TIDM-02006

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

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.

Design files & products

Design files

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

TIDUEV1.PDF (2912 K)

Reference design overview and verified performance test data

TIDM475.PDF (537 K)

Detailed schematic diagram for design layout and components

TIDM476.PDF (96 K)

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

Products

Includes TI products in the design and potential alternatives.

C2000 real-time microcontrollers

TMS320F280040-Q1Automotive C2000™ 32-bit MCU with 100 MHz, FPU, TMU, 128-KB flash, PGAs, SDFM

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F280040C-Q1Automotive C2000™ 32-bit MCU with 100 MHz, FPU, TMU, 128-KB flash, InstaSPIN-FOC, CLB, PGAs, SDFM

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F280041C2000™ 32-bit MCU with 100-MHz, FPU, TMU, 128-kb flash, PGAs, SDFM

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F280041-Q1Automotive C2000™ 32-bit MCU with 100 MHz, FPU, TMU, 128 KB flash, PGAs, SDFM

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F280041CC2000™ 32-bit MCU with 100-MHz, FPU, TMU, 128-kb flash, InstaSPIN-FOC, CLB, PGAs, SDFM

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F280041C-Q1Automotive C2000™ 32-bit MCU with 100 MHz, FPU, TMU, 128 KB flash, InstaSPIN-FOC, CLB, PGAs, SDFM

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F280045C2000™ 32-bit MCU with 100 MHz, FPU, TMU, 256 KB flash, PGAs, SDFM

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F280048-Q1Automotive C2000™ 32-bit MCU with 100 MHz, FPU, TMU, 256 KB flash, CLA, PGAs, SDFM

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F280048C-Q1Automotive C2000™ 32-bit MCU w/ 100 MHz, FPU, TMU, 256 KB flash, CLA, InstaSPIN-FOC, CLB, PGAs, SDFM

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F280049C2000™ 32-bit MCU with 100-MHz, FPU, TMU, 256-kb Flash, CLA, PGAs, SDFM

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F280049-Q1Automotive C2000™ 32-bit MCU with 100 MHz, FPU, TMU, 256 KB flash, CLA, PGAs, SDFM

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F280049CC2000™ 32-bit MCU with 100-MHz, FPU, TMU, 256-kb Flash, CLA, InstaSPIN-FOC, CLB, PGAs, SDFM

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F280049C-Q1Automotive C2000™ 32-bit MCU w/ 100 MHz, FPU, TMU, 256 KB flash, CLA, InstaSPIN-FOC, CLB, PGAs, SDFM

Data sheet document-pdfAcrobat PDF
C2000 real-time microcontrollers

TMS320F28388DC2000™ 32-bit MCU w/ connectivity manager, 2x C28x+CLA CPU, 1.5-MB flash, FPU64, CLB, ENET, EtherCAT

Data sheet document-pdfAcrobat PDF open-in-new HTML
Gallium nitride (GaN) ICs

LMG520080V GaN Half Bridge Power Stage

Data sheet document-pdfAcrobat PDF open-in-new HTML
Isolated ADCs

AMC12041-bit, 20-MHz, second-order, isolated delta-sigma modulator

Data sheet document-pdfAcrobat PDF open-in-new HTML
Isolated ADCs

AMC1304M25Reinforced Isolated Modulator With LDO Regulator, ±250mV Input, and CMOS Interface

Data sheet document-pdfAcrobat PDF open-in-new HTML
Isolated DC/DC converters & modules

LM50187.5-100V Wide Vin, 300mA Constant On-Time Synchronous Buck Regulator

Data sheet document-pdfAcrobat PDF open-in-new HTML

Start development

Hardware

Daughter card

BOOSTXL-3PHGANINV – 48-V three-phase GaN 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:

Out of stock on TI.com
Development kit

TMDXIDDK379D – C2000 DesignDRIVE Develoment Kit for Industrial Motor Control

The DesignDRIVE Development Kit (IDDK) hardware offers an integrated servo drive design with full power stage to drive a high voltage three-phase motor and eases the evaluation of a range of position feedback, current sensing and control topologies.

