The Ethernet for Control Automation Technology (EtherCAT) with Motor Control reference design comprises a complete RISC-V embedded system integrated with the Beckhoff EtherCAT SubDevice IP and the Lattice FOC Motor Control IP. A RISC-V RX soft processor runs the Beckhoff EtherCAT Slave Controller (ESC) software stack to provide the communication protocol interface to the EtherCAT SubDevice IP. The design is operated using Beckhoff TwinCAT automation software installed on a host PC, which acts as the EtherCAT MainDevice to control the motor. This design specifically targets the Secure Connected Motion Control Platform, enabling robust, secure, and efficient motor control within industrial automation environments.
Features
- Motor Control with EtherCAT as the real-time Ethernet network
- Single-node SubDevice implementation with EtherCAT SM Synchronous Mode
- Cycle time down to 100 us (tested with Beckhoff C6030-0080 Industrial PC)
- Support Position and Speed Control of Motor
- 25-bit position feedback from encoder and 12-bit phase-current sensing
