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

12.5 Program ControlCard EEPROM for ESC

Verify first that TwinCAT has discovered the ESC as described in Section 12.4. Also, make sure to copy the ESC XML file into TwinCAT directory before starting off to program the EEPROM.

  1. Copy the ESI file (F2838x CM EtherCAT Slave (System).xml available at \solutions\tmdxiddk379d\f2838x\ssc_configuration) into the TwinCAT directory (Default location: C:\TwinCAT\3.1\Config\Io\EtherCAT). If TwinCAT was already open, it has to be closed and re-opened again for it to see new XML file(s).
  2. In the Visual Studio solution explorer, double click on Box # under Device 2 (EtherCAT).
  3. The TwinCAT project window should be open to the right of the solution explorer and have some tabs such as General, EtherCAT, and so forth
  4. Select the EtherCAT tab and then click on Advanced Settings
  5. In the new window, expand the ESC Access menu, then expand the E2PROM menu. Click on Smart View
  6. Click on Write E2PROM and expand the Texas Instruments Incorporated menu within the Available EEPROM Descriptions window.
  7. Expand TI C28xx Slave Devices and select F2838x CM EtherCAT Slave. Click OK.
  8. Visual Studio will indicate that the EEPROM is being programmed. When it completes, if the Smart View doesn’t automatically update with the new contents, you can select Read E2PROM to read back the newly programmed values.
  9. The Product Code for this CM application is 0x10003101
  10. Once EEPROM is programmed, disconnect and power cycle the controller.
    GUID-066B00CB-3F65-4513-8DD5-458F2A38F80F-low.pngFigure 12-4 TwinCAT EEPROM Window