The STSW-ETHDRV01V1 firmware package for the STEVAL-ETH001V1 servo drive solution, implements position control algorithm with real-time communication running on the STM32F676ZI microcontroller. It can manage connectivity, servo drive actuation and digital input/output interface at the same time.
The connectivity includes real-time communication with Ethercat protocol stack (V. 5.0.8) for the slave node and RS485 communication to interface the hardware with a PC or digital encoder supporting BiSS, EnDat and SSi protocols.
The servo drive actuation implements a position control algorithm using the X-CUBE-MCSDK motor control library (V.5.4.4) to control a PMSM motor rotor position via Ethercat communication remote control.
Digital actuation interface management is supported by a set of routines, able to manage the IPS160H digital output state according to the information received from the CLT03-2Q3 digital inputs and the command received from the PC through RS485 connection.