STM32官方的ETHERCAT开发板
The STSW-ETHDRV01V1 firmware has been developed using IAR Workbench 8.50 and is compliant with the
STM32Cube framework. The key features are:
•
Position control algorithm based on X-CUBE-MCSDK
•
Supported EtherCAT slave protocol (V.5.0.8)
•
Firmware compliant with STM32Cube framework
•
BSP support for digital actuation interface
•
RS485 interface support
The communication topology is master-slave: the master (not part of this development) can be represented
by dedicated hardware or a dedicated software tool like TwinCAT, whereas the slave is implemented by the
STEVAL-ETH001V1 evaluation board.
The firmware is able to manage all the blocks included in the hardware solution at the same time, with particular
focus on connectivity and motion control.
This firmware section allows a real-time handling of a PMSM motor, implementing a master-slave communication
based on the EtherCAT protocol; in particular, the STEVAL-ETH001V1, working as a slave node, receives a data
streaming composed of a set command and the rotor position by the master node built with the TwinCAT software
tool in this application use case.
Once the slave receives the data, a processing phase is activated on the microcontroller side to modulate the
motor drive signal, according to the data and command received.
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