TIDUF42 January   2024

 

  1.   1
  2.   Description
  3.   Resources
  4.   Features
  5.   Applications
  6.   6
  7. 1System Description
    1. 1.1 Terminology
    2. 1.2 Key System Specifications
  8. 2System Overview
    1. 2.1 Block Diagram
    2. 2.2 Design Considerations
    3. 2.3 Highlighted Products
      1. 2.3.1 EnDAT 2.2 Interface
      2. 2.3.2 SDFM Interface
      3. 2.3.3 EPWM Interface
      4. 2.3.4 ICSS-PRU IEP
      5. 2.3.5 EtherCAT CiA402 Velocity Control
  9. 3System Design
  10. 4Hardware, Software, Testing Requirements, and Test Results
    1. 4.1 Hardware Requirements
    2. 4.2 Software Requirements
    3. 4.3 Test Setup
    4. 4.4 Test Results
  11. 5Design and Documentation Support
    1. 5.1 Design Files
      1. 5.1.1 Schematics
      2. 5.1.2 BOM
    2. 5.2 Tools and Software
    3. 5.3 Documentation Support
    4. 5.4 Support Resources
    5. 5.5 Trademarks
  12. 6About the Author

4.3 Test Setup

This section provides instructions for how to load and run the test software:

After importing and building the system project, the executable binary files for R5F_0_0, R5F_0_1 and R5F_1_0 appear in the CCS workspace directory: C:\ti\ccs_ws_1250_am243x_mcsdk_09.01.00.01

  1. Connect to the target AM243x LP using the target configuration file
  2. Load and Run Motor Control 1 – R5F_0_0
    • Halt R5F_0_0
    • Load and run single_chip_servo_am243x-lp_r5fss0-0_nortos_ti-arm-clang
    • Motor 1 is supposed to start spinning at 120 RPM
      GUID-20231023-SS0I-STG5-NJ5R-C9F1GF7WM41H-low.png Figure 4-8 Connect to R5F_0_0
      GUID-20231023-SS0I-MBL6-NFK6-Z5DLX8H1TCV2-low.png Figure 4-9 Load and Run the R5F_0_0
  3. Load and Run Motor Control 2 – R5F_0_1
    • Halt R5F_0_1
    • Load and run single_chip_servo_am243x-lp_r5fss0-1_nortos_ti-arm-clang
    • Motor 2 is supposed to start spinning at 120 RPM
      GUID-20231023-SS0I-RJFV-WCVB-CCDD67TDJTKG-low.png Figure 4-10 Load and Run the R5F_0_1
  4. Load and Run EtherCat CiA402 Client – R5F_1_0
    • Halt R5F_1_0
    • Load and run ethercat_slave_cia402_demo_am243x-lp_r5fss1-0_freertos_ti-arm-clang
    • The EtherCat CiA402 client device is now ready to be detected by TwinCAT (PLC)
      GUID-20231023-SS0I-X3WV-0CFN-ZN9ZLSH9B0RP-low.png Figure 4-11 Load and Run the R5F_1_0