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dual_cores_ecat_servo_motor

dual_cores_ecat_servo_motor#

Overview#

This example is a implementation of EtherCAT servo motor system which is compliance with CiA402 profile. It consists of two parts: EtherCAT communication and Motor control. These two parts are running on different CPU cores.

EtherCAT communication is in charge of the communication with EtheCAt MainDevice and shares the data with Motor control programme via shared memory. Motor control controls up to two PMSM motors with Endat2.2 encoder.

Running the demo#

Note that the EtherCAT communication code CAN NOT be compiled directly. Please follow the steps below:

  1. Generate the SSC source code

    • Download Slave Stack Code Tool(SSC Tool V5.13) from BECKHOFF official website and install it.

    • Create a new folder to save all files generated by SSC tool.

    • Open Slave Stack Code Tool.

    • Click ‘File’ -> ‘New’ -> ‘Import’ to import the Congfig file.
      Select servo_motor.xml under the path: “\boards<board>\ecat_examples\dual_cores_servo_motor<core>\SSC”.

    • Click ‘Custom’ -> ‘NXP ECAT…’ -> ‘OK’ to select the subdevice description file

    • Click ‘File’ -> ‘Save’ to save the project to the new folder.

    • Click ‘Project’ -> ‘Create new Slave Files’.
      Select ‘Source Folder’ to the new folder.

    • Click ‘Start’.
      The ESI file and SSC source code is saved on the new folder.

  2. Copy SSC souce code to the mcuxsdk folder

    • Delete the “Src” folder under the path: “\boards<board>\ecat_examples\dual_cores_servo_motor<core>\SSC’

    • Copy the whole “Src” folder in the new folder to “\boards<board>\ecat_examples\dual_cores_servo_motor<core>\SSC’

  3. Apply the patch
    Change working directory to “\boards<board>\ecat_examples\dual_cores_servo_motor<core>\SSC”.

    • Linux:

      1. Download dos2unix command
        apt-get install dos2unix

      2. Transfer SSC source code format
        dos2unix Src/*

      3. Apply patch
        patch -d ./ -p1 -i ./0001-SSC-Servo-dual-cores-servo-motor-control-support.patch

    • Windows:

      1. Download patch.exe and Unix2Dos.exe tool
        Download Windows Patch Utility from http://gnuwin32.sourceforge.net/downlinks/patch-bin-zip.php .
        Download Dos2Unix/Unix2Dos-Text file format converters from https://sourceforge.net/projects/dos2unix/ .

      2. Transfer the patch format
        $(Dos2Unix/Unix2Dos-DIR)/bin/unix2dos.exe 0001-SSC-Servo-dual-cores-servo-motor-control-support.patch

      3. Apply patch
        patch.exe -d ./ -p1 -i ./0001-SSC-Servo-dual-cores-servo-motor-control-support.patch

After compilation and image download, the serial console for CM33_core1 will output:

Start the SSC dual_cores_servo_motor example...

Now this servo system is ready to wait EtherCAT MainDevice connection.

TwinCAT Setup#

To demonstrate this servo system, TwinCAT is used as the EtherCAT MainDevice.

Supported Boards#

imx943evk
Hardware requirements

  • IMX943EVK

  • FRDM-LVPMSM-FA RevB boards

  • Servo Motors

    • T5PUXS4-H09: integrated ECN 1325 ENDAT2.2 Encoder

    • T5PUXS4-H18: integrated ECN 1325 ENDAT3 Encoder

    • HMD06-011-048-60-OPB1MW230： integrated BiSS Encoder

    One Motor demo:

    • T5PUXS4-H09

    • T5PUXS4-H18

    • HMD06-011-048-60-OPB1MW230

    Two Motors demo:

    • Two T5PUXS4-H09

    • One T5PUXS4-H09 and one T5PUXS4-H18

    • One T5PUXS4-H09 and one HMD06-011-048-60-OPB1MW230

    • One T5PUXS4-H18 and one HMD06-011-048-60-OPB1MW230

  • RJ45 Network cable

  • 24V 5A DC power supply

  • Personal Computer on which the TwinCat3 has been installed

Board settings

FRDM-LVPMSM-FA board with T5PUXS4-H09 motor:

  • SW90[1:4]: OFF-ON-ON-ON

  • SW30[1:4]: OFF-OFF-ON-OFF

  • J300(1-2)

  • Encoder connection:

    Pin name (FRDM-LVPMSM-FA)

    Pin location (FRDM-LVPMSM-FA)

    Sensor signal name

    Pin location (T5PUXS4-H09)

    ENC_CLK_P

    J70-2

    CLOCK

    5

    ENC_CLK_N

    J70-7

    CLOCK-

    6

    ENC_DATA_IO_P

    J70-4

    DATA

    3

    ENC_DATA_IO_N

    J70-9

    DATA-

    4

    VENC

    J70-1

    Vcc(+5v)

