SPRUHJ0C April   2013  – October 2021 TMS320F28068M , TMS320F28069-Q1 , TMS320F28069M , TMS320F28069M-Q1


  1. 1Read This First
    1. 1.1 About This Manual
    2. 1.1 Glossary
    3. 1.1 Support Resources
    4.     Trademarks
  2. 1 F2806xM InstaSPIN-MOTION Enabled MCUs
  3. 2InstaSPIN-MOTION Key Capabilities and Benefits
    1. 2.1 Overview
    2. 2.2 FAST Unified Observer
    3. 2.3 SpinTAC Motion Control Suite
      1.      IDENTIFY
      2.      CONTROL
      3.      MOVE
      4.      PLAN
    4. 2.4 Additional InstaSPIN-MOTION Features
  4. 3InstaSPIN-MOTION Block Diagrams
    1.     Scenario 1: InstaSPIN-MOTION Speed Control with FAST Software Encoder
    2.     Scenario 2: InstaSPIN-MOTION Speed Control with a Mechanical Sensor
    3.     Scenario 3: InstaSPIN-MOTION Position Control with Mechanical Sensor and Redundant FAST Software Sensor
  5. 4Application Examples
    1. 4.1 Treadmill Conveyor: Smooth Motion Across Varying Speeds and Loads
    2. 4.2 Video Camera: Smooth Motion and Position Accuracy at Low Speeds
    3. 4.3 Washing Machine: Smooth Motion and Position Accuracy at Low Speeds
      1.      Agitation Cycle
      2.      Spin Cycles
    4. 4.4 InstaSPIN-MOTION Works Over the Entire Operating Range
  6. 5Evaluating InstaSPIN-MOTION Performance
    1. 5.1 Overview
    2. 5.2 Velocity Control Performance: SpinTAC vs PI
      1. 5.2.1 Disturbance Rejection
      2. 5.2.2 Reference Tracking
      3. 5.2.3 Step Response
    3. 5.3 Position Control Performance: SpinTAC vs PI
      1. 5.3.1 Disturbance Rejection
      2. 5.3.2 Reference Tracking
      3. 5.3.3 Step Response
      4. 5.3.4 Inertia Estimation Repeatability
  7. 6Microcontroller Resources
    1. 6.1 CPU Utilization
    2. 6.2 Memory Utilization
    3. 6.3 Pin Utilization
      1.      A Resources
        1.       B Definition of Terms and Acronyms
          1.        C Revision History

Memory Utilization

Table 7-3 lists the memory usage for each SpinTAC component. In SpinTAC Plan, there are a large number of configuration functions.

Table 6-3 Code Size and RAM Usage for SpinTAC Components
ComponentCode (.text) (16-bit Words)RAM (.ebss) (16-bit Words)
Velocity Control0x2F40x4C
Velocity Move0x50D0x5C
Velocity Plan (Minimum)0x6800x4E
Velocity Plan (Maximum)0x13BA0x4E
Velocity Identify0x3A50x3C
Position Converter0x20D0x4A
Position Control0x41E0x62
Position Move0x141C0xCC
Position Plan (Minimum)0x7EE0x60
Position Plan (Maximum)0x16AA0x60


Table 7-4 breaks down the maximum stack utilization of SpinTAC components when run individually. The stack consumption of InstaSPIN-FOC is included. To calculate the stack usage, the entire memory section where the stack is placed is filled with known values. The corresponding code was then run for a few minutes. The memory area where the stack was allocated was analyzed and the amount of used memory was calculated.

Table 6-4 Stack Utilization of SpinTAC Components + InstaSPIN-FOC
Configuration Maximum Stack Used
(16-bit Words)
Velocity Control 0x0120
Velocity Move 0x0120
Velocity Plan + Move + Control 0x0120
Velocity Identify 0x0120
Position Converter 0x0120
Position Control 0x0120
Position Move 0x0120
Position Plan + Move + Control 0x0120

Table 7-5 shows the allocated memory for the InstaSPIN-FOC and SpinTAC library.

Table 6-5 2806xF and 2802xM Allocated Memory for InstaSPIN-FOC and SpinTAC Library
Features 2806xF 2806xM 2805xF 2805xM 2802xF
FAST Yes Yes Yes Yes Yes
SpinTAC No Yes No Yes No
Maximum Number of Motors that can be controlled 2 2 2 2 1
Relocalable Controller Structure No No Yes Yes Yes
FAST Version 1.6 1.6 1.7 1.7 1.7
Public Library needs to be added to project No No No No Yes
ROM Library [size, hex, words] 4000 4000 3D27 3D27 2000
ROM Library Start [address, hex] 3F 8000 3F 8000 3F 8808 3F 8808 3F C000
Library Required RAM [size, hex, words] 800 800 800 800 200
Library Start RAM [address, hex] 01 3800 01 3800 00 8000 00 8000 00 0600


For the F2806xF and F2806xM devices, InstaSPIN-FOC v1.6 and SpinTAC v2.2.6 is stored in the address range of 0x3F8000 to 0x3FBFF and the last part of L8-RAM is reserved for InstaSPIN variables, address range 0x013800 to 0x013FFF. Figure 7-2 shows the memory locations that have been assigned for InstaSPIN-FOC and SpinTAC.

GUID-F5342898-79F2-491D-98E8-E7CB1A8F0073-low.gifFigure 6-2 F2806xF and F2806xM Allocated Memory for InstaSPIN-FOC and SpinTAC Library