the industry's first industrial drive control soc supporting digital and

The industry’s first industrial drive control SoC

supporting digital and analog position sensors

C2000™ DesignDRIVE Position Manager technology solves interfacing

challenges with position sensors in industrial servo and AC inverter drives

Brian Fortman, C2000™ Marketing

Industrial Drives and Automation Position Encoder Interface Circuits DesignDRIVE Kit (TMDXIDDK377D)

Agenda

• Top-level overview of DesignDRIVE Position Manager and its benefits

• Analog position sensor interface solutions

• Absolute encoder master solutions

• Getting started

2

www.ti.com/C2000Drives

3

Sensor Type Speed Tested Length Resolution C2000 Supported Devices

Incremental ~ 12,000 rpm N/A Encoder dependent ‘F2803x, ‘F2806x,‘F2807x, ‘F2837xS, ‘F2837xD

EnDat 2.2 / 2.1 8 MHz 100 m Up to 35 bits ‘F28379S, ‘F28379D

BiSS-C 5 MHz 100 m Up to 26 bits ‘F28379S, ‘F28379D

t-format (Tamagawa) 2.5 MHz 100m Up to 24 bits ‘F28379S, ‘F28379D

SIN/COS ~ 12,000 rpm 70 m +/- 4.5 arcsecs ‘F2807x, ‘F2837xS, ‘F2837xD1

Resolver > 3,000 rpm ~1 m >13.47 ENOB ‘F2802x, ‘F2807x, ‘F2837xS, ‘F2837xD

1

Position Manager technology

• Save at least 10% of the development effort

when compared to custom solutions

• Reduce system cost by up to 10%

• Supports the leading analog and digital

position sensors including resolver,

SIN/COS, QEP, T-format, BiSS-C and

EnDAT2.2

• Reference hardware, example software is

compliance tested and future-proof

• Compliance tested and available for

C2000™ ‘F28379D and ‘F28379S MCUs

4

Note 1: This project can be ported to other C2000 MCU families but has not been released via controlSUITE at this time.

http://www.ti.com/lit/SPRY295

http://www.ti.com/lit/SPRui35






C2000™ Delfino™ F28379 MCUs and DesignDRIVE Position Manager technology

5

Solve Conformance

Challenges

Simplify the

System

Save Development

Time

Alleviate months of work

proving sensor interface

compatibility

Reduces system cost by 10%

while improving system

performance

Eliminates up to 10% of the

development engineering

effort

The industry’s first industrial drive control system-on-chip

to support digital and analog position sensors

DesignDRIVE Position Manager technology: Simplify the System

6

• Digital and analog position

sensor interfaces integrated

on C2000™ MCUs

• Reduces feedback latency

thus improving control loop

time

• Reduces the impact of

adding external devices like

FPGAs or ASICs

Reduces system cost by 10% while also improving system performance

DesignDRIVE Position Manager technology: Save Development Time

7

• Performance-tuned

software

• Reference hardware &

software

• API, line interface and

power supply reference

designs from TI

A complete solution from TI’s

C2000™ MCU team

High-Level Driver

Low-Level Driver

Hardware

Silicon

Existing Custom

EnDat_HLD

Custom

Custom

FPGA Gates

Example

Project

PM_endat22

API / Library

IDDK

Reference

C2000 EnDat

Peripheral

SPI+GPIO+CLB

Traditional

FPGA

Approach

With C2000

Position

Manager

Eliminates up to 10% of the development engineering effort

EnDat 2.2 Solution Example: Stackup vs. FPGA

TIDA-00179

TIDM-SERVODRIVE

DesignDRIVE Position Manager technology: Solve Conformance Challenges

8

Gives developers peace-of-mind regarding sensor interface compatibility

• Compliance testing

performed by TI for

EnDat 2.2, BiSS-C and

T-format

• DesignDRIVE

Development Kit (IDDK)

testing reference

• Roadmap support for

more protocol standards,

future revisions

C2000™ DesignDRIVE Position Manager

9

Solve Conformance

Challenges Simplify the System Save Development Time

• Encoder master digital logic

integrated on C2000

• Reduces the feedback latency

improving loop time

• Reduce the board space impact of

external devices, FPGAs, ASICs

• Compliance testing performed by

TI for EnDat22, BiSS-C & T-format

• DesignDRIVE Development Kit

(IDDK) testing reference

• Roadmap support for more

protocol standards, future revisions

• Performance-tuned software

• Reference hardware & software

• API, line interface and power

supply reference designs from TI

Reduce system costs by

at least 10%

Eliminate up to 10% of

the engineering effort

Alleviate months of work

proving compatibility

Delfino™ F28379 dual-core and single-core MCUs

10

• Integrated Position Manager Hardware

• Real-time performance of C28x core with CLA co-processor to run parallel control loops

