AX58100 EtherCAT Slave Controller 数据手册

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"AX58100是一款全功能的EtherCAT从站控制器，由ASIX Electronics Corporation制造。这款控制器在2019年11月9日发布，提供了丰富的网络和接口功能，适用于工业自动化等领域。" 正文： AX58100 EtherCAT Slave Controller是一款高度集成的芯片，专为 EtherCAT (Ethernet for Control Automation Technology) 网络设计。它包含了两个内置的Fast Ethernet PHYs（物理层），符合IEEE 802.3/802.3u标准，支持100BASE-TX和100BASE-FX的传输速率。此外，该控制器具备PHY环回模式，用于内部测试和诊断。 AX58100的核心特性之一是其8个Fieldbus Memory Management Units (FMMUs)和8个Sync Managers，这使得它可以高效地处理EtherCAT网络中的数据同步和通信。64位分布式时钟设计确保了在整个网络中的精确时间同步，这对于实时控制应用至关重要。内部的9Kbytes RAM提供足够的存储空间来处理网络数据交换和控制逻辑。同时，该控制器还具有32个数字/通用目的I/O引脚，每个引脚都可以独立配置，并直接映射到FMMU，增强了系统灵活性。为了实现灵活的网络配置，AX58100包含了一个额外的第三路Ethernet MII端口。这允许连接至不同的网络拓扑结构，增加了系统的适应性。另外，它支持twisted pair crossover detection and auto-correction（HP Auto-MDIX），自动极性检测和校正功能，确保了与不同类型的以太网电缆兼容。除了基本的网络功能，AX58100还包括一个SPI从机接口，支持Mode 3定时模式和MSB优先的数据传输方式。这使得它可以与各种外部设备进行通信。本地总线接口支持8位或16位数据总线宽度，以及异步本地总线操作。Bridge功能则支持功能寄存器和ESC寄存器的镜像，有利于系统稳定性和冗余设计。 AX58100 EtherCAT Slave Controller是工业自动化领域的一个强大解决方案，集成了丰富的功能，可以有效地处理高速、高精度的网络通信任务，同时提供灵活的接口和配置选项，满足多样化的需求。其高性能和可靠性使其成为构建 EtherCAT 系统的理想选择。

AX58100

EtherCAT Slave Controller

1.4.4 ESC PDI / Function Local Bus Interface

Pin Name

Type

Pin No

Pin Description

LECSn

Local bus ESC Chip Select

LFCSn

Local bus Function Chip Select

LRDn

Local bus Read

LWRn

Local bus Write

LBHE

Local bus Byte High Enable (16-bit width only)

LRDY

O5/T

Local bus Ready

LINT

O5/T

Local bus Interrupt

LA[13:0]

66, 42, 52,

50, 48, 44,

17, 14, 12, 9,

7, 49, 74, 71

Local bus Address bus

LDA[15:8]

18, 15, 13,

11, 8, 76, 75,

Local bus Data bus [15:8]

LDA[7:0]

69, 67, 53,

60, 51, 4, 47,

Local bus Data bus [7:0]

Note: “Function” means the design for PWM, Incremental/Hall Encoder, SPI Master, I/O Watchdog and Bridge

function, excluding ESC.

Table 1-6: PDI Local Bus Interface Pin Description

1.4.5 PWM Motor Controller

Pin Name

Type

Pin No

Pin Description

PWM1L

O5/T

PWM 1 Low pin or STEP pin

PWM1H

O5/T

PWM 1 High pin or DIR pin

PWM2L

O5/T

PWM 2 Low pin

PWM2H

O5/T

PWM 2 High pin

PWM3L

O5/T

PWM 3 Low pin

PWM3H

O5/T

PWM 3 High pin

PULA

Pulse A, programmable point A

PULB

Pulse B, programmable point B

PULZ

Pulse Z, PWM period start point

PULC

Pulse C, PWM period central point

PULAB

Pulse AB, toggle when programmable point A and B

EMn

Emergency input, active low

Table 1-7: PWM Motor Controller Pin Description

1.4.6 Incremental / Hall Encoder Interface

Pin Name

Type

Pin No

Pin Description

ENCA

ENC input A, Sin., CW, CLK, or HALL A

ENCB

ENC input B, Cos., CCW, DIR, or HALL B

ENCZ

ENC input Z, Zero point or HALL C

Table 1-8: Incremental/Hall Encoder Interface Pin Description

AX58100

EtherCAT Slave Controller

2 Function Description

Clocks/Resets

The AX58100 requires a crystal (25MHz, ±25 PPM at room temperature) as the clock source. Internal PLL

generates the 100MHz clock for EtherCAT Slave Controller (ESC) and also for other functions.

The AX58100 has three reset sources. First, during the VCCK power-on, the internal Power-On-Reset (POR) can

generate a reset pulse to reset all the function blocks when the VCCK power pin rises to a certain threshold voltage

level. The second reset is RSTn pin, which is to do the fundamental reset. And third, EtherCAT command reset,

the EtherCAT master can send reset sequence to force AX58100 reset. AX58100 also supports a reset output

RSTO polarity bootstrap configuration (RSTO_POL).

EtherCAT Slave Controller (ESC)

The AX58100 implements a 3-port EtherCAT slave controller (ESC), licensed from Beckhoff Automation, with

9 Kbytes Process Data RAM, 8 Fieldbus Memory Management Units (FMMUs), 8 Sync-Managers and a 64-bit

Distributed Clock.

