Asix Ax58200 User manual

AX58200

Motor Control User Guide

Reference Design User Guide

Revision 1.00

March 27th, 2020

rch 14th, 2020

AX58200 Motor Control

User Guide

AX58200

Motor Control User Guide

Reference Design User Guide

Revision History

Revision

Date

Description

1.00

2020/03/27

Initial release

 
 
 3 
Copyright (C) 2020 Reserved by ASIX Electronics Corporation, All Rights Reserved. 
AX58200 
Motor Control User Guide 
 
 
Reference Design User Guide 
CONTENT 
1. Introduction ....................................................................................................................7 
2. Requirements..................................................................................................................8 
3. Board Description.........................................................................................................14 
3-1 AX58200-TSB......................................................................................14
3-2. X-NUCLEO-IHM08M1.........................................................................15
4. Hardware Setup ............................................................................................................16 
4-1 Connectivity..........................................................................................16
5. Basic Operation of TwinCAT .......................................................................................17 
5-1 Open XAE through Visual Studio 2010 / 2013......................................17
5-2 Project creation & download EEPROM ................................................17
6. Download Firmware to AX58200 .................................................................................25 
6-1 Mass Storage Method..........................................................................26
6-2 NUVOTON ICP Tool Method................................................................27
6-3 ARM KEIL MDK Method.......................................................................32
6-4 IAR EWARM Method............................................................................34
6-5 Check Firmware Status by Debug Port.................................................35
7. PLC Application............................................................................................................37 
7-1 Import PLC...........................................................................................37
7-2 PD Link ................................................................................................42
7-3 Link Reference.....................................................................................46
7-4 Execution PLC .....................................................................................46
8. Object Dictionary..........................................................................................................49 
8-1 Objects Description..............................................................................49
9. Performance Evaluation...............................................................................................51 
9-1 Minimum DC Cycle Time......................................................................51
 
 

 
 
 4 
Copyright (C) 2020 Reserved by ASIX Electronics Corporation, All Rights Reserved. 
AX58200 
Motor Control User Guide 
 
 
Reference Design User Guide 
 List of figure 
Figure 1 - 1 ..........................................................................................................................................................7 
 
Figure 2 - 1 ..........................................................................................................................................................8 
Figure 2 - 2 ..........................................................................................................................................................8 
Figure 2 - 3 ..........................................................................................................................................................8 
Figure 2 - 4 ..........................................................................................................................................................9 
Figure 2 - 5 ..........................................................................................................................................................9 
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Figure 2 - 10 ......................................................................................................................................................12 
Figure 2 - 11 ......................................................................................................................................................13 
 
Figure 3 - 1 ........................................................................................................................................................14 
Figure 3 - 2 ........................................................................................................................................................15 
 
Figure 4 - 1 ........................................................................................................................................................16 
 
Figure 5 - 1 ........................................................................................................................................................17 
Figure 5 - 2 ........................................................................................................................................................17 
Figure 5 - 3 ........................................................................................................................................................18 
Figure 5 - 4 ........................................................................................................................................................18 
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Figure 5 - 19 ......................................................................................................................................................24 
 
Figure 6 - 1 ........................................................................................................................................................25 
Figure 6 - 2 ........................................................................................................................................................26 
Figure 6 - 3 ........................................................................................................................................................26 
Figure 6 - 4 ........................................................................................................................................................27 
Figure 6 - 5 ........................................................................................................................................................27 
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Figure 6 - 7 ........................................................................................................................................................28 
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Figure 6 - 10 ......................................................................................................................................................30 
Figure 6 - 11 ......................................................................................................................................................30 
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Figure 6 - 13 ......................................................................................................................................................32 
Figure 6 - 14 ......................................................................................................................................................32 
Figure 6 - 15 ......................................................................................................................................................33 
Figure 6 - 16 ......................................................................................................................................................34 

 
 
 5 
Copyright (C) 2020 Reserved by ASIX Electronics Corporation, All Rights Reserved. 
AX58200 
Motor Control User Guide 
 
 
Reference Design User Guide 
Figure 6 - 17 ......................................................................................................................................................35 
Figure 6 - 18 ......................................................................................................................................................35 
Figure 6 - 19 ......................................................................................................................................................36 
Figure 6 - 20 ......................................................................................................................................................36 
 
