Home
Design & development
Reference designs

TIDM-02006

Distributed multi-axis servo drive over fast serial interface (FSI) reference design

Design files

TIDM-02006

Design files

Overview

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.
Download View video with transcript Video

Design files & products

Design files

Download ready-to-use system files to speed your design process.

download Design guide — TIDM-02006
TIDUEV1.PDF (2913 KB)

Reference design overview and verified performance test data

download Bill of materials (BOM) — TIDM-02006
TIDM476.PDF (97 KB)

Complete listing of design components, reference designators, and manufacturers/part numbers

download Schematic — TIDM-02006
TIDM475.PDF (538 KB)

Detailed schematic diagram for design layout and components

Products

Includes TI products in the design and potential alternatives.

UNKNOWN

TMS320F280048C-Q1 — Automotive C2000™ 32-bit MCU w/ 100 MHz, FPU, TMU, 256 KB flash, CLA, InstaSPIN-FOC, CLB, PGAs, SDFM

Data sheet: PDF | HTML
UNKNOWN

TMS320F280049-Q1 — Automotive C2000™ 32-bit MCU with 100 MHz, FPU, TMU, 256 KB flash, CLA, PGAs, SDFM

Data sheet: PDF | HTML
Gallium nitride (GaN) power stages

LMG5200 — 80V GaN Half Bridge Power Stage

Data sheet: PDF | HTML
UNKNOWN

TMS320F280041C-Q1 — Automotive C2000™ 32-bit MCU with 100 MHz, FPU, TMU, 128 KB flash, InstaSPIN-FOC, CLB, PGAs, SDFM

Data sheet: PDF | HTML
UNKNOWN

TMS320F280048-Q1 — Automotive C2000™ 32-bit MCU with 100 MHz, FPU, TMU, 256 KB flash, CLA, PGAs, SDFM

Data sheet: PDF | HTML
DC/DC converters

LM5018 — 7.5-100V Wide Vin, 300mA Constant On-Time Synchronous Buck Regulator

Data sheet: PDF | HTML
UNKNOWN

TMS320F280049 — C2000™ 32-bit MCU with 100-MHz, FPU, TMU, 256-kb Flash, CLA, PGAs, SDFM

Data sheet: PDF | HTML
UNKNOWN

TMS320F280041C — C2000™ 32-bit MCU with 100-MHz, FPU, TMU, 128-kb flash, InstaSPIN-FOC, CLB, PGAs, SDFM

Data sheet: PDF | HTML
UNKNOWN

TMS320F280045 — C2000™ 32-bit MCU with 100 MHz, FPU, TMU, 256 KB flash, PGAs, SDFM

Data sheet: PDF | HTML
UNKNOWN

TMS320F280040C-Q1 — Automotive C2000™ 32-bit MCU with 100 MHz, FPU, TMU, 128-KB flash, InstaSPIN-FOC, CLB, PGAs, SDFM

Data sheet: PDF | HTML
Isolated ADCs

AMC1304M25 — ±250-mV input, precision current sensing reinforced isolated modulator with LDO

Data sheet: PDF | HTML
UNKNOWN

TMS320F280041 — C2000™ 32-bit MCU with 100-MHz, FPU, TMU, 128-kb flash, PGAs, SDFM

Data sheet: PDF | HTML
UNKNOWN

TMS320F280049C — C2000™ 32-bit MCU with 100-MHz, FPU, TMU, 256-kb Flash, CLA, InstaSPIN-FOC, CLB, PGAs, SDFM

Data sheet: PDF | HTML
UNKNOWN

TMS320F280040-Q1 — Automotive C2000™ 32-bit MCU with 100 MHz, FPU, TMU, 128-KB flash, PGAs, SDFM

Data sheet: PDF | HTML
UNKNOWN

TMS320F280049C-Q1 — Automotive C2000™ 32-bit MCU w/ 100 MHz, FPU, TMU, 256 KB flash, CLA, InstaSPIN-FOC, CLB, PGAs, SDFM

