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

12.4 Scanning for EtherCAT Devices via TwinCAT

Us the following steps to scan EtherCAT devices via TwinCAT:

  1. Open the TwinCAT project created in Section 12.3 (f2838x_iddk)
  2. Verify that the controlCARD is running the demo code (CM running fcl_f2838x_ecat_cm.out) as described in Section 12.2 and that the development computer (running TwinCAT) is connected via an Ethernet cable to port 0 connection in controlCARD.
    Note:

    Port 0 is the top Ethernet port on the side of the controlCARD with two Ethernet connections.

  3. In Visual Studio on the left side solution explorer, expand the Project, then expand I/O
  4. Right click on Devices and select Scan
    1. A dialog will popup stating that Not all types of devices can be found automatically. Click OK.
  5. Once scanning is complete, a popup window will appear. The following options may appear:
    1. A popup stating that 1 new I/O devices found where the device is Device 2 (EtherCAT Automation Protocol). This or any other device numbers besides Device 1 is correct, click OK.
    2. A popup stating that no devices have been found or stating that 1 new I/O devices found where the device is Device 1 (EtherCAT Automation Protocol). This means some setup is incorrect. Verify that the example is running on the device (or at least has gone through the GPIO setup and reset of the EtherCAT IP). If the procedure is followed correctly, it should have identified Device 2. The setup procedure may be repeated again carefully.
  6. After clicking OK, another popup will ask to Scan for boxes. Click Yes.
  7. After clicking Yes, another popup will ask to Activate Free Run. Click Yes.
  8. In the solution explorer on the left, under devices you should see Device 2 (EtherCAT). Under that, there will be a Box #. This Box is the controlCARD ESC.
  9. The EtherCAT master communication is now setup with the slave device.
    GUID-736E972E-F2C7-404E-BBE5-206A5458337A-low.png Figure 12-3 TwinCAT Solution Explorer