Distributed multi-axis servo drive over fast serial interface (FSI) reference design
TIDM-02006
This product has been released to the market and is available for purchase. For some products, newer alternatives may be available.
This product has been released to the market and is available for purchase. For some products, newer alternatives may be available.
See the Important Notice and Disclaimer covering reference designs and other TI resources.
Key Document
- Distributed Multi-axis Servo Drive Over Fast Serial Interface Reference Design
(PDF 2912 KB)
19 Feb 2020
Description
This design presents an example distributed 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 products. In this design, each F28004x part number serves as a real-time controller for a slave axis, running motor current control loop. A single F2838x part number runs position and speed control loops for all axes. The same F2838x part number also executes main axis motor control plus EtherCAT communication, leveraging its multiple cores. The design uses TI's existing EVM kits, the software is released within C2000WARE MotorControl SDK.
Features
- Demonstrates high-speed communication using fast serial interface (FSI) for real-time speed, position and current command data communication between multiple products.
- Implements position and velocity control loops for all slave axes on F2838x based master node, torque/current loop on each F28004x based slave 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 slave nodes over FSI, and executes main axis motor control and EtherCAT communication with PC.
- Integrated SFRA tool on both F28004x and F2838x products to support online speed and current loop tuning.
- Incremental system builds to verify the different software modules step by step.
See the Important Notice and Disclaimer covering reference designs and other TI resources.
