Semiways CN032-RZ/T2M Servo Starter Kit
AC Servo Solution EtherCAT User Guide
Abstract
This manual explains the procedure for performing motion control by EtherCAT® communication using
Renesas Electronics CN032-RZ/T2M AC Servo Solution Kit.
The sample program for RZ/T2M is dual core control, and by performing motion control with Cortex®-R52
and performing EtherCAT communication with Cortex®-R52, communication processing is possible without
degrading the processing performance of motion control.
Data is exchanged between the two cores via the shared memory, and by access right management using
the semaphore register, access conflict to the shared memory is prevented.
EtherCAT communication processing implements the CiA402 drive profile and it is possible to evaluate more
practical control.
Target Device
RZ/T2M Group
Related Document
⚫ CN032-RZ/T2M AC Servo Hardware Manual (this manual)
⚫ CN032-RZ/T2M AC Servo Tuningtool User Guide
⚫ CN032-RZ/T2M AC Servo EtherCAT Startup Guide
⚫ CN032-RZ/T2M AC Servo Firmware User Guide
⚫ CN032-RZ/T2M AC Servo Readme
Booking Part Number
⚫ CN032-RZ/T2M#W=> whole kit
⚫ CN032-RZ/T2M#M=> T2M main board only
⚫ CN032-RZ/T2M#B=> T2M + drive board, w/o motor
Contents
1. Operating Environment ............................................................................................................ 4
2. Preparation of CN032 AC Servo Solution Kit ........................................................................... 5
2.1 Connecting the Logic and Motor Power .................................................................................................. 5
2.2 Connecting the Motor Windings .............................................................................................................. 5
2.3 Connecting the Encoder .......................................................................................................................... 5
2.4 Connecting the UART communication cable .......................................................................................... 6
2.5 Connecting the JTAG interface ............................................................................................................... 6
2.6 Connecting the Ethernet Interface........................................................................................................... 7
2.7 Overall connection configuration ............................................................................................................. 7
2.8 Power supply to the board ....................................................................................................................... 7
3. Preparing EtherCAT Communication ....................................................................................... 9
3.1 TwinCAT
®
3 Installation ............................................................................................................................ 9
3.2 Copying the ESI File .............................................................................................................................. 13
4. Confirm Communication with TwinCAT
®
3 .............................................................................. 13
4.1 Starting TwinCAT
®
3 ............................................................................................................................... 13
4.2 Checking the Communication Status .................................................................................................... 17
4.3 Sending Data to CN032 AC Servo Solution .......................................................................................... 20
5. CiA402 Drive Profile .............................................................................................................. 23
5.1 Operation Moes ..................................................................................................................................... 23
5.2 State Transition ..................................................................................................................................... 24
5.3 Object Dictionary ................................................................................................................................... 24
5.4 Implementing the Motor Control Program ............................................................................................. 26
6. Appendix ............................................................................................................................... 33
6.1 Preparation in advance ......................................................................................................................... 33
6.1.1 Power Supply ...................................................................................................................................... 33
6.1.2 Generating the Slave Stack Code ....................................................................................................... 34
6.2 Program Writing Procedure ................................................................................................................... 37
6.2.1 Program writing by IAR EWARM ......................................................................................................... 37
6.2.2 Program writing by Renesas e2studio ................................................................................................ 39
6.3 Debugging the Sample Project .............................................................................................................. 42
6.3.1 Debugging the Sample Project in IAR EWARM .................................................................................. 42
6.3.2 Debugging the Sample Project in Renesas e2studio .......................................................................... 45
6.4 EEPROM Data Update on CN032 AC Servo Solution .......................................................................... 51
Revision History ............................................................................................................................ 55