SPRAD03 March   2022 AM2431 , AM2431 , AM2432 , AM2432 , AM2434 , AM2434 , AM6411 , AM6411 , AM6412 , AM6412 , AM6421 , AM6421 , AM6422 , AM6422 , AM6441 , AM6441 , AM6442 , AM6442

 

  1.   Trademarks
  2. 1 System Overview
  3. 2 Hardware Prerequisites
  4. 3 Hardware Configuration
  5. 4 HW Pinouts, Default Jumpers, and Connections
  6. 5 Schematics
  7. 6 Jumper Settings and Descriptions
  8. 7 LEDs
  9. 8 Software Architecture
  10. 9 Actuation and Feedback Timing
  11. 10Benchmark Results
    1. 10.1 Motor Control R5F Processing Time
    2. 10.2 Trigger/Capture Point to R5F ISR Entry
  12. 11Detailed Demo User's Guide
    1. 11.1 Step 0. Getting the Software and Building
    2. 11.2 Step 1. Getting Started With the Hardware
    3. 11.3 Step 2. Configure ROQ437 EnDat2.2 Encoder for Faster EnDat 2.2 Recovery Time (only needs to be done once the first time you use the ROQ437 encoder)
    4. 11.4 Step 3. Open Loop Iq Control (BUILDLEVEL == OPEN_LOOP_IQ_ID)
    5. 11.5 Step 4. Closed Loop Iq/Id Control (BUILDLEVEL == CLOSED_LOOP_IQ_ID)
    6. 11.6 Step 5. Closed Loop Speed Control (BUILDLEVEL == CLOSED_LOOP_SPEED)
    7. 11.7 Step 6. Closed Loop Position Control (BUILDLEVEL == CLOSED_LOOP_POSITION)
  13. 12Build Using MCU+SDK 08.00.00.21 & CCS 10.3.1
  14. 13Summary
  15. 14Appendix A: Detailed Motor Control R5F Processing Time
  16. 15References

14 Appendix A: Detailed Motor Control R5F Processing Time

Here are the detailed motor control R5F processing time:

Table 14-1 Angle/Position/Speed Calculation Time
Angle/Position/Speed Calculations Unit
Open Loop Iq/Id Closed Loop Iq/Id Closed Loop Speed Closed Loop Position Closed Loop CiA402
Min 252 252 268 268 ns
Max 312 308 336 336 ns
Mean 274.462 269.271 291.303 295.503 ns
Max normalized 132 128 156 156 ns

Table 14-2 Phase Current Scaling and Conversion Time
Phase Current Scaling and Conversion to Floating Point Unit
Open Loop Iq/Id Closed Loop Iq/Id Closed Loop Speed Closed Loop Position Closed Loop CiA402
Min 188 316 460 380 ns
Max 200 360 496 416 ns
Mean 185.139 328.791 474.26 394.462 ns
Max normalized 20 180 316 236 ns
Table 14-3 FOC Loop Time
FOC (Clarke, Sin/Cos, Park, PI controllers, Inverse Park, Space Vector Generation Unit
Open Loop Iq/Id Closed Loop Iq/Id Closed Loop Speed Closed Loop Position Closed Loop CiA402
Min 308 380 444 468 ns
Max 360 432 520 584 ns
Mean 331.301 398.24 476.313 494.554 ns
Max normalized 180 252 340 404 ns
Table 14-4 PWM Output Time
Write to PWM Output Unit
Max normalized 84 ns
Min 244 ns
Mean 252.666 ns
Max 264 ns
Table 14-5 Full ISR Measured At Once
Full ISR Measured at Once Unit
Open Loop Iq/Id Closed Loop Iq/Id Closed Loop Speed Closed Loop Position Closed Loop CiA402
Min 516 700 932 892 854 ns
Max 568 824 1064 1072 1040 ns
Mean 535.97 741.272 983.271 947.688 888.707 ns
Max normalized 388 644 884 892 860 ns
Table 14-6 Full ISR Measured At Once (Clarke Precomputed)
Full ISR Measured at Once (Clarke Precomputed) Unit
Open Loop Iq/Id Closed Loop Iq/Id Closed Loop Speed Closed Loop Position Closed Loop CiA402
Min 516 572 820 820 ns
Max 576 664 920 952 ns
Mean 543.08 599.084 851.557 874.515 ns
Max normalized 396 484 740 772 ns