Avnet Zynq-7000 AP SoC Getting Started Manual

Zynq®-7000 AP SoC / Analog Devices

Intelligent Drives Kit II

Getting Started Guide

Version 1.2

Version 1.2

Zynq®-7000 AP SoC / Analog Devices Intelligent Drives Kit II 2

Revision History

DATE

VERSION

REVISION

07/31/15

1.0

First release \ MB

08/10/15

1.1

Pointed to ADI wiki for SD card image archive

10/07/15

1.2

Updated broken references to figures. Added instruction to use
DHCP router for connecting to the internet.

Version 1.2

Zynq®-7000 AP SoC / Analog Devices Intelligent Drives Kit II 3

AVNET DESIGN KIT TECHNICAL
SUPPORT FILES AND DOWNLOADS
WEB ACCESS INSTRUCTIONS

Thank you for purchasing an Avnet design kit. The technical support documents associated with this kit, including the User Guide,
Bill of Materials, Schematics, Source Code and Application Notes, are available online. You, the Customer, can access these
documents at any time by visiting Avnet’s Design Resource Center (“DRC”) at: www.em.avnet.com/drc/support

On your first visit to the DRC, You will be required to site register before you can download the documents. To get started, select the
name of the manufacturer associated with your design kit from the drop down menu. A complete listing of avail¬able design kits will

appear. Select the kit you purchased. Scroll to the bottom of the design kit page to access the support files. Before you download a
file, you will be prompted to login. If you are an existing user, please login. If you are a new user, click on the “Need to sign-up?”

text. Please complete the short registration form. Upon completion, be sure to retain your login and password information for future
visits to Avnet’s DRC. Logging in once, gives you unlimited access to all technical support files and downloads. You will also have
the chance to request e-mail notifications whenever there are updates to your design kit.

LICENSE AGREEMENT

THE AVNET DESIGN KIT (“DESIGN KIT” OR “PRODUCT”) AND ANY SUPPORTING DOCUMENTATION (“DOCUMENTATION”
OR “PRODUCT DOCUMENTATION”) IS SUBJECT TO THIS LICENSE AGREEMENT (“LICENSE”). USE OF THE PRODUCT OR

DOCUMENTATION SIGNIFIES ACCEPTANCE OF THE TERMS AND CONDITIONS OF THIS LICENSE. THE TERMS OF THIS
LICENSE AGREEMENT ARE IN ADDITION TO THE AVNET CUSTOMER TERMS AND CONDITIONS, WHICH CAN BE VIEWED
AT www.em.avnet.com. THE TERMS OF THIS LICENSE AGREEMENT WILL CONTROL IN THE EVENT OF A CONFLICT.

1. Limited License. Avnet grants You, the Customer, (“You” “Your” or “Customer”) a limited, non-exclusive, non-transferable,
license to: (a) use the Product for Your own internal testing, evaluation and design efforts at a single Customer site; (b) create
a single derivative work based on the Product using the same semiconductor supplier product or product family as used in the
Product; and (c) make, use and sell the Product in a single production unit. No other rights are granted and Avnet and any
other Product licensor reserves all rights not specifically granted in this License Agreement. Except as expressly permitted in
this License, neither the Design Kit, Documentation, nor any portion may be reverse engineered, disassembled, decompiled,
sold, donated, shared, leased, assigned, sublicensed or otherwise transferred by Customer. The term of this License is in
effect until terminated. Customer may terminate this license at any time by destroying the Product and all copies of the Product
Documentation.

2. Changes. Avnet may make changes to the Product or Product Documentation at any time without notice. Avnet makes no
commitment to update or upgrade the Product or Product Documentation and Avnet reserves the right to discontinue the
Product or Product Documentation at any time without notice.

