SPRACM9B June   2019  – November 2020 TMS320F28384D , TMS320F28384S , TMS320F28386D , TMS320F28386S , TMS320F28388D , TMS320F28388S , TMS320F28P650DH , TMS320F28P650DK , TMS320F28P650SH , TMS320F28P650SK , TMS320F28P659DK-Q1

 

  1.   Trademarks
  2. 1 Introduction
    1. 1.1 Acronyms Used in This Document
  3. 2 Benefits of the TMS320F2838x MCU for High-Bandwidth Current Loop
  4. 3 Current Loops in Servo Drives
  5. 4 Outline of the Fast Current Loop Library
  6. 5 Fast Current Loop Evaluation
    1. 5.1 Evaluation Setup
      1. 5.1.1 Hardware
      2. 5.1.2 Software
      3. 5.1.3 FCL With T-Format Type Position Encoder
        1. 5.1.3.1 Connecting T-Format Encoder to IDDK
        2. 5.1.3.2 T-Format Interface Software
        3. 5.1.3.3 T-Format Encoder Latency Considerations
      4. 5.1.4 SDFM
      5. 5.1.5 Incremental System Build
  7. 6 Incremental Build Level 1
    1. 6.1 SVGEN Test
    2. 6.2 Testing SVGEN With DACs
    3. 6.3 Inverter Functionality Verification
  8. 7 Incremental Build Level 2
    1. 7.1 Setting the Overcurrent Limit in the Software
    2. 7.2 Current Sense Method
    3. 7.3 Voltage Sense Method
    4. 7.4 Setting Current Regulator Limits
    5. 7.5 Verification of Current Sense
    6. 7.6 Position Encoder Feedback
      1. 7.6.1 Speed Observer and Position Estimator
      2. 7.6.2 Verification of Position Encoder Orientation
  9. 8 Incremental Build Level 3
    1. 8.1 Observation One – PWM Update Latency
      1. 8.1.1 From the Expressions Window
      2. 8.1.2 From the Scope Plot
  10. 9 Incremental Build Level 4
    1. 9.1 Observation
  11. 10Incremental Build Level 5
  12. 11Incremental Build Level 6
    1. 11.1 Integrating SFRA Library
    2. 11.2 Initial Setup Before Starting SFRA
    3. 11.3 SFRA GUIs
    4. 11.4 Setting Up the GUIs to Connect to Target Platform
    5. 11.5 Running the SFRA GUIs
    6. 11.6 Influence of Current Feedback SNR
    7. 11.7 Inferences
      1. 11.7.1 Bandwidth Determination From Closed Loop Plot
      2. 11.7.2 Phase Margin Determination From Open Loop Plot
      3. 11.7.3 Maximum Modulation Index Determination From PWM Update Time
      4. 11.7.4 Voltage Decoupling in Current Loop
    8. 11.8 Phase Margin vs Gain Crossover Frequency
  13. 12Incremental Build Level 7
    1. 12.1 Run the Code on CPU1 to Allocate ECAT to CM
    2. 12.2 Run the Code on CM to Setup ECAT
    3. 12.3 Setup TwinCAT
    4. 12.4 Scanning for EtherCAT Devices via TwinCAT
    5. 12.5 Program ControlCard EEPROM for ESC
    6. 12.6 Running the Application
  14. 13Incremental Build Level 8
    1. 13.1 Run the Code on CPU1 to Allocate ECAT to CM
    2. 13.2 Run the Code on CM to Setup ECAT
    3. 13.3 Running the Application
  15. 14References
  16. 15Revision History

12.1 Run the Code on CPU1 to Allocate ECAT to CM

  1. Open ’fcl_f2838x_tmdxiddk_settings_cpu1.h’ and select level 7 incremental build option by setting the BUILDLEVEL to FCL_LEVEL7 (#define BUILDLEVEL FCL_LEVEL7). Right-click on the project name, and then click Rebuild Project.
    Note: Control power supply to the IDDK is alone needed for this build level, therefore, you can turn off the high voltage dc power to the kit.
  2. When the build is complete, click the Debug button, reset the CPU, restart, enable real-time mode, and run.
  3. Right-click within the CCS Expressions window and choose Import. Then browse to and select fcl_f2838x_tmdxiddk_ecat_vars.txt file from the debug directory. This will add the following variables within the ‘Expressions Window’:
    1. countMainLoop : counter to just show activity in ECAT main loop function
    2. dataBufferFromCM : buffer copy of message from CM
    3. dataBuffertoCM : buffer copy of messge to CM
    4. ipcCMToCPUDataBuffer : data buffer written by CM for use by CPU1
    5. ipcCPUToCMDataBuffer : data buffer written by CPU1 for use by CM
  4. Running the code will enable the GPIOs needed for EtherCAT and also passed over the ownership of EtherCAT slave peripheral to CM, besides setting up the IPC on CPU1 side for data transfer between CPU1 and CM. Now is the time to load / run the code on CM to initialize the EtherCAT peripheral.
    Note: If ever the EtherCAT was assigned to CPU1 in any of the immediate previous evaluation projects and is now being assigned to CM, then make sure to power cycle the controlCARD before running the CM project to ensure that CPU1 has fully relinquished the EtherCAT peripheral.