AM243x/AM64x Single Chip Servo Motor Control Implementation and Benchmark

Trademarks

Code Composer Studio is a trademark of Texas Instruments.

Cortex and Arm are registered trademarks of Arm Limited (or its subsidiaries) in the US and/or elsewhere.

All trademarks are the property of their respective owners.

1 System Overview

The Single Chip Servo Demo showcases the AM64x and AM243x devices' ability to support a fully integrated real-time servo control and communication path. This path extends from receiving EtherCAT CiA402 target commands for torque/speed/position, to performing closed-loop FOC loop control of a connected motor, to passing the actual values back up to the EtherCAT PLC.

Figure 1-1 System Overview

2 Hardware Prerequisites

Windows PC with TwinCAT
TMDS243GPEVM or TMDS64GPEVM and power supply
3-Axis adapter interface board
TIDEP-01015 3-axis board
TIDA-01629 DRV8350 power stage board
TIDA-00179 Absolute Encoder RS485 Transceiver board
BLY342D-48V-3200 Anaheim Automation 3-phase Brushless DC motor
ROQ-437 EnDat2.2 Encoder with cable
24 V barrel jack power supply for TIDEP-01015 board
24 V power supply for the screw terminal input of TIDA-01629
Ethernet patch cable
2x micro USB cables to connect the PC to the emulator and UART ports on the EVM

3 Hardware Configuration

Figure 3-1 shows the demo setup.

Figure 3-1 Hardware Configuration