........................................................................................................................................................................68

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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
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

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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.

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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
OR
⚫IAR Embedded Workbench for ARM 7.40 (for development only)
Figure 2 - 3

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AX58200
Motor Control User Guide
Reference Design User Guide
[Hardware]
⚫AX58200 Test Board (AX58200-TSB) x 1
Figure 2 - 4
Figure 2 - 5

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AX58200
Motor Control User Guide
Reference Design User Guide
⚫AX58200-EXB-SDB-1 3-Phase Inverter Board x 1
Figure 2 - 6
Figure 2 - 7

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AX58200
Motor Control User Guide
Reference Design User Guide
⚫MOTION TECH BL60M24D8E00430080 Motor x 1
Please refer to MTM official website for more detail: http://www.motiontech.com.tw/
Figure 2 - 8
Table 2 - 1

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AX58200
Motor Control User Guide
Reference Design User Guide
Table 2 - 2
Table 2 - 3
⚫24VDC/8A Power Supply x 1
Figure 2 - 9

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AX58200
Motor Control User Guide
Reference Design User Guide
3. Board Description
3-1 AX58200-TSB-1 Rev3.0
AX58200-TSB is a test / evaluation board for AX58200 IC and has below components:
⚫AX58200 –An ASIX IC that integrated an ESC (EtherCAT Slave Controller) + an ARM cortex-M4
⚫ESC Port0 –Port0 of the ESC
⚫ESC Port1 –Port1 of the ESC
⚫NUC12SRE3DE –A NUVOTON IC with ICE functionality for development / debug
⚫Offline programming button –This button is used for offline programming through the ICE
⚫Debug Port –Debug port of the ICE.
⚫DIP of ICE –Dip switch for select mode of the debug port
⚫USB2.0 OTG –USB2.0 OTG port of AX58200
⚫Power –Power input port of AX58200-TSB
⚫Reset –Reset button of AX58200
Attention! Because AX58200-TSB is a multi-purpose module, please check that the
following resistors have been removed before use.
Components
Status
R95, R104, R105, R106, R118, R119
Removed
Figure 3 - 1

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AX58200
Motor Control User Guide
Reference Design User Guide
3-2. AX58200-EXB-SDB-1 Rev1.0
The AX58200-EXB-SDB-1 Rev1.0 is a three-phase brushless DC motor driver expansion board and has
below components:
⚫J1 –Hall components power input connector.
⚫J2 –Hall components phase-U phase-V phase-W input connector.
⚫J7 –Incremental encoder input connector.
⚫J9 –Same as J7
⚫J10 –Motor U phase, V phase, and, W phase input connector.
⚫J11 –Power level selection. If input power below 30V, J11.2-J11.3 short, otherwise, J11.1-J11.2 short.
⚫J13 –Absolute encoder input connector.
⚫J16 –Home senser input connector.
⚫J17 –AX58200-EXB-SDB Power input connector.
⚫J18 –Brake input connector.
⚫SW1 –User button
Attention! Before starting to build up the system, please make sure the AX58200-
EXB-SDB board is ready by check these jumps and components status as below
table.
Input voltage
Component
Status
24v
J11
Short pin2 pin3
48v
J11
Short pin1 pin2
Table 3 - 1
Figure 3 - 2
Warning!! If the input voltage is 48V, you can only choose to short-circuit J11.1 and
J11.2, otherwise the circuit board will be damaged.

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AX58200
Motor Control User Guide
Reference Design User Guide
4. Hardware Setup
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

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AX58200
Motor Control User Guide
Reference Design User Guide
5. Basic Operation of TwinCAT
Before starting up the AX58200-TSB first time, you must download available contents into AX58200
EEPROM first. If there are no available contents in AX58200 EEPROM, the MCU will be reset forcibly
by ESC.
Assume you already installed the BECKHOFF TwinCAT XAE in your environment.
Please follow below sections for EEPROM download.
5-1 Open XAE through Visual Studio 2010 / 2013
Open the XAE by clicking below system tray icon:
Figure 5 - 1
5-2 Project Creation & Download EEPROM
Any common deploy or applications through TwinCAT XAE all should process under a TwinCAT project. We
create an empty TwinCAT project and scan out etherCAT slave that linked to the master. If you have a
Beckhoff real-time compatible network adapter (ex: Intel I-350) in the system, TwinCAT master can bundle
the adapter as main 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…”
Figure 5 - 2

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AX58200
Motor Control User Guide
Reference Design User Guide
⚫Step 2: Specify “Name”and “Location”and click “OK”.
Figure 5 - 3
⚫Step 3: Click the “TWINCAT -> Show Realtime Ethernet Compatible Devices…”
Figure 5 - 4

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AX58200
Motor Control User Guide
Reference Design User Guide
⚫Step 4: Make sure your network adapter installed BECKHOFF EtherCAT real-time driver
If not installed, please click “Install”.
Figure 5 - 5
⚫Step 5: Please copy the ESI (EtherCAT Slave Information) file “AX58200_MotorControl.xml”
from the BSP directory:
“YOUR_BSP_FOLDER\SampleCode\Ethercat_MotorControl_Reference_Design\For_Twi
nCAT\ESI\”
⚫Step 6: Copy the file to TwinCAT directory: “C:\TwinCAT\3.1\Config\Io\EtherCAT\”
⚫Step 7: Click “TWINCAT -> EtherCAT Devices -> Reload Device Descriptions”.
Figure 5 - 6