SPRACM9B June   2019  – November 2020 F29H850TU , F29H859TU-Q1 , TMS320F28384D , TMS320F28384S , TMS320F28386D , TMS320F28386S , TMS320F28388D , TMS320F28388S , TMS320F28P650DH , TMS320F28P650DK , TMS320F28P650SH , TMS320F28P650SK , TMS320F28P659DH-Q1 , TMS320F28P659DK-Q1 , TMS320F28P659SH-Q1

 

  1.   Trademarks
  2. 1 Introduction
    1. 1.1 Acronyms Used in This Document
  3. 2 Benefits of the TMS320F2838x MCU for High-Bandwidth Current Loop
  4. 3 Current Loops in Servo Drives
  5. 4 Outline of the Fast Current Loop Library
  6. 5 Fast Current Loop Evaluation
    1. 5.1 Evaluation Setup
      1. 5.1.1 Hardware
      2. 5.1.2 Software
      3. 5.1.3 FCL With T-Format Type Position Encoder
        1. 5.1.3.1 Connecting T-Format Encoder to IDDK
        2. 5.1.3.2 T-Format Interface Software
        3. 5.1.3.3 T-Format Encoder Latency Considerations
      4. 5.1.4 SDFM
      5. 5.1.5 Incremental System Build
  7. 6 Incremental Build Level 1
    1. 6.1 SVGEN Test
    2. 6.2 Testing SVGEN With DACs
    3. 6.3 Inverter Functionality Verification
  8. 7 Incremental Build Level 2
    1. 7.1 Setting the Overcurrent Limit in the Software
    2. 7.2 Current Sense Method
    3. 7.3 Voltage Sense Method
    4. 7.4 Setting Current Regulator Limits
    5. 7.5 Verification of Current Sense
    6. 7.6 Position Encoder Feedback
      1. 7.6.1 Speed Observer and Position Estimator
      2. 7.6.2 Verification of Position Encoder Orientation
  9. 8 Incremental Build Level 3
    1. 8.1 Observation One – PWM Update Latency
      1. 8.1.1 From the Expressions Window
      2. 8.1.2 From the Scope Plot
  10. 9 Incremental Build Level 4
    1. 9.1 Observation
  11. 10Incremental Build Level 5
  12. 11Incremental Build Level 6
    1. 11.1 Integrating SFRA Library
    2. 11.2 Initial Setup Before Starting SFRA
    3. 11.3 SFRA GUIs
    4. 11.4 Setting Up the GUIs to Connect to Target Platform
    5. 11.5 Running the SFRA GUIs
    6. 11.6 Influence of Current Feedback SNR
    7. 11.7 Inferences
      1. 11.7.1 Bandwidth Determination From Closed Loop Plot
      2. 11.7.2 Phase Margin Determination From Open Loop Plot
      3. 11.7.3 Maximum Modulation Index Determination From PWM Update Time
      4. 11.7.4 Voltage Decoupling in Current Loop
    8. 11.8 Phase Margin vs Gain Crossover Frequency
  13. 12Incremental Build Level 7
    1. 12.1 Run the Code on CPU1 to Allocate ECAT to CM
    2. 12.2 Run the Code on CM to Setup ECAT
    3. 12.3 Setup TwinCAT
    4. 12.4 Scanning for EtherCAT Devices via TwinCAT
    5. 12.5 Program ControlCard EEPROM for ESC
    6. 12.6 Running the Application
  14. 13Incremental Build Level 8
    1. 13.1 Run the Code on CPU1 to Allocate ECAT to CM
    2. 13.2 Run the Code on CM to Setup ECAT
    3. 13.3 Running the Application
  15. 14References
  16. 15Revision History

6 Incremental Build Level 1

The block diagram of the system built in BUILD LEVEL 1 is shown in Figure 6-1. During this step, keep the motor disconnected.

GUID-AFA6E627-278B-4507-989C-61B33579B874-low.gifFigure 6-1 Level 1 Block Diagram

Assuming the load and build steps described in the DesignDRIVE IDDK User Guide completed successfully, this section describes the steps for a “minimum” system check-out which confirms operation of system interrupt, the peripheral and target independent inverse park transformation and space vector generator modules, and the PWM initializations and update modules.

  1. Open fcl_f2838x_tmdxiddk_settings_cpu1.h and select the level 1 incremental build option by setting the BUILDLEVEL to FCL_LEVEL1 (#define BUILDLEVEL FCL_LEVEL1).
  2. Right-click on the project name and click Rebuild Project.
  3. When the build is complete, click on debug button, reset the CPU, restart, enable real time mode, and run.
  4. Add variables to the expressions window by right-clicking within the Expressions Window and importing the fcl_f2838x_tmdxiddk_vars_cpu1.txt file from the debug directory. Figure 6-2 shows the variables imported into the Expressions Window from this file. Ignore the values shown against the variables for now.
    GUID-4D4CAE2B-F8C4-48FA-9373-B8326A5CDA03-low.jpgFigure 6-2 Expressions Window for Build Level 2
  5. Set enableFlag to 1 in the watch window. The variable named isrTicker is incrementally increased, as seen in the watch windows, to confirm the interrupt working properly.
    In the software, the key variables to be adjusted are:
    1. speedRef : for changing the rotor speed in per-unit.
    2. VdTesting : for changing the d-qxis voltage in per-unit.
    3. VqTesting : for changing the q-axis voltage in per-unit.