Dual-axis motor drive using fast current loop (FCL) and SFRA on a single MCU reference design
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This reference design presents a dual-axis motor drive using fast current loop (FCL) and software frequency response analyzer (SFRA) technologies on a single C2000 controller. The FCL utilizes dual core (CPU, CLA) parallel processing techniques to achieve a substantial improvement in control bandwidth and phase margin, to reduce the latency between feedback sampling and PWM update, to achieve higher control bandwidth and maximum modulation index, to improve DC bus utilization by the drive and to increase speed range of the motor. The integrated SFRA tool enables developers to quickly measure the frequency response of the application to tune speed and current controllers. Given the system-level integration and performance of C2000 series, MCUs have the ability to support dual-axis motor drive requirements simultaneously that delivers very robust position control with higher performance. The software is released within C2000Ware MotorControl SDK.

  • Three-phase GaN inverter with wide-input voltage from 12-V to 60-V and 7-Arms, 10-A peak output current per phase
  • Precision-phase current sensing with high accuracy (0.1%) based inline shunt resistor on BoosterPack
  • Implement dual-axis motor drive with fast current loop (FCL) on a single F2837x or F28004x MCU on the existing hardware kit
  • Working software is compatible with F2837x or F28004x as a starting point for those with expertise or limited expertise
  • Enables outer position and velocity loop, and inner torque loop using FCL technique simultaneously to achieve fast response on each motor
  • Integrated SFRA tool to support tuning speed and current loops online separately
  • Incremental system builds are designed to verify the major software modules used in the system
  • Low PWM update latency (1.02 uS on F2837x, 2.02 us on F28004x) to achieve higher control bandwidth and modulation index

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


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C2000 Delfino MCUs F28379D LaunchPad Development Kit


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C2000 Piccolo MCU F280049C LaunchPad Development Kit With InstaSPIN-FOC


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MotorControl software development kit (SDK) for C2000™ MCUs


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TI Devices (5)

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Part Number Name Product Family Sample & Buy 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  Piccolo™ 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
TMS320F28379D  Delfino™ 32-bit MCU with 800 MIPS, 2xCPU, 2xCLA, FPU, TMU, 1024 KB Flash, CLB, EMIF, 16b ADC  Microcontrollers (MCU)  Sample & Buy View Design Kits & Evaluation Modules

CAD/CAE symbols

Part # Package | Pins CAD File (.bxl) STEP Model (.stp)
INA240 Download
LM5018 Download Download
Download Download
LMG5200 Download -
TMS320F280049C Download Download
Download -
Download Download
TMS320F28379D Download Download
Download Download

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Technical Documents

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Datasheet (4)
Title Type Size (KB) Date
PDF 3004 16 Nov 2018
PDF 1182 29 Oct 2018
PDF 2949 23 Oct 2018
PDF 1743 13 Feb 2018
User guides (5)
Title Type Size (KB) Date
PDF 806 27 Nov 2019
PDF 2240 03 Apr 2019
PDF 1128 28 Mar 2019
PDF 36 20 Mar 2019
PDF 1228 18 Apr 2018
Design files (2)
Title Type Size (KB) Date
PDF 94 06 Apr 2018
PDF 550 06 Apr 2018
More literature (1)
Title Type Size (KB) Date
PDF 794 11 Aug 2017
Related Tools & Software

Design Kits & Evaluation Modules  ( 3 )

Name Part Number Tool Type
C2000 Piccolo MCU F280049C LaunchPad™ development kit  LAUNCHXL-F280049C  Design Kits & Evaluation Modules 
C2000 Delfino MCU F28379D LaunchPad™ development kit  LAUNCHXL-F28379D  Development Kits 
48-V Three-Phase Inverter With Shunt-Based In-Line Motor Phase Current Sensing Evaluation Module  BOOSTXL-3PHGANINV  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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