    1

    GND

    J70-6

    GND

    2

  • Motor connection:

    J140: pin3 <–> Cable A: 1=U
    J140: pin2 <–> Cable A: 3=W
    J140: pin1 <–> Cable A: 4=V

FRDM-LVPMSM-FA board with T5PUXS4-H18 motor:

  • SW90[1:4]: OFF-ON-ON-ON

  • SW30[1:4]: OFF-OFF-OFF-ON

  • J72(1-3)

  • J72(2-4)

  • J73(1-2)

  • J300(1-2)

  • Encoder connection:

    Pin name (FRDM-LVPMSM-FA)

    Pin location (FRDM-LVPMSM-FA)

    Sensor signal name

    Pin location (T5PUXS4-H18)

    ENC_DATA_IO_VENC_P

    J70-5

    P_SD+

    1

    ENC_DATA_IO_VENC_N

    J70-10

    P_SD-

    2

  • Motor connection:

    J140: pin3 <–> Cable A: 1=U
    J140: pin2 <–> Cable A: 3=W
    J140: pin1 <–> Cable A: 4=V

FRDM-LVPMSM-FA board with HMD06-011-048-60-OPB1MW230:

  • SW90[1:4]: ON-OFF-OFF-ON

  • SW30[1:4]: OFF-ON-OFF-OFF

  • J72(1-3)

  • J72(2-4)

  • J73(1-2)

  • J300(1-2)

  • Encoder connection:

    Pin name (FRDM-LVPMSM-FA)

    Pin location (FRDM-LVPMSM-FA)

    Sensor signal name

    Pin location (HMD06-011-048-60-OPB1MW230)

    ENC_CLK_P

    J70-2

    MASTER_CLOCK_INPUT_P

    9

    ENC_CLK_N

    J70-7

    MASTER_CLOCK_INPUT_N

    11

    ENC_DATA_IN_P

    J70-3

    SLAVE_DATA_P

    7

    ENC_DATA_IN_N

    J70-8

    SLAVE_DATA_N

    8

    VENC

    J70-1

    VDC

    5

    GND

    J70-6

    GND

    6

  • Motor connection:

    J140: pin3 <–> Cable A: 1=U
    J140: pin2 <–> Cable A: 3=W
    J140: pin1 <–> Cable A: 4=V

i.MX943-EVK board:

  • SW4: based on used BOOT_MODE

  • SW7[1:4] : ON:ON:ON:ON

  • SW8: ALL to OFF

Serial Port Setting:

  • Replace “BOARD_DEBUG_UART_INSTANCE 8” with “BOARD_DEBUG_UART_INSTANCE 1” on “board.h”

  • i.MX943 EVK has 4 serial port: port0, port1, port2, port3, using serial port1 as m70 core output, port2 as m33s core output

Prepare the Demo

  • Connect the FRDM-LVPMSM-FA shield with the motor to the M1 connector on the front of i.MX943-EVK board.

  • For two motors demo, connect the second FRDM-LVPMSM-FA shield on M2 connector on the back of i.MX943-EVK board.

  • Select the encoder used for motor using the macro definitions M1_ENCODER and M2_ENCODER in the mc_periph_init.h file:

    • For M1

      • “#define M1_ENCODER ENCODER_ENDAT2P2_2” for Endat2.2 encoder

      • “#define M1_ENCODER ENCODER_ENDAT3” for Endat3 encoder.

      • “#define M1_ENCODER ENCODER_BISS” for BISS encoder.

    • For M2

      • “#define M2_ENCODER ENCODER_ENDAT2P2_1” for Endat2.2 encoder

      • “#define M2_ENCODER ENCODER_ENDAT3” for Endat3 encoder.

      • “#define M2_ENCODER ENCODER_BISS” for BISS encoder.

    • The default value of these two macros: #define M1_ENCODER ENCODER_BISS #define M2_ENCODER ENCODER_ENDAT3

    Note: The i.MX943‑EVK board supports only one EnDat 3 motor or one BiSS motor.

  • Plug the USB cable from the USB host to the FTDI_DEBUG USB connector J15 on the i.MX943-EVK board.

    • Open a serial terminal with the following settings

      • 115200 baud rate

      • 8 data bits

      • No parity

      • One stop bit

      • No flow control

  • Plug the 12-V DC power supply to the P1 connector on the i.MX943-EVK board.

  • Plug the 24-V DC power supply to the J10 connector on the FRDM-LVPMSM-FA board(s).

