SPRUJ87 june   2023

 

  1.   1
  2.   Description
  3.   Get Started
  4.   Features
  5.   Applications
  6.   6
  7. 1Evaluation Module Overview
    1. 1.1 Introduction
    2. 1.2 Kit Contents
    3. 1.3 Specification
    4. 1.4 Device Information
    5. 1.5 Important Usage Notes
  8. 2Hardware
    1. 2.1  Assembly Instructions
    2. 2.2  Power Requirements
    3. 2.3  Interfaces
    4. 2.4  LaunchPad Specific Features
    5. 2.5  Jumper Information
    6. 2.6  Mechanical
    7. 2.7  System Power
    8. 2.8  BLDC Motor Drive
    9. 2.9  Motor Current Feedback
    10. 2.10 Motor Position Encoder Feedback
  9. 3Hardware Design Files
    1. 3.1 Schematics
    2. 3.2 PCB Layouts
    3. 3.3 Bill of Materials (BOM)
  10. 4Additional Information
    1. 4.1 Trademarks
    2. 4.2 Terminology
  11. 5References

2.5 Jumper Information

This section describes the jumper selectable options on this board. See table and figures below for list of available jumper options, details and configuration defaults. Additional jumper details are located in each the major

Note: These static jumper configurations must be checked and set prior to running different motor control scenarios.
GUID-8716C968-F6C9-48B5-B243-C1877915A99E-low.png Figure 2-6 Layout Top View - Jumper Locations
Table 2-3 Jumper Configuration Options
Axis Jumper Function

Default LP-AM243x

Configuration

Default LP-AM263x

Configuration
Both J11

VSENSE/ISENSE Select

Jumper pins 1-2 shorted: Select Axis-1, Phase-A INA241 current sense output routed to BoosterPack J15.24

Jumper pins 2-3 shorted: Select Axis-2 DRV8316 VSENSE Phase-A Output routed to BoosterPack J15.24

Jumper installed across pins 2-3

Routes optional motor VSENSE into GPADC input

Jumper installed across pins 1-2

Routes required motor ISENSE into SAR ADC input
J13

VSENSE/ISENSE Select

Jumper pins 1-2 shorted: Select Axis-1, Phase-B INA241 current sense output routed to BoosterPack J15.24

Jumper pins 2-3 shorted: Select Axis-2 DRV8316 VSENSE Phase-B Output routed to BoosterPack J15.24

Jumper installed across pins 2-3

Routes optional motor VSENSE into GPADC input

Jumper installed across pins 1-2

Routes required motor ISENSE into SAR ADC input
J26

VSENSE/ISENSE Select

Jumper pins 1-2 shorted: Select Axis-1, Phase-C INA241 current sense output routed to BoosterPack J15.24

Jumper pins 2-3 shorted: Select Axis-2 DRV8316 VSENSE Phase-C Output routed to BoosterPack J15.24

Jumper installed across pins 2-3

Routes optional motor VSENSE into GPADC input

Jumper installed across pins 1-2

Routes required motor ISENSE into SAR ADC input
J17

SDFM Clock Feedback Select

Jumper pins 1-2 shorted:

Jumper pins 2-3 shorted: asdad

Jumper Uninstalled

Function not used
J27/J28

Encoder/SDFM MUX Select

J27/J28 uninstalled: selects AM243x SDFM and Encoder Paths

J27/J28 installed: selects AM263x SDFM and Encoder Paths

 J27 uninstalled J27 Installed
Axis-1 J18/J19

Encoder/Resolver Voltage Select

J18 installed: sets VSENSOR1 to 12 V

J19 installed: sets VSENSOR1 to 5.0V

Note: only one jumper must be installed at a time during operation.

J19 Installed

This defaults VSENSOR1 to 5.0V compatible with most absolute encoders.

J19 Installed

This defaults VSENSOR1 to 5.0V compatible with most absolute encoders.

J22

SDFM Manchester Encoding Select

Uninstalled: Manchester encoding disabled

Installed: Manchester encoding enabled

 J22 uninstalled J22 uninstalled
J24

RS485 Absolute Encoder

2-Wire/4-Wire MUX Select

Uninstalled: RS-484 4-Wire Path Selected

Installed: RS-485 2-Wire Path Selected

J24 uninstalled

Compatible with Heidenhain EnDat22

Encoders

J24 uninstalled

Compatible with Heidenhain EnDat22

Encoders
Axis-2 J20/J21

Encoder/Resolver Voltage Select

J20 installed: sets VSENSOR2 to 12 V

J21 installed: sets VSENSOR2 to 5.0V

Note: only one jumper must be installed at a time during operation.

J21 Installed

This defaults VSENSOR2 to 5.0V compatible with most absolute encoders.

J21 Installed

This defaults VSENSOR2 to 5.0V compatible with most absolute encoders.

AM243x/AM263x ISENSE/VSENSE Select

The below diagrams describe the select path used to choose between Axis-1 in-phase current sense and Axis-2 voltage sense into a set of LaunchPad ADC channels. The Axis-1 in-phase current sense path is only usable with the AM263x LaunchPad SAR ADC channels.

GUID-1A187FF6-09FF-4730-AE98-D0EBE6CA7DE0-low.png Figure 2-7 Axis-1 ISENSE/VSENSE Select - Jumper J11, J13, and J26 Configuration
GUID-6C6E14F6-BBD7-4197-A201-EE7D7B22867E-low.png Figure 2-8 Axis-1 ISENSE/VSENSE Select - Layout/Schematic Excerpt for Jumper J11, J13, and J26

AM243x/AM263x PRU Encoder/Sigma-Delta MUX

The below diagrams describe the MUX path used to de-MUX and MUX a set of overlapping but conflicting pins to the AM2x MCU AM243x and AM263x LaunchPad. Select lines for these MUX paths are either jumper selectable.

GUID-252B601D-E266-4A0B-B580-1B32D4B057AC-low.png Figure 2-9 PRU SDFM/Absolute Encoder MUX – Jumper J27 and J28 Configurable

PRU Sigma-Delta Modulator Clock Path Select

The below diagrams describe the select path used to choose between the different PRU Sigma-Delta Modulator (SDFM) feedback clocks. The SYNC0 and SYNC1 paths from the PRU are used to generate two different clocks that can be used for both clocking data out of the attached SDFM AM1035 transceivers as well as clocking data into the AM2x MCU.

GUID-2FE0514D-C8DE-4790-8EA1-BA41B73C2838-low.png Figure 2-10 PRU Sigma-Delta Modulator Clock Path Select – J17
GUID-8EE8CF66-1CEF-4D0C-966A-850F21361ECD-low.png Figure 2-11 BP-AM2BLDCSERVO Layout - Layout/Schematic Excerpt for PRU SDFM Clock Path Select – J17