SPRACM9B June   2019  – November 2020 F29H850TU , F29H859TU-Q1 , TMS320F28384D , TMS320F28384S , TMS320F28386D , TMS320F28386S , TMS320F28388D , TMS320F28388S , TMS320F28P650DH , TMS320F28P650DK , TMS320F28P650SH , TMS320F28P650SK , TMS320F28P659DH-Q1 , TMS320F28P659DK-Q1 , TMS320F28P659SH-Q1

 

  1.   Trademarks
  2. 1 Introduction
    1. 1.1 Acronyms Used in This Document
  3. 2 Benefits of the TMS320F2838x MCU for High-Bandwidth Current Loop
  4. 3 Current Loops in Servo Drives
  5. 4 Outline of the Fast Current Loop Library
  6. 5 Fast Current Loop Evaluation
    1. 5.1 Evaluation Setup
      1. 5.1.1 Hardware
      2. 5.1.2 Software
      3. 5.1.3 FCL With T-Format Type Position Encoder
        1. 5.1.3.1 Connecting T-Format Encoder to IDDK
        2. 5.1.3.2 T-Format Interface Software
        3. 5.1.3.3 T-Format Encoder Latency Considerations
      4. 5.1.4 SDFM
      5. 5.1.5 Incremental System Build
  7. 6 Incremental Build Level 1
    1. 6.1 SVGEN Test
    2. 6.2 Testing SVGEN With DACs
    3. 6.3 Inverter Functionality Verification
  8. 7 Incremental Build Level 2
    1. 7.1 Setting the Overcurrent Limit in the Software
    2. 7.2 Current Sense Method
    3. 7.3 Voltage Sense Method
    4. 7.4 Setting Current Regulator Limits
    5. 7.5 Verification of Current Sense
    6. 7.6 Position Encoder Feedback
      1. 7.6.1 Speed Observer and Position Estimator
      2. 7.6.2 Verification of Position Encoder Orientation
  9. 8 Incremental Build Level 3
    1. 8.1 Observation One – PWM Update Latency
      1. 8.1.1 From the Expressions Window
      2. 8.1.2 From the Scope Plot
  10. 9 Incremental Build Level 4
    1. 9.1 Observation
  11. 10Incremental Build Level 5
  12. 11Incremental Build Level 6
    1. 11.1 Integrating SFRA Library
    2. 11.2 Initial Setup Before Starting SFRA
    3. 11.3 SFRA GUIs
    4. 11.4 Setting Up the GUIs to Connect to Target Platform
    5. 11.5 Running the SFRA GUIs
    6. 11.6 Influence of Current Feedback SNR
    7. 11.7 Inferences
      1. 11.7.1 Bandwidth Determination From Closed Loop Plot
      2. 11.7.2 Phase Margin Determination From Open Loop Plot
      3. 11.7.3 Maximum Modulation Index Determination From PWM Update Time
      4. 11.7.4 Voltage Decoupling in Current Loop
    8. 11.8 Phase Margin vs Gain Crossover Frequency
  13. 12Incremental Build Level 7
    1. 12.1 Run the Code on CPU1 to Allocate ECAT to CM
    2. 12.2 Run the Code on CM to Setup ECAT
    3. 12.3 Setup TwinCAT
    4. 12.4 Scanning for EtherCAT Devices via TwinCAT
    5. 12.5 Program ControlCard EEPROM for ESC
    6. 12.6 Running the Application
  14. 13Incremental Build Level 8
    1. 13.1 Run the Code on CPU1 to Allocate ECAT to CM
    2. 13.2 Run the Code on CM to Setup ECAT
    3. 13.3 Running the Application
  15. 14References
  16. 15Revision History

12.3 Setup TwinCAT

The TwinCAT software turns almost any compatible PC into a real-time controller with a multi-PLC system, NC axis control, programming environment and operating station. TwinCAT is a PC software functioning as an EtherCAT master to control various EtherCAT slave nodes connected to the PC. The following are the steps to setup TwinCAT

  1. Optional: Install Microsoft Visual Studio. This isn’t required since TwinCAT will install a Visual Studio shell if no Visual Studio installation is found.
    1. Download and install Microsoft Visual Studio
    2. TwinCAT supports integration into Visual Studio 2010/2012/2013/2015/2017
  2. Download and install TwinCAT3 from the Beckhoff
    1. Follow the left sidebar to Download->Software->TwinCAT 3->TE1xxx | Engineering and select the software product TwinCAT 3.1 eXtended Automation Engineering (XAE)
  3. Once installation is complete, verify that the TwinCAT Runtime is active
    1. Check that the TwinCAT Config Mode icon is shown in the Windows notification panel as shown in Figure 12-2.
      GUID-960B18A8-E38E-4A93-ABD6-CA65E1B211E7-low.png Figure 12-1 TwinCAT Config Mode Icon
    2. Right click on this icon and select Tools->TwinCAT Switch Runtime. From the Tc- SwitchRuntime window, verify that it is active. When active, it will only provide the option to Deactivate. Do not deactivate!
      GUID-09FFBC6D-4CCF-43B7-B854-0E31DC0A744E-low.png Figure 12-2 TcSwitchRunTime Window Activated
    3. If the icon is not present, then locate the TwinCAT Runtime executable from the file system. (Default installation location is typically: C:/TwinCAT/TcSwitchRuntime)
  4. Start up Visual Studio with TwinCAT using one of the following methods:
    1. Recommended: Right click the TwinCAT Config Mode icon from the Windows notification panel and select TwinCAT XAE
    2. installed desktop icon: TwinCAT XAE
    3. Use installed Start Menu icon under Beckhoff folder: TwinCAT XAE
  5. Once Visual Studio running, verify that the main toolbar has options TwinCAT and PLC shown. If these aren’t present, then the TwinCAT Switch Runtime isn’t active.
  6. Within Visual Studio, create a new EtherCAT project. Select File -> New -> Project and under templates select TwinCAT Projects then TwinCAT XAE Project (XML format). Fill in a name (say f2838x_iddk) and click OK.
  7. Now that the project is created, verify that a realtime Ethernet adapter is installed.
    1. In Visual Studio, select the TwinCAT menu from the main toolbar and select Show Realtime Ethernet Compatible Devices
    2. In the popup window, under Installed and ready to use devices (realtime capable) category, if no connections are shown, select one from the list of Compatible devices and click Install.
  8. TwinCAT setup is now complete.