RX722M的示例程序说明(英文)

RX722M的示例程序说明(英文) Outline This application note describes a sample program for the RX72M. The program has an encoder vector control function for a resolver-equipped stepping motor and works with the EtherCAT communications controller of the RX72M. The module provides an interface via the EtherCAT Slave Stack Code (SSC) of Beckhoff, which is used in the RX family products that incorporate an EtherCAT slave controller (ESC) for industrial Ethernet communications. The FIT module itself does not include the SSC. Therefore, generate the executable code after obtaining the sample SSC from the EtherCAT Technology Group (ETG Association). This FIT module is hereinafter referred to as the EtherCAT FIT module. Target Devices  RX72M group devices When applying the sample program covered in this application note to another microcomputer, modify the program according to the specifications for the target microcomputer and conduct an extensive evaluation and testing of the modified program. 1. Overview 1.1 This Application Note This application note describes a sample program for the RX72M. The program has an encoder vector control function for a resolver-equipped stepping motor and works with the EtherCAT communications controller of the RX72M. The sample program is intended to run on a combination of a board with an RX72M CPU and a inverter board. 1.2 Operation Environment 1.3 Projects The sample program realizes single-chip motor control via EtherCAT communications. It was prepared by modifying other projects for motor control and EtherCAT communications. Table 1-2 Base Projects and Changes that were Required The project included for the sample program is shown below. In the following sections, the RX72M CPU card plus inverter board project is used as an example. When using a different project, read the project name in this application note as that of the given project. The project included for the sample program is shown below. 2. System Overview 2.1 Hardware Configuration The following figure shows the hardware configuration of the environment where the sample program runs. 2.3 Software Configuration 2.3.1 Software File Configuration Folders and files configured for the sample program are listed in Table 2-5. The files in gray-shaded cells are those which required changes from the base project to implement the functionality of the sample program. The files listed in bold letters are those that have been added. Table 2-5 Software file structure