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Overview
| Topology | Other Topology |
| Input voltage | 3.3 V |
| Output 1 | 3.3 V |
| IC revision | A |
Description
This 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 TI's 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 axis 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.
Typical applications
- AC drive control module, HVAC motor control, Robot servo drive, Servo drive control module, Servo drive power stage module
More information
Products
| Order Code | Datasheet | Simulation | Downloads | Status | Product series | Application | PCB/Cable/Panel | Modularity | Wire Section | xPxC | Tab | EMI | LED | Mount | Application System | λDom typ. (nm) | Emitting Color | λPeak typ. (nm) | λPeak G typ. (nm) | λPeak Y typ. (nm) | IV typ. (mcd) | IV G typ. (mcd) | IV Y typ. (mcd) | VF typ. (V) | VF G typ. (V) | VF Y typ. (V) | Chip Technology | 2θ50% typ. (°) | Interface Type | IR (A) | Working Voltage (V (AC)) | VIN | VOut1 (V) | IOut1 (A) | Type of Insulation | fswitch (kHz) | ∫Udt (Vµs) | NPRI : NSEC | L (µH) | VT (V (AC)) | L (mm) | W (mm) | Z @ 100 MHz (Ω) | Zmax (Ω) | Test Condition Zmax | IR 2 (mA) | RDC max. (Ω) | Type | Pins (Value) (pcs) | Rows | H (mm) | Gender | IR (A) | Packaging | Color | Samples | |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
 | 629105150521 | SPEC | – | 6 files | Active i| Production is active. Expected lifetime: >10 years. | WR-COM Micro USB 2.0 SMT Type B Horizontal 5 Contacts High Current | Micro USB 2.0 | – | – | – | – | – | – | – | SMT | – | – | – | – | – | – | – | – | – | – | – | – | – | – | Type B | 3 | 30 | – | – | – | – | – | – | – | – | – | – | – | – | – | – | – | – | Horizontal | 5 | – | – | Receptacle | 3 | Tape and Reel | Black | |
 | 691101710002 | SPEC | – | 6 files | Active i| Production is active. Expected lifetime: >10 years. | WR-TBL Series 101 - 5.00 mm Horizontal Entry Modular | Wire Protector | PCB | Yes | 26 to 14 (AWG) 0.5 to 2.5 (mm²) | – | – | – | – | THT | – | – | – | – | – | – | – | – | – | – | – | – | – | – | – | – | 250 | – | – | – | – | – | – | – | – | – | 10 | – | – | – | – | – | – | Horizontal | 2 | – | 12.6 | – | 16 | Box | – | |
 | 742792620 | SPEC | 9 files | Active i| Production is active. Expected lifetime: >10 years. | WE-CBF SMT EMI Suppression Ferrite Bead | – | – | – | – | – | – | – | – | SMT | – | – | – | – | – | – | – | – | – | – | – | – | – | – | – | 0.5 | – | – | – | – | – | – | – | – | – | – | 1.6 | 0.8 | 100 | 125 | 450 MHz | 1650 | 0.15 | Wide Band | – | – | 0.8 | – | 0.5 | – | – | ||
 | 150080SS75000 | SPEC | 7 files | Active i| Production is active. Expected lifetime: >10 years. | WL-SMCW SMT Mono-color Chip LED Waterclear | – | – | – | – | – | – | – | – | SMT | – | 630 | Super Red | 645 | – | – | 60 | – | – | 1.9 | – | – | AlInGaP | 140 | – | – | – | – | – | – | – | – | – | – | – | – | 2 | 1.25 | – | – | – | – | – | – | – | – | 0.7 | – | – | Tape and Reel | – | ||
