This reference design showcases the ability of the AM243x device to support a fully-integrated real-time servo motor drive control and industrial communication path. This path extends from receiving EtherCAT CiA402 target commands for velocity, to performing closed-loop FOC velocity control of dual connected motors, to passing the actual velocity values back up to the EtherCAT PLC.
Features Supported
- Support EtherCAT CiA402 device profile for motor velocity control
- Single-chip, dual-servo motor control
- BOOST-XL TI BoosterPack Plug-in Module design - 80 digital and analog I/O compatible with AM2x LaunchPad Development Kits
- Two axes of 3-phase BLDC motor drive with the DRV8316R 24 V, 8 A monolithic gate drive and amplifier bridges
- Two axes (6 channels) of 3-phase current feedback through AMC1035D Sigma-Delta modulator and INA241A current sense path
- Two axes of RS-485 based absolute encoder feedback supporting multiple industrial encoder standards
User Guide
For more details on the design like system overview, hardware/software description, etc., please refer to TIDEP-01032 Design Guide .
- Note
- Currently the FOC loop used for Closed Speed (Velocity) Control is based on the CMSIS library. We will switch to the RTLib functions and DCL functions in the near future.