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ASIX AX58200, User Manual

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9 

Copyright (C) 2020-2021 Reserved by ASIX Electronics Corporation, All Rights Reserved. 

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. 

 

 

Summary of Contents for AX58200

Page 1: ... 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 ...

Page 2: ...nics 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 ...

Page 3: ..._______________ 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 Paramete...

Page 4: ...0 Figure 2 4 11 Figure 2 5 11 Figure 2 6 12 Figure 2 7 12 Figure 2 8 13 Figure 2 9 14 Figure 3 1 15 Figure 3 2 16 Figure 4 1 17 Figure 5 1 18 Figure 5 2 18 Figure 5 3 19 Figure 5 4 19 Figure 5 5 20 Figure 5 6 20 Figure 5 7 21 Figure 5 8 21 Figure 5 9 22 Figure 5 10 22 Figure 5 11 22 Figure 5 12 23 Figure 5 13 23 Figure 5 14 24 Figure 5 15 24 Figure 5 16 24 Figure 5 17 25 Figure 5 18 25 Figure 5 19...

Page 5: ...igure 6 30 41 Figure 6 31 41 Figure 6 32 42 Figure 6 33 43 Figure 6 34 44 Figure 6 35 44 Figure 6 36 45 Figure 6 37 45 Figure 6 38 45 Figure 6 39 46 Figure 6 40 47 Figure 6 41 47 Figure 6 42 48 Figure 6 43 48 Figure 6 44 48 Figure 6 45 49 Figure 6 46 50 Figure 6 47 50 Figure 6 48 51 Figure 6 49 51 Figure 6 50 52 Figure 6 51 52 Figure 7 1 53 Figure 7 2 53 Figure 7 3 54 Figure 7 4 54 Figure 7 5 55 F...

Page 6: ...l User Guide Reference Design User Guide Figure 7 18 60 Figure 7 19 61 Figure 7 20 61 Figure 7 21 62 Figure 7 22 62 Figure 7 23 62 Figure 7 24 63 Figure 7 25 63 Figure 7 26 63 Figure 7 27 64 Figure 7 28 64 Figure 7 29 64 Figure 7 30 65 Figure 7 31 65 Figure 7 32 66 Figure 9 1 69 Figure 9 2 69 Figure 9 3 70 ...

Page 7: ... _______________________________________________________________________________________ 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 ...

Page 8: ...ough 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 oper...

Page 9: ...ree 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 relat...

Page 10: ...op 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 dev...

Page 11: ...pyright C 2020 2021 Reserved by ASIX Electronics Corporation All Rights Reserved AX58200 Motor Control User Guide Reference Design User Guide Hardware AX58200 Test Board AX58200 TSB x 1 Figure 2 4 Figure 2 5 ...

Page 12: ...yright C 2020 2021 Reserved by ASIX Electronics Corporation All Rights Reserved 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 ...

Page 13: ...lectronics Corporation All Rights Reserved 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 ...

Page 14: ...4 Copyright C 2020 2021 Reserved by ASIX Electronics Corporation All Rights Reserved AX58200 Motor Control User Guide Reference Design User Guide Table 2 2 Table 2 3 24VDC 8A Power Supply x 1 Figure 2 9 ...

Page 15: ...he 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 Beca...

Page 16: ...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 ...

Page 17: ...on All Rights Reserved 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 ...

Page 18: ...hrough 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 syste...

Page 19: ...X Electronics Corporation All Rights Reserved 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 ...

Page 20: ...CAT 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 ...

Page 21: ... Electronics Corporation All Rights Reserved 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 ...

Page 22: ...d by ASIX Electronics Corporation All Rights Reserved AX58200 Motor Control User Guide Reference Design User Guide Step 10 Choose main network adapter and click OK Figure 5 9 Step 11 Click Yes Figure 5 10 Step 12 Click Yes Figure 5 11 ...

Page 23: ...l Rights Reserved AX58200 Motor Control User Guide Reference Design User Guide Step 13 Double click Device N EtherCAT and you will see the TwinCAT master scanned out the EtherCAT slave Figure 5 12 Step 14 Select the slave right click and choose EEPROM Update Figure 5 13 ...