3. Limited Warranty. ALL PRODUCTS AND DOCUMENTATION ARE PROVIDED “AS IS” WITHOUT WARRANTY OF ANY
KIND. AVNET MAKES NO WARRANTIES, EITHER EXPRESS OR IMPLIED, WITH RESPECT TO THE PRODUCTS AND
DOCUMENTATION PROVIDED HEREUNDER. AVNET SPECIFICALLY DISCLAIMS THE IMPLIED WARRANTIES OF
MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE AND ANY WARRANTY AGAINST INFRINGEMENT
OF ANY INTELLECTUAL PROPERTY RIGHT OF ANY THIRD PARTY WITH REGARD TO THE PRODUCTS AND
DOCUMENTATION.

4. LIMITATIONS OF LIABILITY. CUSTOMER SHALL NOT BE ENTITLED TO AND AVNET WILL NOT LIABLE FOR ANY
INDIRECT, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE, INCLUDING,
WITHOUT LIMITATION, BUSINESS INTERRUPTION COSTS, LOSS OF PROFIT OR REVENUE, LOSS OF DATA,
PROMOTIONAL OR MANUFACTURING EXPENSES, OVERHEAD, COSTS OR EXPENSES ASSOCIATED WITH
WARRANTY OR INTELLECTUAL PROPERTY INFRINGEMENT CLAIMS, INJURY TO REPUTATION OR LOSS OF
CUSTOMERS, EVEN IF AVNET HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES. THE PRODUCTS AND
DOCUMENTATION ARE NOT DESIGNED, AUTHORIZED OR WARRANTED TO BE SUITABLE FOR USE IN MEDICAL,
MILITARY, AIR CRAFT, SPACE OR LIFE SUPPORT EQUIPMENT NOR IN APPLICATIONS WHERE FAILURE OR
MALFUNCTION OF THE PRODUCTS CAN REASONABLY BE EXPECTED TO RESULT IN A PERSONAL INJURY, DEATH
OR SEVERE PROPERTY OR ENVIRONMENTAL DAMAGE. INCLUSION OR USE OF PRODUCTS IN SUCH EQUIPMENT
OR APPLICATIONS, WITHOUT PRIOR AUTHORIZATION IN WRITING OF AVNET, IS NOT PERMITTED AND IS AT
CUSTOMER’S OWN RISK. CUSTOMER AGREES TO FULLY INDEMNIFY AVNET FOR ANY DAMAGES RESULTING
FROM SUCH INCLUSION OR USE.

5. LIMITATION OF DAMAGES. CUSTOMER’S RECOVERY FROM AVNET FOR ANY CLAIM SHALL NOT EXCEED

CUSTOMER’S PURCHASE PRICE FOR THE PRODUCT GIVING RISE TO SUCH CLAIM IRRESPECTIVE OF THE

NATURE OF THE CLAIM, WHETHER IN CONTRACT, TORT, WARRANTY, OR OTHERWISE.

6. INDEMNIFICATION. AVNET SHALL NOT BE LIABLE FOR AND CUSTOMER SHALL INDEMNIFY, DEFEND AND HOLD

AVNET HARMLESS FROM ANY CLAIMS BASED ON AVNET’S COMPLIANCE WITH CUSTOMER’S DESIGNS,

SPECIFICATIONS OR IN¬STRUCTIONS, OR MODIFICATION OF ANY PRODUCT BY PARTIES OTHER THAN AVNET,
OR USE IN COMBINATION WITH OTHER PRODUCTS.

Version 1.2

Zynq®-7000 AP SoC / Analog Devices Intelligent Drives Kit II 4

7. U.S. Government Restricted Rights. The Product and Product Documentation are provided with “RESTRICTED RIGHTS.” If

the Product and Product Documentation and related technology or documentation are provided to or made available to the
United States Government, any use, duplication, or disclosure by the United States Government is subject to restrictions
applicable to proprietary commercial computer software as set forth in FAR 52.227-14 and DFAR 252.227-7013, et seq., its
successor and other applicable laws and regulations. Use of the Product by the United States Government constitutes
acknowledgment of the proprietary rights of Avnet and any third parties. No other governments are authorized to use the
Product without written agreement of Avnet and applicable third parties.

