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

13 Summary

New guidelines and system requirements for servo drives are being introduced with Industry 4.0, making it important for designers to select a solution that fits the needs of current and future servo drives. Precision, connectivity, efficiency, and safety are the key considerations. Devices like Sitara AM243x MCU, which includes up to 4x R5F @ 800 MHz, industrial communication subsystem and real-time control peripherals, can be a good fit for the connected, high-end motor drive system. This app note provides a step-by-step guidance to demonstrate AM243x in the servo drive application, and help users understand the details of the implementation and performance. Key features are summarized as below:

  • Flexibility to support multiple popular industrial communication protocols
  • Unique synchronization architecture of the AM243x/AM64x for easy implementation of synchronization among system events
  • A dedicated M4F core on AM243x/AM64x for functional safety
  • Use dedicated 800 Mhz R5F core to achieve much higher complete motor control loop frequency (50Khz) in comparison to the usually 8K to 20 Khz control loop frequency, Thanks to the low latency, more deterministic, more reliable nature of the Arm® R5F core.
  • Use the highly efficient MCU+ SDK, take advantage of the single-cycle TCM and large on-chip RAM to build highly efficient and DDRless motor control system.
  • Use dedicated 800 Mhz R5F core to handle the Industrial Communication Stack to improve the reliability and capable to handle gigabit Profinet.
  • Easy to extend to multiple axis motor control – Easy to add functional safety. Thanks to the dedicated M4F core for implementing functional safety.
  • The FOC loop time reduced from 6us to <1us.
  • The Sigma Delta Filtering on PRU_ICSSG can handle up to 9 channels (enough for 3 axis)
  • The EnDat 2.2 decoding on PRU_ICSSG can handle up to three channels (enough for 3 axis)
  • AM243x consume less 1W