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 Testing the Project in Incremental Steps

The servo drive system can be tested in incremental stages. Each stage is enabled by defining DMC_BUILDLEVEL in sys_settings.h and rebuilding the project. In the code example shown "Step 4: closed speed loop and current loop" is enabled by the DMC_BUILDLEVEL.

//=============================================================================
// Incremental Build options for System check-out
//=============================================================================
#define DMC_LEVEL_1     1   //Y 50% duty, offset calibration and verify phase shift
#define DMC_LEVEL_2     2   //Y open loop control to check sensing signals
#define DMC_LEVEL_3     3   //Y closed current loop to check the hardware settings
#define DMC_LEVEL_4     4   //Y run with sensored FOC

#define DMC_BUILDLEVEL  DMC_LEVEL_4

  1. Step 1: Hardware setup validation.

    #define DMC_BUILDLEVEL DMC_LEVEL_1

    Verify the ADC offset calibration, ePWM 50% duty output, deadband, and phase shift.

  2. Step 2: Open loop control.

    #define DMC_BUILDLEVEL DMC_LEVEL_2

    Spin the motor using open loop control to verify the motor current and voltage sensing signals.

  3. Step 3: Close the current loop.

    #define DMC_BUILDLEVEL DMC_LEVEL_3

    Spin the motor with a closed current loop to validate current sensing and the current control.

  4. Setp 4: Close the speed loop and the current loop.

    #define DMC_BUILDLEVEL DMC_LEVEL_4

    The final step is to run the motor with both the speed loop and the current loop closed.