Data sheet: PDF | HTML
UNKNOWN

TMS320F280041-Q1 — Automotive C2000™ 32-bit MCU with 100 MHz, FPU, TMU, 128 KB flash, PGAs, SDFM

Data sheet: PDF | HTML
UNKNOWN

TMS320F28388D — C2000™ 32-bit MCU w/ connectivity manager, 2x C28x+CLA CPU, 1.5-MB flash, FPU64, CLB, ENET, EtherCAT

Data sheet: PDF | HTML
Isolated ADCs

AMC1204 — ±250-mV input, precision current sensing basic isolated modulator

Data sheet: PDF | HTML

Start development

Hardware development

Daughter card

BOOSTXL-3PHGANINV — 48-V Three-Phase Inverter With Shunt-Based In-Line Motor Phase Current Sensing Evaluation Module

The BOOSTXL-3PHGANINV evaluation module features a 48-V/10-A three-phase GaN inverter with precision in-line shunt-based phase current sensing for accurate control of precision drives such as servo drives.
 

MathWorks MATLAB & Simulink example models include the following:

EVM user’s guide: PDF
Supported products & hardware

Supported products & hardware

Hardware development
Reference design
TIDM-02006 — Distributed multi-axis servo drive over fast serial interface (FSI) reference design TIDM-02007 — Dual-axis motor drive using fast current loop (FCL) and SFRA on a single MCU reference design
In stock
Limit:
Out of stock on TI.com
Not available on TI.com

BOOSTXL-3PHGANINV — 48-V Three-Phase Inverter With Shunt-Based In-Line Motor Phase Current Sensing Evaluation Module

close
Latest version
Version: null
Release date:
open-in-new

View all versions

Hardware development
Reference design
TIDM-02006 — Distributed multi-axis servo drive over fast serial interface (FSI) reference design TIDM-02007 — Dual-axis motor drive using fast current loop (FCL) and SFRA on a single MCU reference design
TI’s Standard Terms and Conditions for Evaluation Items apply.

Software development

Design tool

SBOC509 — Simulation for Half-Wave Rectifier

Supported products & hardware

Supported products & hardware

Products
General-purpose op amps
OPA322 — Single, 5.5-V, 20-MHz, 65-mA output current, low noise (8.5-nV/√Hz) operational amplifier
Precision op amps (Vos<1mV)
OPA2325 — Dual precision, wide bandwidth, low noise, low power ADC driving op amp with RRIO and zero-crossover
Hardware development
Reference design
TIDM-02006 — Distributed multi-axis servo drive over fast serial interface (FSI) reference design
Download options

SBOC509 — Simulation for Half-Wave Rectifier

close
Latest version
Version: 01.00.00.00
Release date: May 1, 2018
open-in-new

View all versions

download

Simulation for Half-Wave Rectifier (zip)  — 363 K

SHA-256 checksum
Products
General-purpose op amps
OPA322 — Single, 5.5-V, 20-MHz, 65-mA output current, low noise (8.5-nV/√Hz) operational amplifier
Precision op amps (Vos<1mV)
OPA2325 — Dual precision, wide bandwidth, low noise, low power ADC driving op amp with RRIO and zero-crossover
Hardware development
Reference design
TIDM-02006 — Distributed multi-axis servo drive over fast serial interface (FSI) reference design

Release Information

The design resource accessed as www.ti.com/lit/zip/sboc509 or www.ti.com/lit/xx/sboc509/sboc509.zip has been migrated to a new user experience at www.ti.com/tool/download/SBOC509. Please update any bookmarks accordingly.

