SPRUJH1 August   2025 F29H850TU

 

  1.   1
  2.   Abstract
  3.   Trademarks
  4. 1Introduction
    1. 1.1 Hardware Block Diagram
    2. 1.2 Software Flowchart
    3. 1.3 MCU Resources Used
  5. 2Running the Servo Drive With QEP on TI Hardware
    1. 2.1 Supported Hardware
    2. 2.2 Hardware Setup
      1. 2.2.1 LAUNCHXL-F29H85X Setup
      2. 2.2.2 DAC128S085EVM Setup (Optional)
      3. 2.2.3 BOOSTXL-3PHGANINV Setup
      4. 2.2.4 BOOSTXL-LMG2100-MD Setup
      5. 2.2.5 BP-AMC0106-LMG-MD
      6. 2.2.6 Motor Setup
    3. 2.3 Lab Software
      1. 2.3.1 Software Development Environment
      2. 2.3.2 Project Orginization
      3. 2.3.3 Configuration of the Software
      4. 2.3.4 Debug Interfaces
        1. 2.3.4.1 Datalogging
        2. 2.3.4.2 Digital to Analog Converters
    4. 2.4 Testing the Project in Incremental Steps
      1. 2.4.1 Watch Variables
      2. 2.4.2 Step 1 Hardware Setup Validation
        1. 2.4.2.1 Build, Load and Run Project
      3. 2.4.3 Step 2 Open Loop Control
        1. 2.4.3.1 Build, Load and Run Project
      4. 2.4.4 Step 3 Close the Current Loop
        1. 2.4.4.1 Build, Load and Run Project
      5. 2.4.5 Step 4 Close the Speed and Current Loop
        1. 2.4.5.1 Build and Load Project
  6.   References

1.3 MCU Resources Used

Table 1-1 Resources Used
Resource
CPU C29x CPU 1
PWM Channels 6
ADC Channels BOOSTXL-3PHGANINV 4: 3 current, 1 voltage
BOOSTXL-LMG2100-MD 4: 3 current, 1 voltage
BP-AMC0106-LMG-MD 1: voltage
SDFM Channels BOOSTXL-3PHGANINV 0
BOOSTXL-LMG2100-MD 0
BP-AMC0106-LMG-MD 3: current sensing
eQEP Modules 1
Control Methodology Field oriented control (FOC)
ISR Frequency 20kHz
ISR Performance Consumes 2.2 micro seconds with a 200MHz CPU clock and the motor spinning
Memory Consumption RAM: 12.4KB, FLASH: 60KB with compiler optimization level O2