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

12 Build Using MCU+SDK 08.00.00.21 & CCS 10.3.1

  1. Downlaod and install MCU+SDK 08.00.00.21 for AM64x at c:\ti.
  2. Download (https://www.ti.com/lit/zip/sprad03) and unzip it at <DEMO_INSTALL ROOT>.
  3. Copy and Overwrite:
    1. Copy <DEMO_INSTALL ROOT>\mcu_plus_sdk_servo_drive_code\examples\motor_control\sddf\ to C:\ti\mcu_plus_sdk_am64x_08_00_00_21\examples\motor_control
    2. copy <DEMO_INSTALL ROOT>\mcu_plus_sdk_servo_drive_code\examples\motor_control\single_chip_servo\ to C:\ti\mcu_plus_sdk_am64x_08_00_00_21\examples\motor_control
    3. copy <DEMO_INSTALL ROOT>\mcu_plus_sdk_servo_drive_code\source\motor_control\ to C:\ti\mcu_plus_sdk_am64x_08_00_00_21\ource\motor_control
  4. Re-build the EnDat Library:
    1. cd C:\ti\mcu_plus_sdk_am64x_08_00_00_21
    2. gmake -s -f makefile.am64x motorcontrol_endat_r5f.ti-arm-clang_clean
    3. gmake -s -f makefile.am64x motorcontrol_endat_r5f.ti-arm-clang
    4. gmake -s -f makefile.am64x motorcontrol_endat_r5f.ti-arm-clang_clean PROFILE=debug
    5. gmake -s -f makefile.am64x motorcontrol_endat_r5f.ti-arm-clang PROFILE=debug
  5. Import and Build CCS projects:
    1. Import and build the single_chip_servo_am64x-evm_system_freertos_nortos from the folder: C:\ti\mcu_plus_sdk_am64x_08_00_00_21\examples\motor_control\single_chip_servo\am64x-evm.
    2. The system CCS project will import three sub CCS projects:
      1. single_chip_servo_am64x-evm_r5fss0-0_nortos_ti-arm-clang
      2. single_chip_servo_am64x-evm_r5fss1-0_freertos_ti-arm-clang
      3. single_chip_servo_am64x-evm_m4fss0-0_nortos_ti-arm-clang
    3. You can build the system CCS project. It will build all three sub CCS projects.
  6. Load and Run single_chip_servo_am64x-evm_r5fss0-0_nortos_ti-arm-clang:
    1. Load and Run single_chip_servo_am64x-evm_r5fss0-0_nortos_ti-arm-clang in R5F_0_0 using CCS and JTAG on AM64x/AM243x EVM.
    2. The motor should start spin at 6000 cycles/min.