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

2.4.3.1 Build, Load and Run Project

Follow the setup in Table 2-7 with:

  • The motor connected to the harness.
  • #define DMC_BUILDLEVEL DMC_LEVEL_2.

Control Test Procedure has the control test procedure. This test procedure is re-used for the closed-current loop test, and for the closed speed+current loop test.

Table 2-9 Control Test Procedure
Step Description
1 Start execution in CCS: Run → Continue (or F5)
2 Confirm: variable increments motorVars_M1.ISRCount
3 Confirm: variable changes to 1 systemVars.flagEnableSystem
4 Set: to 1 to start the ePWMs motorVars_M1.flagEnableRunAndIdentify
5 Confirm:
  • Variable changes to 1 (no faults)
  • The motor begins to spin
 motorVars_M1.flagRunIdentAndOnLine
6 Confirm: motor peed ramps up to the reference speed
  • motorVars_M1.speed_Hz
  • motorVars_M1.speedRef_Hz
7 Modify:
  • Reference speed and observe current speed change
  • Negative reference speed changes the direction
9 Monitor: Phase currents and angle
  • Use datalog buffers, the on-chip DAC or the DAC EVM.
  • Compare currents with actual phase currents measured with a current probe
10 Clear: (set to 0) to disable the ePWM motorVars_M1.flagEnableRunAndIdentify
10 The CPU can now be halted and CCS disconnected.
11 Turn off power to the inverter board
12 Disconnect the LaunchPad from the PC