Figure 7 - 1 ........................................................................................................................................................37 
Figure 7 - 2 ........................................................................................................................................................37 
Figure 7 - 3 ........................................................................................................................................................38 
Figure 7 - 4 ........................................................................................................................................................38 
Figure 7 - 5 ........................................................................................................................................................39 
Figure 7 - 6 ........................................................................................................................................................39 
Figure 7 - 7 ........................................................................................................................................................40 
Figure 7 - 8 ........................................................................................................................................................40 
Figure 7 - 9 ........................................................................................................................................................41 
Figure 7 - 10 ......................................................................................................................................................41 
Figure 7 - 11 ......................................................................................................................................................42 
Figure 7 - 12 ......................................................................................................................................................42 
Figure 7 - 13 ......................................................................................................................................................43 
Figure 7 - 14 ......................................................................................................................................................43 
Figure 7 - 15 ......................................................................................................................................................43 
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Figure 7 - 23 ......................................................................................................................................................47 
Figure 7 - 24 ......................................................................................................................................................47 
Figure 7 - 25 ......................................................................................................................................................48 
Figure 7 - 26 ......................................................................................................................................................48 
 
Figure 9 - 1 ........................................................................................................................................................51 
Figure 9 - 2 ........................................................................................................................................................51 
Figure 9 - 3 ........................................................................................................................................................52 
 
 

AX58200

Motor Control User Guide

Reference Design User Guide

List of Table

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

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

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

Table 3 - 1..........................................................................................................................................................15

Table 4 - 1..........................................................................................................................................................16

Table 7 - 1..........................................................................................................................................................46

Table 8 - 1..........................................................................................................................................................49

Table 8 - 2..........................................................................................................................................................50

Table 8 - 3..........................................................................................................................................................50

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-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).

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 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

AX58200

Motor Control 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 v3.1.4022.28 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

⚫IAR Embedded Workbench for ARM 7.40 (for development only)

Figure 2 - 3

AX58200

Motor Control User Guide

Reference Design User Guide

[Hardware]

⚫AX58200 Test Board (AX58200-TSB) x 1

Figure 2 - 4

Figure 2 - 5

AX58200

Motor Control User Guide

Reference Design User Guide

⚫AX58200-TSB to X-NUCLEO-IHM081 Adapter Board (AX58200-EXB-SMDB) x 1

Figure 2 - 6

Figure 2 - 7

AX58200

Motor Control User Guide

Reference Design User Guide

⚫X-NUCLEO-IHM08M1 3-Phase Inverter Board x 1

Figure 2 - 8

Figure 2 - 9

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 - 10

Table 2 - 1

AX58200

Motor Control User Guide

Reference Design User Guide

Table 2 - 2

Table 2 - 3

⚫24VDC/8A Power Supply x 1

Figure 2 - 11

AX58200

Motor Control User Guide

Reference Design User Guide

3. Board Description

3-1 AX58200-TSB

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

Figure 3 - 1

AX58200

Motor Control User Guide

Reference Design User Guide

3-2. X-NUCLEO-IHM08M1

The X-NUCLEO-IHM08M1 is a three-phase brushless DC motor driver expansion board, please refer to ST

official website as below for more detail.

https://www.st.com/en/ecosystems/x-nucleo-ihm08m1.html

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.

Component

Status

R74, R86

Removed

JP1, JP2

Closed

C3, C5 and C7

Removed

J5, J6

Short 3sh side

Table 3 - 1

Figure 3 - 2

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.

Please check the power USB port (CON4) is connected before you are ready to start up

motor. The debug USB port (ICON1) is only used to upgrade firmware and debugging at

development stage.

Figure 4 - 1

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

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

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\SampleCode\Ethercat_MotorControl_Reference_D

esign\For_TwinCAT\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

AX58200

Motor Control User Guide

Reference Design User Guide

⚫Step 8: Plug USB power and connect ESC port0 to TwinCAT master port.

Figure 5 - 7

⚫Step 9: Right-click on “IO / Devices”and select “Scan”.

Figure 5 - 8

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