• 4 differential 16-bit ADC, 1MSPS each, 4x S/H

• 3x 12-bit DAC (external)

• Trigonometric Math Unit (TMU) - 1 to 3 cycle SIN, COS, ARCTAN instructions

• Direct memory access through dual EMIFs (16bit/32bit)

• 8x Windowed Comparators w/ 12b DAC which can be used as peak current mode comparators (PCMC)

• 8x Sigma Delta channels, 2x Filters per channel

Differentiation

Sampling

TMS320F28379D

Memory

Up to 512 KB Flash

Up to 102 KB SRAM

6ch DMA

CLA

core

200 MHz

Floating Point

Temperatures 105C 125C Q100

Processing

C28x™ DSP

core

200 MHz

FPU

TMU

VCU-II

2x 128-bit Security Zones

Boot ROM

2x EMIF

Memory

Up to 512 KB Flash

Up to 102 KB SRAM

6ch DMA

CLA

core

200 MHz

Floating Point

Processing

C28x™ DSP

core

200 MHz

FPU

TMU

VCU-II

Actuation

12x ePWM Modules (Type 3)

24x Outputs (16x High-Res)

Fault Trip Zones

3x 12-bit DAC

Power & Clocking

2x 10 MHz OSC

Ext OSC Input

POR Protection

Debug

Real-time JTAG

Sensing

ADC1: 16-bit, 1.1-MSPS

12-bit, 3.5 MSPS


12-bit, 3.5 MSPS


12-bit, 3.5 MSPS


12-bit, 3.5 MSPS

8x Windowed Comparators w/

Integrated 12-bit DAC

8x Sigma Delta Interface

Temperature Sensor

3x eQEP

6x eCAP

System Modules

3x 32-bit CPU Timers

Missing Clock Detection

Watchdog Timer

2x 192 Interrupt PIE

Position Manager

EnDat, BISS, SINCOS…

Connectivity

USB 2.0 OTG FS MAC & PHY

2x CAN 2.0B

4x SPI

2x McBSP

4x UART

2x I2C (w/ true PMBus)

Integrated Position Manager

• First MCU with both digital and analog position sensor support

• Released on ‘F28379D/S today

• Integrated sensor master/controller with control loop processor

• Flexible, multi-protocol support

• Software stackup and example use application

• Reference hardware design and compatibility tested

“Standalone” Position Manager Add-On

• Works independent to control loop processor

• Leverages same core Position Manager library

• Position Manager performance and testing

• Simple SPI (or other) interface to

customer’s controller

• Stay tuned for further cost-optimized add-on

versions

11

C2000 DesignDRIVE Position Manager Implementation Options

Tools

E2E

Position Manager Development Support

12

TMDXIDDK379D

Get help from the C2000 Forum e2e.ti.com/support/microcontrollers/c2000

Software

Included in C2000 controlSUITE

Installer Includes:

• Library: PMBISSCLib or PMEnDat22Lib …

• Include Files

• Example Projects and User’s Guides

• License Agreement

On Line Video Training

training.ti.com/c2000-designdrive

Documentation (TI.com/c2000Drives and included in download)

http://www.ti.com/tool/tmdxiddk379d

TI Information – Selective Disclosure

Position Manager Solutions

13



CW/CCW Any device with eQEP – please see lit # SPRABX2

“CW/CCW Support on the C2000 eQEP Module”






1


DesignDRIVE Position Manager SIN/COS

An overview of the C2000 SIN/COS solution

14










1

DesignDRIVE Position Manager SIN/COS technology: Simplify the System

15

Reduce system cost by AND improve system performance

Features Benefits

• Integrated MCU solution for interface to SIN/COS

transducers

• Lowers system cost - no additional external

sensing circuitry (sensor power supply and diff

amps are still required)

• Potentially lowers sensing latency (depending

on existing architecture)

• Supports high shaft speeds as well as high

resolution at low speeds - 3 operating modes

based on shaft speed

• Optimum precision across a wide speed range

• Error detection • Robust data integrity

• Continuous calibration (at low speed) • Automatic correction of drift and offset errors

• Delivers position and speed information • Tunable for each application

• Tuned for position control applications

(information obtained every control cycle) • Built for position and timing performance

• Packaged library module • Easy to integrate and use

• Available now! • Begin development today!

