SPRACO3 October   2019 INA240 , LMG5200 , TMS320F280021 , TMS320F280021-Q1 , TMS320F280023 , TMS320F280023-Q1 , TMS320F280023C , TMS320F280025 , TMS320F280025-Q1 , TMS320F280025C , TMS320F280025C-Q1 , TMS320F280040-Q1 , TMS320F280040C-Q1 , TMS320F280041 , TMS320F280041-Q1 , TMS320F280041C , TMS320F280041C-Q1 , TMS320F280045 , TMS320F280048-Q1 , TMS320F280048C-Q1 , TMS320F280049 , TMS320F280049-Q1 , TMS320F280049C , TMS320F280049C-Q1 , TMS320F28374D , TMS320F28374S , TMS320F28375D , TMS320F28375S , TMS320F28375S-Q1 , TMS320F28376D , TMS320F28376S , TMS320F28377D , TMS320F28377D-EP , TMS320F28377D-Q1 , TMS320F28377S , TMS320F28377S-Q1 , TMS320F28378D , TMS320F28378S , TMS320F28379D , TMS320F28379D-Q1 , TMS320F28379S

 

  1.   Dual-Axis Motor Control Using FCL and SFRA On a Single C2000 MCU
    1.     Trademarks
    2. 1 Introduction
      1. 1.1 Acronyms and Descriptions
    3. 2 Benefits of the C2000 for High-Bandwidth Current Loop
    4. 3 Current Loops in Servo Drives
    5. 4 PWM Update Latency for Dual Motor
    6. 5 Outline of the Fast Current Loop Library
    7. 6 Evaluation Platform Setup
      1. 6.1 Hardware
        1. 6.1.1 LAUNCHXL-F28379D or LAUNCHXL-F280049C
          1. 6.1.1.1 DACs
          2. 6.1.1.2 QEPs
        2. 6.1.2 Inverter BoosterPack - GaN + INA240
        3. 6.1.3 Two Motor Dyno
        4. 6.1.4 System Hardware Connections
        5. 6.1.5 Powering Up the Setup
      2. 6.2 Software
        1. 6.2.1 Incremental Build
        2. 6.2.2 Software Setup for Dual-Axis Servo Drive Projects
    8. 7 System Software Integration and Testing
      1. 7.1 Incremental Build Level 1
        1. 7.1.1 SVGEN Test
        2. 7.1.2 Testing SVGEN With DACs
        3. 7.1.3 Inverter Functionality Verification
      2. 7.2 Incremental Build Level 2
        1. 7.2.1 Connecting motor to INVs
        2. 7.2.2 Testing the Motors and INVs
        3. 7.2.3 Setting Over-current Limit in the Software
        4. 7.2.4 Setting Current Regulator Limits
        5. 7.2.5 Position Encoder Feedback
      3. 7.3 Incremental Build Level 3
        1. 7.3.1 Observation One – Latency
      4. 7.4 Incremental Build Level 4
        1. 7.4.1 Observation
        2. 7.4.2 Dual Motor Run With Speed Loop
      5. 7.5 Incremental Build Level 5
        1. 7.5.1 Dual Motor Run with Position Loop
      6. 7.6 Incremental Build Level 6
        1. 7.6.1 Integrating SFRA Library
        2. 7.6.2 Initial Setup Before Starting SFRA
        3. 7.6.3 SFRA GUIs
        4. 7.6.4 Setting Up the GUIs to Connect to Target Platform
        5. 7.6.5 Running the SFRA GUIs
        6. 7.6.6 Influence of Current Feedback SNR
        7. 7.6.7 Inferences
        8. 7.6.8 Phase Margin vs Gain Crossover Frequency
    9. 8 Summary
    10. 9 References

7.1.2 Testing SVGEN With DACs

To monitor internal signal values in real time, on-chip DACs are used. DACs are part of the analog module DACs A and B are available for this purpose. This is shown in Figure 21.

figure_21.gifFigure 21. DAC Outputs Showing Ta, Tb Waveform

The operation suggested above for motor 1 that can be repeated for motor 2 also to verify the related modules. To use DACs for motor 2, change the linked variables to DACs for motor 2 as the following example code in motor1ControlISR() in " dual_axis_servo_drive.c".

//------------------------------------------------------------------------------ // Variable display on DACs //------------------------------------------------------------------------------ DAC_setShadowValue(hal.dacHandle[0], DAC_MACRO_PU(motorVars[1].svgen.Ta)); DAC_setShadowValue(hal.dacHandle[1], DAC_MACRO_PU(motorVars[1].svgen.Tb));

NOTE

Remove the R20 on both BOOSTXL-3PhGaNInv boards, or disconnect J3-30 and J7-70 pins to both BOOSTXL-3PhGaNInv boards.