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.
Texas Instruments and Accelerated Designs, Inc. have collaborated together to provide TI customers with schematic symbols and PCB layout footprints for TI products.
Step 2: Download the Symbol and Footprint from the CAD.bxl file table.
Texas Instruments and Accelerated Designs, Inc. have collaborated together to provide TI customers with schematic symbols and PCB layout footprints for TI products.
Both PCB footprints and schematic symbols are available for download in a vendor neutral format, which can then be exported to the leading EDA CAD/CAE design tools using the Ultra Librarian Reader. The reader is available as a (free download.).
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