SPRAD03 March   2022 AM2431 , AM2431 , AM2432 , AM2432 , AM2434 , AM2434 , AM6411 , AM6411 , AM6412 , AM6412 , AM6421 , AM6421 , AM6422 , AM6422 , AM6441 , AM6441 , AM6442 , AM6442

 

  1.   Trademarks
  2. 1 System Overview
  3. 2 Hardware Prerequisites
  4. 3 Hardware Configuration
  5. 4 HW Pinouts, Default Jumpers, and Connections
  6. 5 Schematics
  7. 6 Jumper Settings and Descriptions
  8. 7 LEDs
  9. 8 Software Architecture
  10. 9 Actuation and Feedback Timing
  11. 10Benchmark Results
    1. 10.1 Motor Control R5F Processing Time
    2. 10.2 Trigger/Capture Point to R5F ISR Entry
  12. 11Detailed Demo User's Guide
    1. 11.1 Step 0. Getting the Software and Building
    2. 11.2 Step 1. Getting Started With the Hardware
    3. 11.3 Step 2. Configure ROQ437 EnDat2.2 Encoder for Faster EnDat 2.2 Recovery Time (only needs to be done once the first time you use the ROQ437 encoder)
    4. 11.4 Step 3. Open Loop Iq Control (BUILDLEVEL == OPEN_LOOP_IQ_ID)
    5. 11.5 Step 4. Closed Loop Iq/Id Control (BUILDLEVEL == CLOSED_LOOP_IQ_ID)
    6. 11.6 Step 5. Closed Loop Speed Control (BUILDLEVEL == CLOSED_LOOP_SPEED)
    7. 11.7 Step 6. Closed Loop Position Control (BUILDLEVEL == CLOSED_LOOP_POSITION)
  13. 12Build Using MCU+SDK 08.00.00.21 & CCS 10.3.1
  14. 13Summary
  15. 14Appendix A: Detailed Motor Control R5F Processing Time
  16. 15References

6 Jumper Settings and Descriptions

Table 6-1 describes jumper settings and descriptions found on the TIDEP-01015 (rev 1.1) board.

Table 6-1 Jumper Settings and Descriptions
Ref ID Description Settings Notes
J1, J3, J5 FOC loop feedback source (1,2): current fb (default)
2,3: voltage fb
open: open loop		 pin numbering starts from bottom pin (opposite of most other pin groups on the board)
J2, J4, J6 ADC selection closed: SARopen: Sigma Delta (default)
J7 Safe torque off switch inputs (1,2)(3,4) pins 1,2 and pins 3,4 shorted is normal operation mode.
J8 Sigma Delta clock select (1,2): ECAP PWM (default)
2,3: HW delay clk
open: invalid
J20 GND
J21 3V3_D