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


SpinTAC Move provides an easy way to smoothly transition from one speed or position to another by computing the fastest path between Point A and Point B. SpinTAC Move generates a profile based on starting velocity or position, desired velocity or position, and configured system limitations for acceleration and jerk. Jerk represents the rate of change of acceleration. A larger jerk will increase the acceleration at a faster rate. Steps, or sharp movement between two points, can cause systems to oscillate. The bigger the step, the greater this tendency. Control over jerk can round the velocity corners, reducing oscillation. As a result, acceleration can be set higher. Controlling the jerk in your system will lead to less mechanical stress on your system components and can lead to better reliability and less failing parts.

As opposed to pre-defined lookup tables, SpinTAC Move runs on the processor, consuming less memory than traditional solutions. Besides the industry standard trapezoidal curve and s-Curve, SpinTAC also provides a proprietary st-Curve, which is even smoother than s-Curve and allows users to limit the jerk of the motion.

Figure 3-3 describes the curves that are available for use in SpinTAC Move. The LineStream proprietary st-Curve provides the smoothest motion by smoothing out the acceleration of the profile. For most applications the st-Curve represents the best motion profile.

GUID-AEA34A11-3B3B-4A2C-887D-5AEE0778B780-low.gif Figure 2-3 SpinTAC™ Move Curve Descriptions