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

8 Software Architecture

The Single-chip Servo Drive Demo was architected around a central real-time path that is made up of:

  • ICSSG1 - EtherCAT Slave Controller Firmware
  • R5FSS1_0 - EtherCAT Slave Stack implementing CiA402 using FreeRTOS
  • IPC provided in the MCU+ SDK
  • R5FSS0_0 - Closed loop FOC control capable of current, speed, or position closed-loop control
  • EPWM - Enhanced PWM peripherals to generate waveforms based on the output of the FOC loop
  • ICSSG0 - Sigma Delta firmware in PRU0 for phase current feedback and EnDat2.2 firmware in PRU1 for angle/position/speed feedback

This real-time path demonstrates the components needed to make up a bare-bones Servo Drive from receiving data from an EtherCAT master to closing the real-time control loops in order to precisely control a directly connected motor.

The Software Architecture diagram is shown in Figure 8-1.

GUID-20211108-SS0I-HDWC-FCJV-H2HK0LBDWHGH-low.png Figure 8-1 Software Architecture