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

10.2 Trigger/Capture Point to R5F ISR Entry

EnDat position latch has been experimentally shown on a logic analyzer to be < 10 ns from the desired trigger point. Observed values have been between 0-8 ns from desired capture point. Figure 10-1 shows the trigger/capture points:

GUID-20211108-SS0I-DF3N-QPFW-WW0WJXS4XVQJ-low.png Figure 10-1 Trigger and Capture Points