Page 24: ...Control User Guide Reference Design User Guide Step 15 Select the AX58200_MotorControl with revision number 3219456 and click OK Figure 5 14 Step 16 Wait for progress bar at lower right corner of the TwinCAT screen Figure 5 15 Step 17 Select Device N EtherCAT right click and choose Remove Figure 5 16 ...

Page 25: ...te Scan again repeat Step 7 11 and you will see below screen Assume AX58200 did not download available firmware with Slave Stack Code yet So the state field INIT INIT_ERR is properly reasonable Figure 5 18 If there is an available firmware with Slave Stack Code in AX58200 you should see below screen The State field is OP mode Figure 5 19 Note Please refer to Chapter 6 for download firmware ...

Page 26: ...following are 5 methods to download firmware which are introduced in sections 6 1 6 5 1 Mass Storage Method MSG mode in ICE 2 NUVOTON ICP Tool Method 3 ARM KEIL MDK Method 4 IAR EWARM Method 5 Firmware Upgrade through EtherCAT FoE If you do not have any requirements for development in further just reference the item 1 2 and 5 Otherwise you may reference the item 3 or 4 However please install the e...

Page 27: ...e Figure 6 2 And let Debug Port to connect your host as following Figure 6 3 You will see an external disk named NuMicro MCU inserted Just copy the firmware binary file AX58200_MotorControl_vX X X bin from the BSP directory YOUR_BSP_FOLDER SampleCode Ethercat_MotorControl_Reference_Design Binary to the root directory of this disk for example F After finish copy the AX58200 will auto restart Note I...

Page 28: ... ICP Tool Method Please install NUVOTON ICP In Circuit Programming Tool first You can download the tool through the link Nuvoton ICP Programming Tool or install it from AX58200 BSP Tool folder directly Make sure to take off the USB power cable and modify the DIP of ICE to below state Figure 6 4 And let Debug Port to connect your host as following Figure 6 5 ...

Page 29: ...0 2021 Reserved by ASIX Electronics Corporation All Rights Reserved AX58200 Motor Control User Guide Reference Design User Guide Execute the ICP Programming Tool Click Continue Figure 6 6 Click Connect button Figure 6 7 ...

Page 30: ... Reference Design User Guide If the green text appears that means the ICP tool finds out the ICE and AX58200 successfully Figure 6 8 Click APROM button and select the firmware file AX58200_MotorControl_vX X X bin from the BSP directory YOUR_BSP_FOLDER SampleCode Ethercat_MotorControl_Reference_Design Binary Figure 6 9 ...

Page 31: ... C 2020 2021 Reserved by ASIX Electronics Corporation All Rights Reserved AX58200 Motor Control User Guide Reference Design User Guide Click Options Figure 6 10 Check the items Erase Program and Verify Figure 6 11 ...

Page 32: ...n All Rights Reserved AX58200 Motor Control User Guide Reference Design User Guide Click Start button to download the firmware into AX58200 Figure 6 12 Note If you want to check out the firmware status for judge if the download is success please refer to section 6 7 ...

Page 33: ...EIL MDK BECKHOFF SSC Slave Stack Code or SSC Tool We don t introduce the ARM KEIL MDK and SSC tool installation here We assume it is ready in your environment Before opening the KEIL project file you must generate related source files through BECKHOFF SSC Tool If you already prepared above mentioned items you can keep following below description Make sure to take off the USB power cable and modify...

Page 34: ...ference Design User Guide 6 3 1 Use Beckhoff SSC Tool to Generate EtherCAT Slave Stack Code Step 1 First enter the following directory and execute AX58200_MotorControl esp YOUR_BSP_FOLDER SampleCode Ethercat_MotorControl_Reference_Design For_SSC_Tool Figure 6 15 Step 2 Click menu File New to create new project Figure 6 16 ...

Page 35: ...rol User Guide Reference Design User Guide Step 3 Import Configuration file by click Import button Figure 6 17 Step 4 Select AX58200_MotorControlConfigurations xml from directory and click Open YOUR_BSP_FOLDER SampleCode Ethercat_MotorControl_Reference_Design For_SSC_Tool I mport Configuration Figure 6 18 ...

Page 36: ...6 Copyright C 2020 2021 Reserved by ASIX Electronics Corporation All Rights Reserved AX58200 Motor Control User Guide Reference Design User Guide Step 5 Click OK Figure 6 19 Step 6 Click Yes Figure 6 20 ...

