Distributed multi-axis servo drive over fast serial interface (FSI) reference design
TIDM-02006
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Key Document

Description

This reference design presents an example distributed or decentralized multi-axis servo drive over Fast Serial Interface (FSI) using C2000™ real-time controllers. Multi-axis servo drives are used in many applications such as factory automation and robots. The cost per axis, performance and ease of use are always high concerns for such systems. FSI is a cost-optimized and reliable high speed communication interface with low jitter that can daisy-chain multiple C2000 microcontrollers. In this design, each TMS320F280049 or TMS320F280025 real-time controller serves as a real-time controller for a distributed axis, running motor current control loop. A single TMS320F28388D runs position and speed control loops for all axes. The same F2838x also executes a centralized motor control axis plus EtherCAT communication, leveraging its multiple cores. The design uses our existing EVM kits, the software is released within C2000WARE MotorControl SDK.

Features
  • Demonstrates high-speed communication using fast serial interface (FSI) with skew compensation enabled for real-time speed, position and current command data communication between multiple products.
  • Implements position and velocity control loops on the F2838x, torque/current loop on each decentralized F28004x or F28002x node.
  • Up to 16 axes can be managed with one F2838x. Start and stop of each axis can be controlled simultaneously. Achieves high bandwidth and higher precision control of distributed multi-axis motor drive system.
  • Uses F2838x multi-core functionality to implement speed and position control and data exchange with all distributed nodes over FSI, and executes main axis motor control and EtherCAT communication with PC
  • Demonstration of PWM sync capability across distributed axes.
  • Integrated SFRA tool to support online speed and current loop tuning.
  • Incremental system builds to verify the different software modules step by step.

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Schematic/Block Diagram

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Part Number Buy from Texas Instruments or Third Party Alert Me Buy from Authorized Distributor Status

BOOSTXL-3PHGANINV :
48-V three-phase GaN inverter with shunt-based in-line motor phase current sensing evaluation module

$49.00(USD)


Pricing may vary.



ACTIVE

TMDXIDDK379D :
C2000 DesignDRIVE Develoment Kit for Industrial Motor Control

$999.00(USD)


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ACTIVE

LAUNCHXL-F280049C :
C2000 Piccolo MCU F280049C LaunchPad Development Kit With InstaSPIN-FOC

$30.00(USD)


Pricing may vary.



ACTIVE

TMDSFSIADAPEVM :
Fast serial interface (FSI) adapter board evaluation module

$89.00(USD)


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ACTIVE

C2000WARE-MOTORCONTROL-SDK :
MotorControl software development kit (SDK) for C2000™ MCUs

Free



Not Available ACTIVE
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TI Devices (18)

Order samples, get tools and find more information on the TI products in this reference design.

