TIDUFG6A December   2025  – June 2026

 

  1.   1
  2.   Description
  3.   Resources
  4.   Features
  5.   Applications
  6.   6
  7. 1System Description
    1. 1.1 Terminology
    2. 1.2 Key System and Interface Specifications
  8. 2System Overview
    1. 2.1 Block Diagram
    2. 2.2 Design Considerations
    3. 2.3 Highlighted Products
      1. 2.3.1 TMS320F28P65x (F28P65x)
      2. 2.3.2 DRV8376
      3. 2.3.3 DP83826A
  9. 3System Design Theory
    1. 3.1 F28P65 Motor Control and Communication Interface
    2. 3.2 Multi-Axis Motor Control Scheme
    3. 3.3 DC Link Decoupling
    4. 3.4 Three-Phase Inverter With DRV8376
    5. 3.5 System Power Management
    6. 3.6 Ethernet Physical Layer
  10. 4Hardware, Software, Testing Requirements, and Test Results
    1. 4.1 Hardware Requirements
      1. 4.1.1 TIDA-010992 PCB Overview
      2. 4.1.2 TIDA-010992 Hardware Settings
    2. 4.2 Software Requirements
    3. 4.3 Testing and Results
      1. 4.3.1 Power Management and System Power Up and Power Down
      2. 4.3.2 Current Feedback
      3. 4.3.3 Three-Phase Half-Bridge Motor Driver Power Stage Switch Node
      4. 4.3.4 Multi-Axis Motor Control Scheme Verification
      5. 4.3.5 System Thermal Measurements
  11. 5Design and Documentation Support
    1. 5.1 Design Files
      1. 5.1.1 Schematics
      2. 5.1.2 BOM
      3. 5.1.3 Layer plots
      4. 5.1.4 Altium Project
      5. 5.1.5 Gerber Files
      6. 5.1.6 Assembly Drawings
    2. 5.2 Tools and Software
    3. 5.3 Documentation Support
    4. 5.4 Support Resources
    5.     Trademarks
  12. 6About the Author
  13. 7Revision History

1 System Description

This reference design demonstrates the capacity of TI C2000™ MCU-F28P65 devices to handle an industrial Ethernet-connected real-time motor drive with six-axis control.

The control part of this design includes one 200MHz C28x core on a F28P65 MCU with a small 9mm × 9mm BGA package to perform 2-axis closed loop field-oriented control (FOC) and run EtherCAT application also. Meanwhile, another C28x core of this F28P65 MCU is used to perform 4-axis closed loop FOC motor control. The single MCU F28P65 generates 36 complementary PWM signals with high-resolution epwm modules and measures the 3-phase current of 6 motors by 18 channels analog-to-digital converter (ADC) integrated in MCU. This reference design employs one digital encoder per motor with serial peripheral interface (SPI) to feedback the position data of the motor rotor.

The power stage includes six 70V, 4.5A peak 3-phase motor driver DRV8376 with integrated current sensing and integrated field-effect transistors (FETs), optimized for extremely low gate loop and low power loop impedance. The low on-state resistance RDS(ON) of 400mΩ (high-side plus low-side) to enable high-power drive capability. The phase current is sensed using an integrated current sensing feature eliminating the need for external shunt resistors. The DRV8376 also integrated protection features including supply under voltage lockout (UVLO), Charge pump under voltage (CPUV), Overcurrent protection (OCP), Overtemperature warning and shutdown (OTW/OTSD), Fault condition indication (nFAULT) and fault diagnostics over SPI. The control scheme is highly configurable through register settings ranging from motor current limiting behavior to fault response.

This reference design showcases the unique multi-axis motor control scheme to implement 6 independent FOC control loop with 16kHz control cycle time and with 64kHz PWM switching frequency to reduce the motor ripple current. The position loop can be controlled by the motion controller through EtherCAT connection.