Design tools & simulation

Simulation model

SBOMAV4 — TINA-TI Simulation Companion for High-side Current-sensing Circuit

Supported products & hardware

Supported products & hardware

Products
General-purpose op amps
OPA2990 — Dual, 40-V, 1.1-MHz, low-power operational amplifier
Precision op amps (Vos<1mV)
OPA192 — High-Voltage, Rail-to-Rail Input/Output, 5µV, 0.2µV/˚C, Precision Operational Amplifier OPA2192 — 36-V, Precision, RRIO, Low Offset Voltage, Low Input Bias Current Op Amp With e-trim OPA4192 — Low-Noise, Low Quiescent Current, 36V RRI/O Precision Op Amps, E-Trim™ Series
Hardware development
Reference design
TIDM-02006 — Distributed multi-axis servo drive over fast serial interface (FSI) reference design

SBOMAV4 — TINA-TI Simulation Companion for High-side Current-sensing Circuit

close
Latest version
Version: 01.00.00.0B
Release date: Jun 11, 2021
open-in-new

View all versions

Products
General-purpose op amps
OPA2990 — Dual, 40-V, 1.1-MHz, low-power operational amplifier
Precision op amps (Vos<1mV)
OPA192 — High-Voltage, Rail-to-Rail Input/Output, 5µV, 0.2µV/˚C, Precision Operational Amplifier OPA2192 — 36-V, Precision, RRIO, Low Offset Voltage, Low Input Bias Current Op Amp With e-trim OPA4192 — Low-Noise, Low Quiescent Current, 36V RRI/O Precision Op Amps, E-Trim™ Series
Hardware development
Reference design
TIDM-02006 — Distributed multi-axis servo drive over fast serial interface (FSI) reference design
Simulation model

SBOMAV5 — TINA-TI Reference Design Companion for Temperature Sensing with PTC Circuit

Supported products & hardware

Supported products & hardware

Products
General-purpose op amps
TLV9002 — Dual, 5.5-V, 1-MHz, RRIO operational amplifier for cost-optimized applications
Precision op amps (Vos<1mV)
OPA333 — Micropower, 1.8-V, 17-µA zero-drift CMOS precision operational amplifier
Hardware development
Reference design
TIDM-02006 — Distributed multi-axis servo drive over fast serial interface (FSI) reference design

SBOMAV5 — TINA-TI Reference Design Companion for Temperature Sensing with PTC Circuit

close
Latest version
Version: 01.00.00.0B
Release date: Mar 31, 2021
open-in-new

View all versions

Products
General-purpose op amps
TLV9002 — Dual, 5.5-V, 1-MHz, RRIO operational amplifier for cost-optimized applications
Precision op amps (Vos<1mV)
OPA333 — Micropower, 1.8-V, 17-µA zero-drift CMOS precision operational amplifier
Hardware development
Reference design
TIDM-02006 — Distributed multi-axis servo drive over fast serial interface (FSI) reference design

Technical documentation

star
= Top documentation selected by TI
No results found. Please clear your search and try again.
View all 6
Type Title Date
* Design guide Distributed Multi-axis Servo Drive Over Fast Serial Interface Reference Design Feb 19, 2020
Application note Using the Fast Serial Interface (FSI) With Multiple Devices in an Application (Rev. E) PDF | HTML Jan 25, 2023
Technical article How to scale real-time control resources and sustain platform development in power PDF | HTML Mar 20, 2020
Application note EtherCAT Based Connected Servo Drive using Fast Current Loop on PMSM (Rev. B) PDF | HTML Feb 19, 2020
Application note Dual-Axis Motor Control Using FCL and SFRA On a Single C2000™ MCU PDF | HTML Aug 7, 2019
Product overview DesignDRIVE Kit (Rev. A) May 14, 2015

Support & training

TI E2E™ forums with technical support from TI engineers

View all forum topics

Content is provided "as is" by TI and community contributors and does not constitute TI specifications. See terms of use.

If you have questions about quality, packaging or ordering TI products, see TI support.

Disclaimer
See the important notice and disclaimer covering reference designs and other TI resources.