Port 0 and 1 integrate embedded Ethernet PHYs, and port 2 is an optional MII interface which are multi-function

pins shared with other interfaces (i.e. PWM, Hall, Local Bus, Digital I/O). Packets are forwarded in the following

order: Port 0->EtherCAT Processing Unit->Port 1->Port 2.

The Process Data Interface (PDI, also named host interface) provides SPI slave, asynchronous 8/16-bit

microcontroller interface (also named Asynchronous Local Bus) and Digital I/O. The SPI slave and asynchronous

8/16-bit Local Bus interface will be used when external MCU in employed the slave system, and the Digital I/O

is used for when direct I/O control.

The AX58100 supports function register mirror from/to ESC memory space. The mirror registers located at process

data memory address from 0x3000 to 0x33FF.

For detailed information about the EtherCAT technology, the EtherCAT core mechanisms, and major features, we

refer to the official standard documentations and guidelines available from ETG (www.ethercat.org, ETG.1000),

IEC (http://www.iec.ch, IEC61158, IEC61784-2, IEC 61800-7), and Beckhoff (http://www.beckhoff.de, technical

specification) web sites.

Ethernet PHY

The AX58100 is embedded two DSP-based Ethernet PHYs, which are fully compliant with the 100BASE-TX and

100BASE-FX Ethernet standards such as IEEE 802.3u, and ANSI X3.263-1995 (FDDI-TP-PMD). In copper

mode, it supports the MDI/MDIX auto-crossover function (HP Auto-MDIX).

Bridge Function

The AX58100 has two memory spaces, one for ESC and another for AX58100 specific functions. The bridge

handles data synchronization between ESC’s memory and function registers, and uses EthterCAT packet’s SOF,

EOF, ESC control signal: SYNCx and LATx, PDI chip select (ESC and function) asserts and de-assert, the PWM

cycle starts, register writes and register data change, total 13 sources to synchronize two space’s register content.

Each function mirror could be enabled independent, the interrupt related registers mirror (INTCR and INTSR) are

also enabled when any function mirror is enabled.

AX58100

EtherCAT Slave Controller

I/O Watchdog

The I/O Watchdog is for AX58100 safety engine and used to monitor I/O signals toggle status and an emergency

stop input (EMn) pin. When I/O signals don't match a pattern or keep over excepted time, the watchdog will be

triggered, or EMn input pin asserted which would force I/O pads to enter default level. The default level is

configurable which could be driven low, high or Tristate.

PWM Controller

The PWM control module provides Pulse Width Modulation (PWM) and STEP / DIR to control motor driving.

The PWM mode has eight pins. There are three pairs of control signal. Each control signal pair has a high pulse

pin (PWMxH) and low pulse pin (PWMxL) control power drive circuit. Others are two alignment pins, PULZ and

PULC point cycle start and central time, and three programmable trigger pins, PULA PULB and PULAB. The

step pulse mode has 2 pins, step (STEP) and direction (DIR), which connect to step motor controller and share

PWM1H/L pins.

The PWM supports up to 12.5MHz output frequency, and programmable polarity, timing adjustment.

Incremental and Hall Encoder Interface

The AX58100 provides an interface with a linear or rotary incremental encoder to get position information, and

supports four input modes, including the Sin/Cos mode (A / B / Z pins), Clock-Wise mode (CW / CCW / Z pins),

Direction-Clock mode (DIR / CLK / Z pins) and the Hall mode (A / B / C pins). It can accumulate positions in

three modes, Sin/Cos, Clock-Wise and Direction-Clock modes, and calculate the GAP time in Hall mode.

The Sin/Cos mode supports input frequency up to 8.33MHz, CW/CCW and DIR/CLK up to 16.66MHz, and the

Hall mode up to 2.77MHz respectively.

SPI Master Controller

The Serial Peripheral Interface (SPI) master controller provides a full-duplex, synchronous serial communication

interface (4 wires) to flexibly work with numerous SPI peripheral devices or microcontroller with the SPI slave.

The SPI master controller supports 4 types of interface timing modes, namely, mode 0, 1, 2, and 3 to allow working

with most SPI devices available. It also supports MSB/LSB first data transfer.

The SPI master controller supports 8 channels, which could sequentially access per device, and supports variable

transfer length up to 8 bytes each channel. It also supports multi-channel access to the same device, and the data

length could be up to 64bytes. For high performance applications, the SPI master controller supports continuous

transfer data between the SPI device and data registers.

The SPI master controller provides 4 chip select, supports one-cold encode output (up to 4 devices), or uses binary

encode output (use an external binary decoder) up to 8 devices.

The SPI master controller supports standard SPI device access without glue logic circuit. Besides, it supports

“trigger data ready input” for ADC application, and also supports “data loaded indication out” and “data path daisy

chain” for DAC application.

The MSCLK (SPI clock) is programmable by software and can run up to 50MHz.

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AX58100 EtherCAT Slave Controller 数据手册

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self.ax1 = plt.subplot(self.gs[0, 0]) self.ax1.plot(vals) self.ax1.set_xlim(self.xlim) locs = self.ax1.get_xticks() locs[0] = self.xlim[0] locs[-1] = self.xlim[1] self.ax1.set_xticks(locs) self.ax1.use_sticky_edges = False self.ax1.set_title(f'Connected Clients Ratio') 单独输出

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