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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