Distributed multi-axis servo drive over fast serial interface (FSI) reference design
TIDM-02006
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Key Document

Description

This design presents an example distributed multi-axis servo drive over Fast Serial Interface (FSI) using C2000™ real-time controllers. Multi-axis servo drives are used in many applications such as factory automation and robots. The cost per axis, performance and ease of use are always high concerns for such systems. FSI is a cost-optimized and reliable high speed communication interface with low jitter that can daisy-chain multiple C2000 products. In this design, each F28004x part number serves as a real-time controller for a slave axis, running motor current control loop. A single F2838x part number runs position and speed control loops for all axes. The same F2838x part number also executes main axis motor control plus EtherCAT communication, leveraging its multiple cores. The design uses TI's existing EVM kits, the software is released within C2000WARE MotorControl SDK. 

Features
  • Demonstrates high-speed communication using fast serial interface (FSI) for real-time speed, position and current command data communication between multiple products.
  • Implements position and velocity control loops for all slave axes on F2838x based master node, torque/current loop on each F28004x based slave node.
  • Up to 16 axes can be managed with one F2838x. Start and stop of each axis can be controlled simultaneously. Achieves high bandwidth and higher precision control of distributed multi-axis motor drive system.
  • Uses F2838x multi-core functionality to implement speed and position control and data exchange with all slave nodes over FSI, and executes main axis motor control and EtherCAT communication with PC.
  • Integrated SFRA tool on both F28004x and F2838x products to support online speed and current loop tuning.
  • Incremental system builds to verify the different software modules step by step.

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Schematic/Block Diagram

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Part Number Buy from Texas Instruments or Third Party Alert Me Buy from Authorized Distributor Status

BOOSTXL-3PHGANINV :
48-V three-phase GaN inverter with shunt-based in-line motor phase current sensing evaluation module

$49.00(USD)


Not Available ACTIVE

TMDXIDDK379D :
C2000 DesignDRIVE Develoment Kit for Industrial Motor Control

$999.00(USD)


Pricing may vary.



ACTIVE

LAUNCHXL-F280049C :
C2000 Piccolo MCU F280049C LaunchPad Development Kit With InstaSPIN-FOC

$30.00(USD)


Not Available ACTIVE

TMDXCNCD28388D :
F28388D controlCARD evaluation module

$249.00(USD)


Not Available ACTIVE

TMDSFSIADAPEVM :
Fast serial interface (FSI) adapter board evaluation module

$89.00(USD)


Not Available ACTIVE

C2000WARE-MOTORCONTROL-SDK :
MotorControl software development kit (SDK) for C2000™ MCUs

Free



Not Available ACTIVE
Contact a Distributor  

TI Devices (7)

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Part Number Name Product Family Sample & Buy Design Kits & Evaluation Modules
AMC1204  1-Bit, 20MHz, Second-Order, Isolated Delta-Sigma Modulator  Isolation  Sample & Buy View Design Kits & Evaluation Modules
AMC1304M25  Reinforced Isolated Modulator With LDO Regulator, ±250mV Input, and CMOS Interface  Isolation  Sample & Buy View Design Kits & Evaluation Modules
INA240  -4 to 80V, bi-directional, ultra-precise current sense amplifier w/ enhanced pwm rejection  Current sense amplifiers  Sample & Buy View Design Kits & Evaluation Modules
LM5018  7.5-100V Wide Vin, 300mA Constant On-Time Synchronous Buck Regulator  Offline & isolated DC/DC controllers & converters  Sample & Buy View Design Kits & Evaluation Modules
LMG5200  80V GaN Half Bridge Power Stage  Power management  Sample & Buy View Design Kits & Evaluation Modules
TMS320F280049C  C2000™ 32-bit MCU with 100 MHz, FPU, TMU, 256 KB Flash, CLA, InstaSPIN-FOC, CLB, PGAs, SDFM  Microcontrollers (MCU)  Sample & Buy View Design Kits & Evaluation Modules
TMS320F28388D  C2000™ 32-bit MCU w/ connectivity manager, 2x C28x+CLA CPU, 1.5 MB flash, FPU64, CLB, ENET, EtherCAT  Microcontrollers (MCU)  Sample & Buy View Design Kits & Evaluation Modules

CAD/CAE symbols

Part # Package | Pins CAD File (.bxl) STEP Model (.stp)
AMC1204 Download
Download Download
AMC1304M25 Download Download
INA240 Download
Download
LM5018 Download Download
Download Download
LMG5200 Download -
TMS320F280049C Download Download
Download -
Download Download
TMS320F28388D Download Download

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Technical Documents

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Datasheet (6)
Title Type Size (KB) Date
PDF 4586 09 Mar 2020
PDF 2098 11 Feb 2020
PDF 2190 06 Jan 2020
PDF 1182 29 Oct 2018
PDF 3104 23 Oct 2018
PDF 1780 13 Feb 2018
Application notes (3)
Title Type Size (KB) Date
PDF 3946 19 Mar 2020
PDF 2092 11 Oct 2019
PDF 2192 07 Aug 2019
User guides (7)
Title Type Size (KB) Date
PDF 2912 19 Feb 2020
PDF 572 19 Sep 2019
PDF 5086 03 Sep 2019
PDF 2240 03 Apr 2019
PDF 36 20 Mar 2019
PDF 1228 18 Apr 2018
PDF 2148 09 Nov 2015
Design files (2)
Title Type Size (KB) Date
PDF 96 19 Feb 2020
PDF 537 19 Feb 2020
More literature (1)
Title Type Size (KB) Date
PDF 935 14 May 2015
Related Tools & Software

Design Kits & Evaluation Modules  ( 4 )

Name Part Number Tool Type
C2000 Piccolo MCU F280049C LaunchPad™ development kit  LAUNCHXL-F280049C  Design Kits & Evaluation Modules 
C2000 DesignDRIVE Development Kit for Industrial Motor Control  TMDXIDDK379D  Development Kits 
48-V Three-Phase Inverter With Shunt-Based In-Line Motor Phase Current Sensing Evaluation Module  BOOSTXL-3PHGANINV  Evaluation Modules & Boards 
F28388D controlCARD evaluation module  TMDSCNCD28388D  Evaluation Modules & Boards 

Software (1)

Name Part Number Software Type
MotorControl software development kit (SDK) for C2000™ MCUs  C2000WARE-MOTORCONTROL-SDK  Software Development Kits (SDK) 


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