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 Step 2 Open Loop Control

Objectives:

  • Run the system with open-loop control
  • Validate the current and voltage sensing circuits
  • Validate that the incremental encoder is correctly configured and connected
Note: In open-loop control:
  • The current values sensed by the ADC (or SDFM) are only used for verification and validation. The values are not actually used to control the motor.
  • Incremental encoder data is used to estimate the speed for validation. This speed is not used to control the motor.
Note:

The number of slots per rotation for the encoder must be provided. This is required to correctly convert the encoder signal into an angle. Check the definition of USER_MOTOR1_NUM_ENC_SLOTS in user_mtr1.h.

An incorrect value results in the motor spinning faster, or slower. Note that this value is the number of slots on the encoder, not the resulting number of counts after figuring the quadrature accuracy.

Step 2: Open Loop Control Block Diagram Figure 2-9 Step 2: Open Loop Control Block Diagram