  • Connect EtherCAT0 labeled as J24B with TwinCAT3 using RJ45 Network cable.

frdmimxrt1186
Hardware requirements

  • FRDM-IMXRT1186

  • FRDM-LVPMSM-FA RevB

  • FRDM-EXP-LVPMSM RevB

  • TGT3-0065-60-48 Motor

  • RJ45 Network cable

  • 24V DC power supply

  • TwinCat3

Board settings

FRDM-LVPMSM-FA board:

  • SW90[1:4]: OFF-ON-ON-ON

  • SW30[1:4]: OFF-ON-OFF-OFF

  • J300(2-3)

  • Encoder connection:

    Pin name (FRDM-LVPMSM-FA)

    Pin location (FRDM-LVPMSM-FA)

    Sensor signal name

    ENC_CLK_P

    J70-2

    CLOCK_P

    ENC_CLK_N

    J70-7

    CLOCK_N

    ENC_DATA_IO_P

    J70-4

    DATA_P

    ENC_DATA_IO_N

    J70-9

    DATA_N

    VENC

    J70-1

    UP - Power supply voltage

    GND

    J70-6

    GND

  • Motor connection:

    J140: pin3 <–> Cable A: 1=U
    J140: pin2 <–> Cable A: 3=W
    J140: pin1 <–> Cable A: 4=V

FRDM-IMXRT1186 board:

  • Jumper setting:

    J29 (2-3) J42 (1-2) J49 (2-3) J30 (2-3) J33 (2-3) J27 (2-3) J12 (2-3) J13 (2-3) J18 (2-3) J17 (2-3)

  • Add zero resistors:

    R2, R3, R243, R448, R34, R40, R83(1-3)

  • Remove resistors:

    R407

FRDM-EXP-LVPMSM board:

  • Add zero resistors:
    SJ12, SJ53, SJ52, SJ38, SJ29, SJ28, SJ27, SJ37, SJ16, SJ14, SJ9 , SJ4 , SJ17, SJ18, SJ2 , SJ1 ,
    SJ19, SJ20, SJ44, SJ42, SJ39, SJ36, SJ10, SJ17, SJ45, SJ47, SJ5 , SJ6 , SJ8 , SJ11, SJ13, SJ15

  • Remove resistors:
    SJ21, SJ23, SJ25, SJ31, SJ26, SJ32, SJ49

Prepare the Demo

  • Connect the FRDM-EXP-LVPMSM board to the FRDM-IMXRT1186 board

  • Connect the FRDM-LVPMSM-FA with the motor to the Motor1 interface of FRDM-EXP-LVPMSM

  • If demostart two motors, connect the second FRDM-LVPMSM-FA with the motor to the Motor2 interface of FRDM-EXP-LVPMSM board.

  • Plug the USB cable from the USB host to the FTDI_DEBUG USB connector J23 on the FRDM-IMXRT1186 board.

    • Open a serial terminal with the following settings

      • 115200 baud rate

      • 8 data bits

      • No parity

      • One stop bit

      • No flow control

  • Plug the 24-V DC power supply to the J10 connector on the FRDM-LVPMSM-FA board(s).

  • Connect EtherCAT0 labeled as J57A with TwinCAT3 using RJ45 Network cable.

evkmimxrt1180
Hardware requirements

  • MIMXRT1180-EVK RevC

  • FRDM-MC-LVPMSM

  • Teknic2311P Motor

  • RJ45 Network cable

  • Mini/micro USB cable

  • Personal Computer on which the TwinCat3 has been installed

Board settings

  • Jumper setting:

    Jumper

    Setting

    Jumper

    Setting

    Jumper

    Setting

    JP1

    1-2

    J58

    2-3

    J78

    1-2

    J4

    1-2

    J59

    2-3

    J79

    1-2

    J6

    1-2

    J63

    1-2

    J90

    1-2

    JP6

    1-2

    J65

    1-2

    J91

    1-2

    J9

    1-2

    J72

    1-2

    J93

    1-2

    J11

    2-3

    J73

    1-2

    J97

    1-2

    J12

    1-2

    J75

    2-3

    J98

    1-2

    J14

    1-2

    J76

    1-2

    J99

    1-2

    J57

    2-3

    J77

    1-2

    J100

    1-2

  • Remove and solder zero resistors:

    • Add zero resistors: R747, R749, R760, R763, R767, R1049, R1051.

    • Remove zero resistors: R104, R105, R107, R126, R142, R146, R148, R1089, R1090.

  • For detailed motor connection and motor control user guide, please refer:

    • http://www.nxp.com/sdkmotorcontrol

Prepare the Demo

  1. Connect Teknic2311P motor to the FRDM-LVPMSM-FA shield

  2. Connect the FRDM-LVPMSM-FA shield on Motor Control interface of the MIMXRT1180-EVK board.

  3. Connect the EtherCAT Port0 on the MIMXRT1180-EVK board with TwinCAT3

    • The label of the EtherCAT Port0 is J28.

  4. Connect a USB cable between the host PC and the OpenSDA USB port on the target board

  5. Open a serial terminal with the following settings

    • 115200 baud rate

    • 8 data bits

    • No parity

    • One stop bit

    • No flow control

  6. Download the program to the target board

  7. Either press the reset button on your board or launch the debugger in your IDE to begin running the demo

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