8. Ownership. Licensee acknowledges and agrees that Avnet or Avnet’s licensors are the sole and exclusive owner of all

Intellectual Property Rights in the Licensed Materials, and Licensee shall acquire no right, title, or interest in the Licensed
Materials, other than any rights expressly granted in this Agreement.

9. Intellectual Property. All trademarks, service marks, logos, slogans, domain names and trade names (collectively “Marks”) are
the properties of their respective owners. Avnet disclaims any proprietary interest in Marks other than its own. Avnet and AV
design logos are registered trademarks and service marks of Avnet, Inc. Avnet’s Marks may be used only with the prior written
permission of Avnet, Inc.

10. General. The terms and conditions set forth in the License Agreement or at www.em.avnet.com will apply notwithstanding any

conflicting, contrary or additional terms and conditions in any purchase order, sales acknowledgement confirmation or other

document. If there is any conflict, the terms of this License Agreement will control. This License may not be assigned by

Customer, by operation of law, merger or otherwise, without the prior written consent of Avnet and any attempted or purported
assignment shall be void. Licensee understands that portions of the Licensed Materials may have been licensed to Avnet from
third parties and that such third parties are intended beneficiaries of the provisions of this Agreement. In the event any of the
provisions of this Agreement are for any reason determined to be void or unenforceable, the remaining provisions will remain in
full effect.This constitutes the entire agreement between the parties with respect to the use of this Product, and supersedes all
prior or contemporaneous understandings or agreements, written or oral, regarding such subject matter. No waiver or
modification is effective unless agreed to in writing and signed by authorized representatives of both parties. The obligations,
rights, terms and conditions shall be binding on the parties and their respective successors and assigns. The License
Agreement is governed by and construed in accordance with the laws of the State of Arizona excluding any law or principle,
which would apply the law of any other jurisdiction. The United Nations Convention for the International Sale of Goods shall not
apply.

Version 1.2

Zynq®-7000 AP SoC / Analog Devices Intelligent Drives Kit II 5

INTRODUCTION

The Zynq®-7000 AP SoC / Analog Devices Intelligent Drives Kit II is a flexible platform for high performance motor
control and industrial networking development. The kit is based on the Avnet ZedBoard™ using the Xilinx Zynq-7000
All Programmable SoC. The kit features the Analog Devices AD-FMCMOTCON2-EBZ FMC high performance servo
drive module, providing two axis motor drive up to 48 Volts at 20 Amps, precision motor phase current and voltage
measurements, isolated power regulation, isolated signaling, and dual Gigabit Ethernet IEEE1588 PHYs for real-time
Ethernet connectivity.

This Getting Started Guide describes the steps to set up the Zynq Intelligent Drives Kit II (ZIDK-II) and run the out-of­box demonstration.

For detailed information on ZedBoard, including tutorials, reference designs and board details please visit the website

o http://www.ZedBoard.org

For detailed information on the Analog Devices AD-FMCMOTCON2-EBZ FMC high performance servo drive module,

including schematics, bill of materials, board file, and reference design source code please visit the wiki page.

o http://wiki.analog.com/resources/eval/user-guides/ad-fmcmotcon2-ebz

What’s Inside the Box

 Avnet ZedBoard 7020 baseboard

o Zynq-7000 SoC XC7Z020-CLG484-1
o 512 MB DDR3
o 256 Mb Spansion® Quad-SPI Flash
o Onboard USB-JTAG Programming
o 10/100/1000 Ethernet
o USB OTG 2.0 and USB-UART
o FMC expansion (low pin count)
o 12V power supply
o Multiple display options (Analog Devices ADV7511 1080p HDMI, 12-bit VGA, 128 x 32 OLED)
o 4 GB SD card programmed with a simple Linux image that demonstrates basic capabilities of ZedBoard