The sensing peripherals on the C2000™ MCU (...)
Out of stock on TI.com
Evaluation board

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

LAUNCHXL-F280049C is a low-cost development board for TI C2000™ Real-Time Controllers series of F28004x devices. Ideal for initial evaluation and prototyping, it provides a standardized and easy to use platform to develop your next application. This extended version LaunchPad offers extra pins (...)
Out of stock on TI.com
Daughter card

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

Faster, cheaper, more robust: achieve 200 Mbps throughput across isolation with new serial communication technology – Fast Serial Interface (FSI)

FSI is a low signal count serial communications peripheral, available on C2000 Real-Time Control Microcontrollers (MCU), which offers low-cost reliable (...)

In stock
Limit: 5

Software

Software development kit (SDK)

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

  • MotorControl SDK for C2000™ microcontrollers (MCU) is a cohesive set of software infrastructure, tools, and documentation designed to minimize C2000 MCU based motor control system development time targeted for various three-phase motor control applications. The software includes firmware that (...)
Supported products & hardware

Supported products & hardware

C2000
  • F28002X
  • F28004X
  • F2807X
  • F2837XD
  • F2837XS
  • F2838X
Hardware
BOOSTXL-3PHGANINV 48-V Three-Phase Inverter With Shunt-Based In-Line Motor Phase Current Sensing Evaluation Module BOOSTXL-DRV8320RS DRV8320RS three-phase smart gate driver with buck and SPI interface evaluation module BOOSTXL-DRV8323RH DRV8323RH Three-Phase Smart Gate Driver With Buck, Shunt Amps (Hardware Interface) Evaluation Module BOOSTXL-DRV8323RS DRV8323RS three-phase smart gate driver with buck, shunt amps (SPI interface) evaluation module BOOSTXL-POSMGR C2000 DesignDRIVE position manager BoosterPack™ plug-in module DRV8316REVM DRV8316R three-phase PWM motor driver evaluation module DRV8353RS-EVM DRV8353RS evaluation module, three-phase brushless DC smart gate driver  LAUNCHXL-F280025C C2000™ real-time MCU F280025C LaunchPad™ development kit LAUNCHXL-F280049C C2000 Piccolo MCU F280049C LaunchPad™ development kit LAUNCHXL-F28379D C2000 Delfino MCU F28379D LaunchPad™ development kit 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 TIDM-1011 Tamagawa T-Format Absolute Encoder Master Interface Reference Design for C2000 MCUs TMDSCNCD280025C TMS320F280025C controlCARD evaluation module TMDSCNCD280049C F280049C controlCARD Evaluation Module TMDSCNCD28379D F28379D controlCARD for C2000 Real time control development kits TMDSCNCD28388D F28388D controlCARD evaluation module TMDSHVMTRINSPIN High Voltage Motor Control Kit with InstaSPIN-FOC and InstaSPIN-MOTION enabled Piccolo MCU TMDXIDDK379D C2000 DesignDRIVE Development Kit for Industrial Motor Control

Download options

Software development kit (SDK)

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

Version: 3.03.00.00
Release date: 22 Sep 2021
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Technical documentation

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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. D) Aug. 26, 2021
Technical article How to scale real-time control resources and sustain platform development in power conversion applications Mar. 20, 2020
Application note EtherCAT Based Connected Servo Drive using Fast Current Loop on PMSM (Rev. B) Feb. 19, 2020
Application note Dual-Axis Motor Control Using FCL and SFRA On a Single C2000™ MCU Aug. 07, 2019
More literature DesignDRIVE Kit (Rev. A) May 14, 2015

Related design resources

Hardware development

DAUGHTER CARD
TMDSCNCD28388D F28388D controlCARD evaluation module

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