CMP

INDEX

ADC-B

ADC-A

C28x™

Core(s)

How does the DesignDRIVE SIN/COS solution work?

CMP

CMP Angle = arctan(A/B)

QEP

Speed = PulseCount

C2000™ MCU SINCOS User’s Guide:

TI.com/lit/SPRUI54

http://www.ti.com/lit/SPRUI54

Position Manager SIN/COS Solution

System Block Diagram

• SinCos solution supported on C2000 MCUs

with dual ADCs, comparators and QEP

• Software project is based on ‘F2837x

• Requires buffer interfaces and transducer

power supply circuits outside MCU

• Interface circuits included on the

DesignDRIVE Development Kit – IDDK

SIN/COS Receiver

• Simultaneously sampling ADC

• Converts quadrature sinusoidal signals – low speeds

• Comparators

• Convert sinusoids to pulses – high speeds

• Quadrature Encoder Pulse Module (QEP)

• Counts high speed pulses and indicates direction

• C28x CPU

• Filtering, Calibration, Offset Correction, Gain Control

• Fine angle calculation

Check out TI Designs

TIDA-00176

TIDM-SERVODRIVE

TMS320F2837x Motor SinCos position encoder

Connector

CableEncoderPower Supply

A

B

I

F2837x

An

alo

g Su

b-S

yste

m

PMSinCosLibrary

Signal Conditioning Board

http://www.ti.com/tool/TMDXIDDK379D




http://www.ti.com/tool/TIDA-00176



http://www.ti.com/tool/TIDM-SERVODRIVE



SINCOS Commands Supported

18

Command Description

PM_sincos_calcAngle Computes the mechanical shaft angle in scaler per-unit

PM_sincos_updateCalData Calculates the gain and offset calibration coefficients

and updates active values

PM_sincos_initLib

Sets the elements of the specified SINCOS data

structure to their default values. The function clears all

data from both input filters, and initializes the selected

QEP peripheral.

PM_sincos_reset Resets the dynamic SINCOS variables to default

SINCOS Fine Angle Calculation PM_sincos_calcAngle()

19

SinCos Quadrature Counter and Mode Control PM_sincos_calcAngle()

20

Angle calculation and mode selection

21

PM_SinCos Resource Requirements for TMS320F28379

22

Shared Resources

CPU and Memory Module Check CPU and Memory utilization for various functions Application to ensure enough CPU cycles and Memory are

allocated

Configurable Resources

eQEP Module and

IOs One QEP instance to support high speed

mode

Any QEP instance can be chosen. The

module and three corresponding IOs will then be dedicated for SinCos

Dedicated Resources

AD-C0 AIO Sine channel input AIO dedicated for SinCos

AD-D0 AIO Cosine channel input AIO dedicated for SinCos

AD-D2 AIO Index input AIO dedicated for SinCos

GPIO15 AIO CMPSS-4 high output IO dedicated for SinCos



Resource Name Type Purpose Usage Restrictions

Dedicated Resource – “hardwired and consumed” by the SinCos project.

Configurable Resource – can be customized by the user to choose an alternate instance, however, the

IDDK hardware has defined the resource used in the EnDat22 project.

Shared Resource - EnDat22 project uses a portion of the capabilities/channels available


DesignDRIVE Position Manager Resolver

An overview of the C2000 Resolver solution on Delfino™ ‘F2837x MCUs

23










1

How Does A Resolver Work?

25

• When the primary is excited with a sinusoidal carrier

wave, amplitude modulated sinusoidal signals are

generated in the secondary windings whose envelopes

are nothing but the sine and cosine of shaft angle

Position Manager Resolver Interface

• Observer constructs smooths sinusoidal output

between peak samples of the carriers.

