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

2.3.3 Configuration of the Software

  1. Predefined Symbols:

    Compiler predefine macros are provided to configure the software. A list of options is shown in Table 2-5. To modify, add, or remove macros:

    right click on project → Properties → Build → C2000 Compiler → Predefined Symbols

    Note: A pre-define symbol with suffix "_N" is disabled. For example, field weakening control (FWC) is enabled by removing the "_N" on "MOTOR1_FWC_N" to change the predefine to "MOTOR1_FWC".
  2. Motor model definition:

    Defined in src_board/user_mtr1.h and src_board/user_common.h files.

    Locate the definition for USER_MOTOR1. Confirm the definition matches the motor being tested. Only the Teknic_M2310PLN04K was tested for this release.

    #define USER_MOTOR1 Teknic_M2310PLN04K
Table 2-5 Predefine Definitions
Predefine Description Required or Optional Default
MOTOR1_ENC Incremental encoder Required Enabled
ADC_EXT_REF ADC uses the external reference. If this predefine is disabled, the SysCfg file must be modified to use the internal reference. Recommended Enabled
MOTOR1_FWC Field weakening control. Usually enabled along with MTPA. Optional Disabled
MOTOR1_MTPA Maximum torque per amphere. Usually enabled along with FWC. Optional Disabled
DATALOG_EN Data export through datalog buffers Optional Disabled
DAC128S_ENABLE Data export through the DAC EVM Optional Disabled
DAC_ON_CHIP_ENABLE Data export through the on-chip DAC Optional Disabled