 | 60900213421 | SPEC | – | 3 files | Active i| Production is active. Expected lifetime: >10 years. | WR-PHD 2.54 mm Multi-Jumper Jumper with Test Point | – | – | – | – | – | – | – | – | – | – | – | – | – | – | – | – | – | – | – | – | – | – | – | – | – | 250 | – | – | – | – | – | – | – | – | – | 2.44 | – | – | – | – | – | – | – | 1 | – | – | Jumper | 3 | Bag | Black | |
 | 61300311121 | SPEC | – | 6 files | Active i| Production is active. Expected lifetime: >10 years. | WR-PHD 2.54 mm THT Pin Header | – | – | – | – | – | – | – | – | THT | – | – | – | – | – | – | – | – | – | – | – | – | – | – | – | – | 250 | – | – | – | – | – | – | – | – | – | 7.62 | – | – | – | – | – | – | Straight | 3 | Single | – | Pin Header | 3 | Bag | – | |
 | 61300511121 | SPEC | – | 6 files | Active i| Production is active. Expected lifetime: >10 years. | WR-PHD 2.54 mm THT Pin Header | – | – | – | – | – | – | – | – | THT | – | – | – | – | – | – | – | – | – | – | – | – | – | – | – | – | 250 | – | – | – | – | – | – | – | – | – | 12.7 | – | – | – | – | – | – | Straight | 5 | Single | – | Pin Header | 3 | Bag | – | |
 | 750316028 | SPEC | – | 7 files | Active i| Production is active. Expected lifetime: >10 years. | WE-PPTI Push-Pull Transformers | – | – | – | – | – | – | – | – | SMT | – | – | – | – | – | – | – | – | – | – | – | – | – | – | – | – | – | 3.3 V (DC) | 3.3 | 0.8 | Functional | 400 - 700 | 13 | 1:1.75 | 86 | 2500 | 8.3 | 12.6 | – | – | – | – | – | – | – | – | 4.1 | – | – | Tape and Reel | – | |
 | 615008185121 | SPEC | – | 6 files | Active i| Production is active. Expected lifetime: >10 years. | WR-MJ Modular Jack Horizontal Shielded Low Profile w. LED 8P8C Tab Up | – | – | – | – | 8P8C | Up | Yes | yellow-green | THT | CAT 3 | – | – | – | 570 | 590 | – | 13 | 8 | – | 2.3 | 2.3 | – | 140 | – | – | 125 | – | – | – | – | – | – | – | – | – | – | – | – | – | – | – | – | Horizontal | – | – | – | – | 1.5 | Tape and Reel | – |
| Order Code | Datasheet | Simulation | |
|---|---|---|---|
| 629105150521 | SPEC | – |
| 691101710002 | SPEC | – |
| 742792620 | SPEC | |
| 150080SS75000 | SPEC | |
| 60900213421 | SPEC | – |
| 61300311121 | SPEC | – |
| 61300511121 | SPEC | – |
| 750316028 | SPEC | – |
| 615008185121 | SPEC | – |
| Samples |
|---|
| Order Code | Datasheet | Simulation | Downloads | Status | Product series | Application | PCB/Cable/Panel | Modularity | Wire Section | xPxC | Tab | EMI | LED | Mount | Application System | λDom typ. (nm) | Emitting Color | λPeak typ. (nm) | λPeak G typ. (nm) | λPeak Y typ. (nm) | IV typ. (mcd) | IV G typ. (mcd) | IV Y typ. (mcd) | VF typ. (V) | VF G typ. (V) | VF Y typ. (V) | Chip Technology | 2θ50% typ. (°) | Interface Type | IR (A) | Working Voltage (V (AC)) | VIN | VOut1 (V) | IOut1 (A) | Type of Insulation | fswitch (kHz) | ∫Udt (Vµs) | NPRI : NSEC | L (µH) | VT (V (AC)) | L (mm) | W (mm) | Z @ 100 MHz (Ω) | Zmax (Ω) | Test Condition Zmax | IR 2 (mA) | RDC max. (Ω) | Type | Pins (Value) (pcs) | Rows | H (mm) | Gender | IR (A) | Packaging | Color | Samples |
|---|