3.2. PRU ICSS Industrial Drives Release Notes

Updated : November 2018

3.2.1. Overview

PRU-ICSS Industrial Drives package is designed for the Sitara processor AM437x (with PRU-ICSS IP) to enable customers leverage Industrial Drives (position, current sense & control algorithm) capabilities

3.2.2. Licensing

Please refer to the software manifest, which outlines the licensing status for all packages included in this release. The manifest can be found on the SDK download page, installed directory.

3.2.3. Specification Compliance

  • EnDat2.2 Master
    • EnDAT 2.2 Specification 297403_04_A_02
  • Hiperface DSL master
    • DSL Protocol Specification v3.20

3.2.4. Documentation

  • Software Developer Guide: Provides information on features, functions, delivery package and, compile tools for the release. This also provides detailed information regarding software elements and software infrastructure to allow developers to start creating applications.
  • Getting Started Guide: provides information on getting the software and running basic examples/demonstrations bundled in the package.
  • User Guide: Provides basic information on the applications
  • Software Manifest: Provides license information on software included in the package. This document is in the release at the root directory of the package
  • EVM Quick Start Guide: Provides information on hardware setup and running the demonstration application that is loaded on flash. This document is provided as part of the EVM kit.

3.2.5. Release 01.00.02

Released November 2018 System Requirements

System Requirements Device Support

  • SOC
    • AM437x
  • Hardware Platform
    • AM437x IDK What’s New

  • Motor control interface improvements for EtherCAT CiA402 Drive profile (TIDEP0025)
  • Bug Fixes Features Supported

  • Hiperface DSL master
    • PRU Firmware source
    • Safe position
    • Supports upto 100m cable
    • Communication status
    • Register interface to be compatible with SICK HDSL FPGA IP Core (except registers that have different functionality for read & write)
    • Parameter channel communication (short message write)
  • Tamagawa Receiver
    • PRU Firmware source in C
    • Supports full-absolute SmartAbs & SmartInc encoders compatible with Smartceiver AU5561N1
    • 2.5Mbps encoder support
    • Supports all Data readout & Reset frames
  • EnDat2.2 Master
    • PRU Firmware source
    • EnDat 2.2 command set
    • EnDat 2.1 command set
    • Interrupted and continuous clock mode
    • Clock configuration up to 16MHz
    • Cable length up to 100m @8MHz
    • Propagation delay compensation (capable of handling different propagation delay of different channels in concurrent multi channel configuration)
    • Automatic estimation of propagation delay
    • Receive on-the-fly CRC verification of position, parameters and additional information
    • Two modes of operation - host trigger and periodic trigger
    • Channel select
    • Concurrent multi channel support (up-to 3 encoders with identical part number @ 8MHz maximum)
  • Motor Control
    • PMSM Field Oriented Control (FOC)
    • EnDat position feedback
    • Current sense via Sigma Delta Decimation Filter or Onchip ADC
    • Position feedback and Current sense synchronized with PWM signal
    • Option to synchronize PWM with external signal (can be used to synchronize PWM with Industrial Communication protocols like EtherCAT)
    • Closed Current control
    • Closed Speed control
    • Closed Position control
    • Current loop (PWM period) verified upto 33.3KHz
  • Sigma Delta Decimation Filtering (SDDF)
    • PRU Firmware source examples of SINC2 and SINC3 filter
    • SINC3 filter for Normal current and voltage measurement
    • SINC2/SINC3 filter for overcurrent detection
    • Two modes of operation - trigger based sampling and continuous sampling
    • Signalling via DIGIO upon detecting overcurrent What is not supported

  • In general, peripherals or features not mentioned as part of “Features Supported” section are not supported in this release.
  • Motor Control
    • Automatic recovery from over current faults
  • Hiperface DSL master
    • External pulse synchronization and associated functionalities like fast position, speed
    • Pipeline channel
    • Short message read
  • Tamagawa Receiver
    • EEPROM commands Fixed Issues

Record ID Details
PINDSW-2295 Importing PRU firmware projects with CCS not working Known Issues

This section contains the list of Known Issues at the time of making the release.

Record ID Details Workaround
None None None

3.2.6. Archives


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