Page 37: ...or Control User Guide Reference Design User Guide Step 7 Select Import for import object dictionary Figure 6 21 Step 8 Select AX58200_MotorControl xlsx from directory and click Open YOUR_BSP_FOLDER SampleCode Ethercat_MotorControl_Reference_Design For_SSC_Tool Import Configuration files Figure 6 22 ...

Page 38: ... Electronics Corporation All Rights Reserved AX58200 Motor Control User Guide Reference Design User Guide Step 9 You can see the screen show the Check objects finished and click OK Figure 6 23 Step 10 Select Create new Slave Files Figure 6 24 ...

Page 39: ...served AX58200 Motor Control User Guide Reference Design User Guide Step 11 Click OK Figure 6 25 Step 12 You must first save the file to the following directory YOUR_BSP_FOLDER SampleCode Ethercat_MotorControl_Reference_Design For_SSC_Tool Figure 6 26 Step 13 Click Yes Figure 6 27 ...

Page 40: ...ep 14 Click Start to Create new Slave Files Attention The Source Folder must be saving in the directory YOUR_BSP_FOLDER SampleCode Ethercat_MotorControl_Reference_Design For_SSC_Tool Src The ESI File must be saving in the directory YOUR_BSP_FOLDER SampleCode Ethercat_MotorControl_Reference_Design For_SSC_Tool Figure 6 28 Step 15 Click OK Figure 6 29 ...

Page 41: ...Motor Control User Guide Reference Design User Guide Step 16 You can see the Create Slave files finished and click Close Final confirm that the source code exists in the following directory YOUR_BSP_FOLDER SampleCode Ethercat_MotorControl_Reference_Design For_SSC_Tool Src Figure 6 30 Figure 6 31 ...

Page 42: ...med Build for build all target files 2 The button named Download for download firmware into AX58200 3 Main program file of Motor Control Reference Design 4 BECKHOFF SSC files and related source files of AX58200 5 Motor control stack code Figure 6 32 If everything is fine you should see Build Output window without errors after click Build button The output binary file AX58200_MotorControl bin in th...

Page 43: ...elow screen and items 1 BECKHOFF SSC files and related source files of AX58200 2 Motor control stack code 3 Main program file of Motor Control Reference Design 4 Click on menu Project Rebuild All for rebuild all target files 5 Click on menu Project Download Dowbload active application for download firmware into AX58200 Figure 6 33 If everything is fine you should see Build window without errors af...

Page 44: ...Guide 6 5 Firmware Upgrading by TwinCAT FoE Make sure to link Power Port and Ethernet Port to your host Figure 6 34 You must open TwinCAT first please refer to the instructions of steps 1 12 in Chapter 5 2 and then please refer to the following steps for firmware upgrade Step 1 Right click the Box 1 and select the Firmware update Figure 6 35 ...

Page 45: ...ide Reference Design User Guide Step 2 Select AX58200_MotorControl efw under path YOUR_BSP_FOLDER SampleCode Ethercat_MotorControl_Reference_Design For_TwinCAT Upgrade and then click Open Figure 6 36 Step 3 Click the OK Figure 6 37 Step 4 Wait for progress bar at lower right corner of the TwinCAT screen Figure 6 38 ...

Page 46: ...ration All Rights Reserved AX58200 Motor Control User Guide Reference Design User Guide Step 5 Finish Firmware Update and click the OK Figure 6 39 Note If you want to check out the firmware status for judge if the download is success please refer to section 6 7 ...

Page 47: ...winCAT FoE 6 6 1 Download Servo Parameter File to AX58200 Make sure to link Power Port and Ethernet Port to your host Figure 6 40 The following steps are the same as section 6 5 TwinCAT Firmware Upgrade Only the selected file is a parameter file please refer to the following steps to perform parameter upgrade Step 1 Right click the Box 1 and select the Firmware update Figure 6 41 ...

Page 48: ...ence Design User Guide Step 2 Select file AX58200_BL60M24D8E00430080_MTMBL60 efw under path YOUR_BSP_FOLDER SampleCode Ethercat_MotorControl_Reference_Design For_TwinCAT Upgrade and then click Open Figure 6 42 Step 3 Click the OK Figure 6 43 Step 4 Wait for progress bar at lower right corner of the TwinCAT screen Figure 6 44 ...

