This reference design showcases the ability of using two TI Sitara™ MCU-AM243x devices to handle a Simple Open Real-Time Ethernet Gigabit (SORTE_G) connected motor drive with six-axis control. The design includes one 800MHz R5F core on one AM243x device to perform closed-loop Field Oriented Control with a 62.5μs cycle time for six independent motors with incremental encoders. One programmable real-time unit (PRU) core of this AM243x acts as the SORTE_G controller to send requests and receive the 6-axis motor angles. The PRU core of another AM243x device acts as the SORTE_G device to send 6-axis motor angles which are decoded by other PRU cores on this AM243x to the controller side in every cycle. The AM243x can also support both multiprotocol absolute encoders and multiprotocol industrial Ethernet.
A fully assembled board has been developed for testing and performance validation only, and is not available for sale.
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Reference design overview and verified performance test data
Detailed schematic diagram for design layout and components
Complete listing of design components, reference designators, and manufacturers/part numbers
Detailed overview of design layout for component placement
Files used for 3D models or 2D drawings of IC components
Design file that contains information on physical board layer of design PCB
PCB layer plot file used for generating PCB design layout
Includes TI products in the design and potential alternatives.
| Type | Title | Date | ||
|---|---|---|---|---|
| Design guide | 6-Axis Motor Control With Position Feedback and Industrial Communication Protocols Reference Design | Dec. 31, 2024 |
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