Tamagawa Encoder Interface Protocol on AM437x Reference Design
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The commonly-accepted existing solution to interface Tamagawa SmartAbs full-absolute or Smart Inc encoders with a drive feedback and control system is to use a Smartceiver AU5561N1. Use of these receivers requires additional components, complexity, and costs to the system. This reference design details a compatible receiver implementation using Sitara™ AM437x processors, which have an Arm® Cortex®-A9 core and multiple instances of PRU-ICSS. This receiver implementation bypasses the requirement for additional components because a single instance of PRU-ICSS controls the Tamagawa encoder, while the ARM device and remaining PRU-ICSS resources handle the drive control, current sense, and industrial communications. This implementation allows for a cost-effective, single-chip, industrial drive and communication solution.

  • Tamagawa receiver on AM437x using PRU-ICSS
  • Tamagawa smartceiver AU5561N1 compatible
  • Supports 2.5Mbps full-absolute SmartAbs and SmartInc encoders
  • Supports data readout and reset frames

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AM437x/AMIC120 Industrial Development Kit (IDK)


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PRU-ICSS software for industrial drives (EnDat2.2, Tamagawa, Hiperface DSL,SDDF and motor control support)


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RS-485 Half-Duplex Evaluation Module


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RTOS processor SDK for AM437x and AMIC120


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TI Devices (2)

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Part Number Name Product Family Sample & Buy Design Kits & Evaluation Modules
AM4379  Sitara processor: Arm Cortex-A9, PRU-ICSS, EtherCAT, 3D graphics  Processors  Sample & Buy View Design Kits & Evaluation Modules
SN65HVD75  3.3-V half-duplex RS-485 transceiver with IEC ESD, 20 Mbps  Interface  Sample & Buy View Design Kits & Evaluation Modules

CAD/CAE symbols

Part # Package | Pins CAD File (.bxl) STEP Model (.stp)
AM4379 Download -
SN65HVD75 Download

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More literature (1)
*This is not an TI official document.
Title Date Type
Protocol Package Software Developer Guide 28 Sep 2017 Wiki*
Datasheet (1)
Title Type Size (KB) Date
PDF 2977 21 Mar 2018
User guide (1)
Title Type Size (KB) Date
PDF 3096 15 Sep 2017
Design files (6)
Title Type Size (KB) Date
ZIP 580 22 May 2017
ZIP 1276 22 May 2017
ZIP 6065 22 May 2017
ZIP 21148 22 May 2017
ZIP 870 22 May 2017
ZIP 11389 22 May 2017
Related Tools & Software

Hardware development (2)

Name Part Number Tool Type
AM437x/AMIC120 Industrial Development Kit (IDK)  TMDSIDK437X  Evaluation board 
RS-485 half-duplex evaluation module  RS485-HF-DPLX-EVM  Evaluation board 

Software development (2)

Name Part Number Software Type
PRU-ICSS Industrial Software for Sitara™ Processors  PRU-ICSS-INDUSTRIAL-SW  Driver or library 
Processor SDK for AM437x Sitara Processors - Linux and TI-RTOS support  PROCESSOR-SDK-AM437X  Software development kit (SDK) 

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