Page 49: ...ation All Rights Reserved AX58200 Motor Control User Guide Reference Design User Guide Step 5 Finish Parameter Update and click the OK Figure 6 45 Note If you want to check out the firmware status for judge if the download is success please refer to section 6 7 ...

Page 50: ...his file couldn t directly download to slave must be converted to AX58200_BL60M24D8E00430080_MTMBL60 efw file by calling genImages bat For ARM Keil MDK the file path is YOUR_BSP_FOLDER SampleCode Ethercat_MotorControl_Reference_Design Keil genImages bat For IAR EWARM the file path is YOUR_BSP_FOLDER SampleCode Ethercat_MotorControl_Reference_Design IAR genImages bat Normally this batch file will b...

Page 51: ...Firmware Status by Debug Port It is helpful by using debug port for debug check the firmware status We just need to modify the DIP of ICE to correct state connect the Debug Port to the host and open the COM port Make sure to take off the USB power cable and modify the DIP of ICE to below state Figure 6 48 And let Debug Port to connect your host Figure 6 49 ...

Page 52: ... the Serial port tool The following example uses Tera Term as the serial port tool and default setting of UART port of AX58200 as following Baud rate 115200 Data 8 bit Parity none Stop 1 bit Flow control none Figure 6 50 Open the Serial port If no any characters appear in Serial port you can press Reset button to confirm again Below screen indicates firmware start up the EtherCAT Slave Stack succe...

Page 53: ...AT XAE If you finished procedure in Chapter 5 and 6 correctly you should see the AX58200 in OP state Figure 7 1 7 1 Import PLC Our demo application develops by PLC language We already saved the PLC application as tpzip file User just needs to insert the file into PLC entry of TwinCAT project Please refer to below steps Step 1 Right click on PLC entry and select Add Existing Item Figure 7 2 ...

Page 54: ...er Guide Step 2 Select the file AxMotorControl_vX_X_X tpzip in your BSP directory YOUR_BSP_FOLDER SampleCode Ethercat_MotorControl_Reference_Design For_TwinCAT PLC And you will see below screen the demo application be inserted into PLC entry Figure 7 3 Step 3 Right click on AX58200_MotorControl_v_x_x_x Project and select Build Figure 7 4 ...

Page 55: ...on that software variables could link to PD of EtherCAT slave In this application we declare the PD Process Data in ESI file for each known EtherCAT slaves TwinCAT XAE list all available PDs of every EtherCAT slaves after scanning them out We can assign some software variable mapping to some PD in the list under IO entry so that the application could access the PD directly But please attention all...

Page 56: ...X58200 Motor Control User Guide Reference Design User Guide Then you will see the black arrow icon appears Figure 7 7 Next you need to complete remaining PD link in the same way Link Golbal_Value_Axes 0 nStateWord variable Figure 7 8 Link Golbal_Value_Axes 0 nPosActVal variable Figure 7 9 ...

Page 57: ...rved by ASIX Electronics Corporation All Rights Reserved AX58200 Motor Control User Guide Reference Design User Guide Link Golbal_Value_Axes 0 nCtrlWord variable Figure 7 10 Link Golbal_Value_Axes 0 nTargetPos variable Figure 7 11 ...

Page 58: ... User Guide If you want to check out linked PD just right click on the software variable and select Goto Link Variable If you want to check out linked software variable while mouse focus the PD just do same above motion Figure 7 12 If you want to clear the link just right click on the software or PD and select Clear Link s Figure 7 13 ...

Page 59: ...d Input 2bytes CiA402 object for CSP mode Golbal_Value_Axes 0 nPosActVal Position actual value Input 4bytes CiA402 object for CSP mode Golbal_Value_Axes 0 nCtrlWord Controlword Output 2bytes CiA402 object for CSP mode Golbal_Value_Axes 0 nTargetPos Target velocity Output 4bytes CiA402 object for CSP mode Table 7 1 7 4 Set DC Cycle Time Before entering the DC mode you need to set the system clock f...

