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

2.2.1 LAUNCHXL-F29H85X Setup

The LAUNCHXL-F29H85X is a low-cost development board that supports the connection of two BoosterPack plug-in modules. For documentation such as user's guide and schematics, see the tool folder.

Configure the LaunchPad as follows:

  • BOOT: set to flash (UP, UP)
  • ADC reference: set to external reference (UP)
  • QEP: connect Q1 to J12 (RIGHT switch UP)
  • Encoder connection: J12 connects to the motor harness J4. The J12 ground pin is on the LEFT.
  • Connect a USB cable to the on-board USB connector on the C2000 Launchpad. This connection supplies power to the LaunchPad and enables an isolated JTAG connection to the C2000 device. Leave the cable disconnected until testing begins.
Note: Use of parallel I/O boot can lead to random F29H85x device resets. The BOOT mode switch must not be set to parallel I/O boot unless a host is present to drive the control lines.
LAUNCHXL-F29H85X Configuration Figure 2-1 LAUNCHXL-F29H85X Configuration