 Analog Devices high-performance servo FMC Module

o Drive 2 BLDC / PMSM / Brushed DC / Stepper motors up to 48 V @ 20
o AD7403 Isolated 20 MHz Σ-Δ modulators for precise voltage and current measurement
o ADuM5000/7640 power and digital signal isolation
o ADuM5230 Isolated Half-Bridge Driver for High Frequency Switching
o Integrated over-current and reverse-voltage protection
o Dual Gigabit IEEE1588 Ethernet PHYs for high speed industrial communication
o Isolated Xilinx XADC interface
o Sensored or sensoreless position measurement
o Encoder support includes BISS, EnDAT, Hall Sensor, and resolver
o 8 GB SD card programmed with ADI FMCMOTCON2 Base Reference Design

 Zynq reference design for motor control featuring Analog Devices Ubuntu Linux framework

Version 1.2

Zynq®-7000 AP SoC / Analog Devices Intelligent Drives Kit II 6

 FAT32 partition: bootloader, devicetree blob and kernel image for system boot to UBUNTU Linux
 EXT4 partition Linaro Ubuntu ARM root file system, Analog Devices IIO Oscilloscope

o 24V power supply for FMC module motor drive stage

 Brushless DC motor

o Hall Sensors and 1250 CPR indexed encoder

 Ethernet, HDMI, and USB cables
 USB dongle (male micro-B to female standard-A)
 Xilinx Vivado® Design Edition (device locked to XC7Z020)

 Optional Analog Devices Dynamometer

o Included with AES-ZIDK2-ADI-DYNO-G
o Provides a compact, dynamically adjustable load system
o Includes one drive motor directly coupled to one load motor (generator)
o Load motor is controlled by DYNO2 on-board electronics, or by direction connection to FMCMOTCON2

Version 1.2

Zynq®-7000 AP SoC / Analog Devices Intelligent Drives Kit II 7

GETTING STARTED WITH ZYNQ
INTELLIGENT DRIVES KIT II

The Zynq-7000 AP SoC / Analog Devices Intelligent Drives Kit II (ZIDK-II) comes with a ‘Getting Started’ motor
control demonstration design flashed onto the 8GB SD card, which enables a single-board computer on the Avnet
ZedBoard running UBUNTU desktop Linux. The system includes programmable logic-based interfaces and ARM­based Linux drivers for the Analog Devices High Performance Servo Solution on the FMC module.

Overview of the Motor Control Reference Design

The out-of-box reference design demonstrates Trapezoidal Control (6-step) of a 3-phase brushless DC motor. This
controller executes in the Programmable Logic (PL) of Zynq, while Linaro Ubuntu Desktop Linux runs user
applications on the Zynq ARM processors, and communicates with the Zynq PL via AXI4-Lite and AXI4 DMA
channels.

Digital PWM signals are driven from the Zynq SoC to the MOSFET driver stage on the FMCMOTCON2 module in
order to deliver power to the motor. For each motor, AD7403 Sigma-Delta modulators sample two analog motor
phase currents and each DC voltage bus, returning serial digital bit streams to the Zynq SoC to be reconstructed
with SINC3 low pass filters. The rotor position can be captured a variety of ways with the FMCMOTCON2 on-board
circuitry, including rotary, Hall sensor, and resolver interfaces. In this reference design Hall Sensors communicate
position to the Zynq SoC for absolute position and speed estimation. All signals between the Zynq SoC and
FMCMOTCON2 are digitally isolated. Finally, an HDMI monitor, mouse, and keyboard may be connected to
ZedBoard to view system signals and enter control parameters using the ADI IIO Oscilloscope Linux application. A
block diagram of the system design is shown below.

More details about the design, including source code, can be found at:

http://wiki.analog.com/resources/eval/user-guides/ad-fmcmotcon2-ebz