Page 60: ...ts Reserved AX58200 Motor Control User Guide Reference Design User Guide Step 3 Click Plc Task and set Cycle ticks a 1ms Figure 7 16 Step 4 Double click Device N EtherCAT and click Advanced Settings Figure 7 17 Step 5 Click Distributed Clocks and select DC in use Figure 7 18 ...

Page 61: ...orporation All Rights Reserved AX58200 Motor Control User Guide Reference Design User Guide Step 6 Click Box 1 enter the DC tab and click Advanced Settings Figure 7 19 Step 7 Select DC Synchron click Use as potential Reference Clock and click OK Figure 7 20 ...

Page 62: ...we can start to execute the PLC program We should active re active the TwinCAT configuration after any configurations changed or your TwinCAT master in configure mode Note You MUST setup PD link so that TwinCAT master can let the slave enter OP mode Please follow below steps for running mode and then execute PLC application Step 1 Click Activate Configuration Figure 7 21 Step 2 Click OK Figure 7 2...

Page 63: ...Electronics Corporation All Rights Reserved AX58200 Motor Control User Guide Reference Design User Guide Step 4 Confirm the running mode is setting Figure 7 24 Step 5 Confirm the AX58200 is in OP state Figure 7 25 Step 6 Click Login Figure 7 26 ...

Page 64: ... by ASIX Electronics Corporation All Rights Reserved AX58200 Motor Control User Guide Reference Design User Guide Step 7 Click Yes Figure 7 27 Step 8 Click Start Figure 7 28 Step 9 Double click Demonstration to open PLC GUI Figure 7 29 ...

Page 65: ...yright C 2020 2021 Reserved by ASIX Electronics Corporation All Rights Reserved AX58200 Motor Control User Guide Reference Design User Guide Step 10 Power On Figure 7 30 Step 11 Run Demonstration Figure 7 31 ...

Page 66: ...eserved AX58200 Motor Control User Guide Reference Design User Guide Each field description as following 1 Motor status 2 Demonstration state 3 Power On Off 4 Power Lamp 5 Fault Reset request 6 Fault Lamp 7 Offset angle after homing 8 Homing 9 Start Stop Demonstration Figure 7 32 ...

Page 67: ...d object where the data fields may be any combination of simple variables Table 8 1 0x1000 0x1FFF area object definition Index Object Type Name Data Type Access Remark 0x1000 VAR Device type UNSIGNED32 RO 0x1001 VAR Error register UNSIGNED8 RO 0x1008 VAR Device name Visible String RO 0x1009 VAR Hardware version Visible String RO 0x100A VAR Software version Visible String RO 0x1018 RECORD Identity ...

Page 68: ...N 0x605C VAR Disable operation option code INTEGER16 RW N 0x605E VAR Fault reaction option code INTEGER16 RW N 0x6060 VAR Modes of operation INTEGER16 RW Y 0x6061 VAR Modes of operation display INTEGER16 RO Y 0x6064 VAR Position actual value INTEGER32 RO Y 0x606C VAR Velocity actual value INTEGER32 RO Y 0x6077 VAR Torque actual value INTEGER16 RO N 0x607A VAR Target position INTEGER32 RW Y 0x607C ...

Page 69: ... master Test environment Beckhoff C69200 0050 please refer to https www beckhoff com en en products ipc pcs c69xx compact industrial pcs c6920 html 9 1 Minimum DC Cycle Time With TwinCAT Master the DC and PD conditions are shown as below Master use LRW command to do PD transfer with 8bytes input and 8bytes output under this setting the minimum DC cycle time can down to 250us Figure 9 1 Without fra...

Page 70: ...21 Reserved by ASIX Electronics Corporation All Rights Reserved AX58200 Motor Control User Guide Reference Design User Guide Also without detected SM Event Missed Cycle Time Too Small and Sync Error at Slave side Figure 9 3 ...

Page 71: ...thout warranty of any kind either expressed or implied including without limitation warranties of merchantability fitness for a particular purpose and non infringement Designers must not rely on the absence or characteristics of any features or registers marked reserved undefined or NC ASIX reserves these for future definition and shall have no responsibility whatsoever for conflicts or incompatib...

Page 72: ...ronics Corporation All Rights Reserved AX58200 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 http www asix com tw ...

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