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

About This Manual

Table 1-1 C2000 InstaSPIN Device Guide
Device Families InstaSPIN Library Version Solution Support Software Package User's Guide
TMS320F2086xM V1p6 InstaSPIN-MOTION MotorWare This Guide

Welcome and thank you for selecting Texas Instrument's InstaSPIN™ solutions. This document will guide you through the technical details of InstaSPIN software enabling you to integrate this solution into your application. The structure of this document can be summarized as:

  • Introduction to
    • InstaSPIN-MOTION™ and SpinTAC™
  • Running a motor immediately with TI hardware and software
  • Understand software details, from reviewing API function calls to state diagrams and tuning the speed and position control loops
  • Understanding hardware aspects that directly impact InstaSPIN's performance.

All of the above are provided to help you develop a successful product using InstaSPIN-MOTION software. Example projects (labs) are a key part of this success and are designed to relate specifically with the topics in this document. They are intended for you to not only experiment with InstaSPIN but to also use as reference for your design. The most up-to-date InstaSPIN-MOTION solutions and design resources, along with practical videos, can be found at: TI InstaSPIN™ motor control solutions.

Definition of terms that are used throughout this document can be found in Section B. The most common terms used are the following:

  • FOC:
    • Field-Oriented Control
  • InstaSPIN-FOC:
    • Complete sensorless FOC solution provided by TI on-chip in ROM on select devices (FAST observer, FOC, speed and current loops), efficiently controlling your motor without the use of any mechanical rotor sensors.
  • FAST
    • Unified observer structure which exploits the similarities between all motors that use magnetic flux for energy transduction, automatically identifying required motor parameters and providing motor feedback signals: Flux, flux Angle, motor shaft Speed, and Torque.
  • SpinTAC Motion Control Suite:
    • Includes an advanced speed and position controller, a motion engine, and a motion sequence planner. The SpinTAC disturbance-rejecting speed controller proactively estimates and compensates for system disturbances in real-time, improving overall product performance. The SpinTAC motion engine calculates the ideal reference signal (with feed forward) based on user-defined parameters. SpinTAC supports the standard industry curves, and LineStream's proprietary “smooth trajectory” curve. The SpinTAC motion sequence planner operates user-defined state transition maps, making it easy to design complex motion sequences.
    • A comprehensive sensorless or sensored FOC solution for motor-, motion-, speed-, and position-control. This solution delivers robust system performance at the highest efficiency for motor applications that operate in various motion state transitions. InstaSPIN-MOTION includes the FAST unified software observer, combined with SpinTAC Motion Control Suite from LineStream Technologies.
  • MotorWare™ software:
    • TI supplied scalable software architecture for motor control, of which InstaSPIN-FOC is a part.

Whether you are using TI supplied inverters and motors or using your own, this document helps you learn about this new and empowering solution from TI.