Part Number Name Product Family Sample & Buy Design Kits & Evaluation Modules
AMC1204  1-bit, 20-MHz, second-order, isolated delta-sigma modulator  Isolation  Sample & Buy View Design Kits & Evaluation Modules
AMC1304M25  Reinforced Isolated Modulator With LDO Regulator, ±250mV Input, and CMOS Interface  Isolation  Sample & Buy View Design Kits & Evaluation Modules
LM5018  7.5-100V Wide Vin, 300mA Constant On-Time Synchronous Buck Regulator  Offline & isolated DC/DC controllers & converters  Sample & Buy View Design Kits & Evaluation Modules
LMG5200  80V GaN Half Bridge Power Stage  Power management  Sample & Buy View Design Kits & Evaluation Modules
TMS320F280040-Q1  Automotive C2000™ 32-bit MCU with 100 MHz, FPU, TMU, 128-KB flash, PGAs, SDFM  Microcontrollers (MCUs)  Not Available View Design Kits & Evaluation Modules
TMS320F280040C-Q1  Automotive C2000™ 32-bit MCU with 100 MHz, FPU, TMU, 128-KB flash, InstaSPIN-FOC, CLB, PGAs, SDFM  Microcontrollers (MCUs)  Sample & Buy View Design Kits & Evaluation Modules
TMS320F280041  C2000™ 32-bit MCU with 100-MHz, FPU, TMU, 128-kb flash, PGAs, SDFM  Microcontrollers (MCUs)  Sample & Buy View Design Kits & Evaluation Modules
TMS320F280041-Q1  Automotive C2000™ 32-bit MCU with 100 MHz, FPU, TMU, 128 KB flash, PGAs, SDFM  Microcontrollers (MCUs)  Not Available View Design Kits & Evaluation Modules
TMS320F280041C  C2000™ 32-bit MCU with 100-MHz, FPU, TMU, 128-kb flash, InstaSPIN-FOC, CLB, PGAs, SDFM  Microcontrollers (MCUs)  Not Available View Design Kits & Evaluation Modules
TMS320F280041C-Q1  Automotive C2000™ 32-bit MCU with 100 MHz, FPU, TMU, 128 KB flash, InstaSPIN-FOC, CLB, PGAs, SDFM  Microcontrollers (MCUs)  Sample & Buy View Design Kits & Evaluation Modules
TMS320F280045  C2000™ 32-bit MCU with 100 MHz, FPU, TMU, 256 KB flash, PGAs, SDFM  Microcontrollers (MCUs)  Sample & Buy View Design Kits & Evaluation Modules
TMS320F280048-Q1  Automotive C2000™ 32-bit MCU with 100 MHz, FPU, TMU, 256 KB flash, CLA, PGAs, SDFM  Microcontrollers (MCUs)  Sample & Buy View Design Kits & Evaluation Modules
TMS320F280048C-Q1  Automotive C2000™ 32-bit MCU w/ 100 MHz, FPU, TMU, 256 KB flash, CLA, InstaSPIN-FOC, CLB, PGAs, SDFM  Microcontrollers (MCUs)  Sample & Buy View Design Kits & Evaluation Modules
TMS320F280049  C2000™ 32-bit MCU with 100-MHz, FPU, TMU, 256-kb Flash, CLA, PGAs, SDFM  Microcontrollers (MCUs)  Sample & Buy View Design Kits & Evaluation Modules
TMS320F280049-Q1  Automotive C2000™ 32-bit MCU with 100 MHz, FPU, TMU, 256 KB flash, CLA, PGAs, SDFM  Microcontrollers (MCUs)  Sample & Buy View Design Kits & Evaluation Modules
TMS320F280049C  C2000™ 32-bit MCU with 100-MHz, FPU, TMU, 256-kb Flash, CLA, InstaSPIN-FOC, CLB, PGAs, SDFM  Microcontrollers (MCUs)  Sample & Buy View Design Kits & Evaluation Modules
TMS320F280049C-Q1  Automotive C2000™ 32-bit MCU w/ 100 MHz, FPU, TMU, 256 KB flash, CLA, InstaSPIN-FOC, CLB, PGAs, SDFM  Microcontrollers (MCUs)  Sample & Buy View Design Kits & Evaluation Modules
TMS320F28388D  C2000™ 32-bit MCU w/ connectivity manager, 2x C28x+CLA CPU, 1.5-MB flash, FPU64, CLB, ENET, EtherCAT  Microcontrollers (MCUs)  Sample & Buy View Design Kits & Evaluation Modules

CAD/CAE symbols

Part # Package | Pins CAD File (.bxl) STEP Model (.stp)
AMC1204 Download
Download Download
AMC1304M25 Download Download
LM5018 Download Download
Download Download
LMG5200 Download -
TMS320F280040-Q1 Download
TMS320F280040C-Q1 Download
TMS320F280041 Download Download
Download Download
Download Download
TMS320F280041-Q1 Download
TMS320F280041C Download Download
Download Download
Download Download
TMS320F280041C-Q1 Download
TMS320F280045 Download Download
Download Download
Download Download
TMS320F280048-Q1 Download
TMS320F280048C-Q1 Download
TMS320F280049 Download Download
Download Download
Download Download
TMS320F280049-Q1 Download
TMS320F280049C Download Download
Download Download
Download Download
TMS320F280049C-Q1 Download
TMS320F28388D Download -
Download Download

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Technical documentation

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Data sheet (6)
Title Type Size (KB) Date
PDF 8826 02 Feb 2021
PDF 6252 01 Feb 2021
PDF 2098 11 Feb 2020
PDF 2190 06 Jan 2020
PDF 1219 29 Oct 2018
PDF 1814 13 Feb 2018
Application note (3)
Title Type Size (KB) Date
PDF 4342 05 Oct 2020
PDF 2729 19 Feb 2020
PDF 2192 07 Aug 2019
User guide (7)
Title Type Size (KB) Date
PDF 1326 28 May 2020
PDF 4248 31 Mar 2020
PDF 2912 19 Feb 2020
PDF 5086 03 Sep 2019
PDF 36 20 Mar 2019
PDF 1228 18 Apr 2018
PDF 2148 09 Nov 2015
Design files (2)
Title Type Size (KB) Date
PDF 96 19 Feb 2020
PDF 537 19 Feb 2020
More literature (1)
Title Type Size (KB) Date
PDF 935 14 May 2015
Related Tools & Software

Hardware development (1)

Name Part Number Tool Type
F28388D controlCARD evaluation module  TMDSCNCD28388D  Daughter card 

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