• Minimizes error over all dynamic conditions

• Signal cleansing - band pass filter

• Decimation

• Error computation

• Band pass delay compensation

TI Whitepaper: SPRY212A

MotorResolver

Connector

Cable

A

B

X

F2837x

An

alo

g Su

b-S

yste

m

PMResolverLibrary

Position Manager Resolver Solution


• Resolver solution supported on C2000 MCUs

with dual ADCs and DAC (or PWM)

• Software project is based on ‘F2837x

• Requires buffer interfaces and exciter circuits

outside MCU



Resolver to Digital

• Simultaneously sampling ADC

• Converts quadrature sinusoidal signals – low speeds

• DAC

• Generates analog excitation signal

• C28x CPU

• Excitation algorithm

• Observer

Worst Case Loading:

Check out TI Design

TIDM-SERVODRIVE

and the

Resolver Whitepaper

TMS320F2837x










DesignDRIVE PosiTIonManager Absolute Encoders

EnDat2.2, EnDat 2.1

BiSS-C

Tamagawa T-format

27










1

DesignDRIVE PositionManager Absolute Encoders EnDat2.2, EnDat2.1, BiSS-C, T-format

Features Benefits

• Integrated MCU solution for encoder interface • No additional external logic required

• Meets digital interface protocol requirements • Worry-free and future-proof

• Up to 8MHz clock operation verified up to 100m cable length

(2.5 MHz for t-format) • High performance for industrial applications

• Easy interface to encoder commands through driver functions

and data structures

• Incorporates data unpacking and position reversal functions

• Simplified software development with library

• Integrated, configurable cable propagation delay

compensation • Tunable for each application

• Optimized CRC algorithm for both position and data CRC

calculations (as applicable) • Robust data integrity and error detection

• Tuned for position control applications (information obtained

every control cycle) • Built for position and timing performance

28

Position Manager EnDat2.2 Implementation


• EnDat 2.2 (and 2.1) Protocol Master is

integrated onto C2000 MCUs that are

“PositionManager-ready”

• Requires only RS-485 line interface and

encoder power supply circuits outside MCU

• Interface circuits included on DesignDRIVE

Development Kit – IDDK

EnDat Protocol Master

• Configurable Logic Block (CLB)

• Generates Clock To SPI

• Generates Clock and Direction to Encoder

• Performs Delay Compensation

• Synchronous Serial Port (SPI)

• De-serializes data for handoff to CPU or CLA

• C28x CPU

• Performs ENDAT De-Framing

• CRC comparison

• Configures SPI and CLB

Check out

TI Design

TIDA-00172

Position Manager BiSS-C Implementation


• BiSS-C Protocol Master is integrated onto

C2000 MCUs that are “Position Manager-ready” like the ‘F28379





BiSS-C Protocol Master







• C28x CPU

• Performs BiSS De-Framing

• CRC comparison



TIDA-00175

TIDA-00179

TIDA-00180

TIDM-SERVODRIVE

TM

S3

20

F2

83

79X

BiS

S-C

Ma

ste

r

Position Manager T-format Implementation


• T-format Protocol Master is integrated onto

C2000 MCUs that are “Position Manager-ready” like the ‘F28379





BiSS-C Protocol Master







• C28x CPU

• Performs BiSS De-Framing

• CRC comparison



TIDM-SERVODRIVE

TM

S3

20

F2

83

79X

BiS

S-C

Ma

ste

r

EnDat Commands Supported

32

EnDat 2.1

Encoder send position values ENCODER_SEND_POSITION_VALUES

Selection of the memory area SELECTION_OF_MEMORY_AREA

Encoder receive parameters ENCODER_RECEIVE_PARAMETER

Encoder send parameter ENCODER_SEND_PARAMETER

Encoder receive reset ENCODER_RECEIVE_RESET

Encoder send test values ENCODER_SEND_TEST_VALUES

Encoder receive test command ENCODER_RECEIVE_TEST_COMMAND

EnDat 2.2

Encoder send position value with additional information ENCODER_SEND_POSITION_VALUES_WITH_ADDITIONAL_DATA

Encoder send position value and receive selection of memory area ENCODER_SEND_POSITION_VALUES_AND_SELECTION_OF_THE_MEMORY_AREA

Encoder send position value and receive parameters ENCODER_SEND_POSITION_VALUES_AND_RECEIVE_PARAMETER

Encoder send position value and send parameters ENCODER_SEND_POSITION_VALUES_AND_SEND_PARAMETER

Encoder send position value and receive test command ENCODER_SEND_POSITION_VALUES_AND_RECEIVE_TEST_COMMAND

Encoder send position value and receive error reset ENCODER_SEND_POSITION_VALUES_AND_RECEIVE_ERROR_RESET

Encoder receive communication command ENCODER_RECEIVE_COMMUNICATION_COMMAND

BiSS-C Commands Supported

33

Name Description

PM_bissc_generateCRCTable This function generates table of 256 entries for a given CRC polynomial (polynomial) with specified number of bits (nBits). Generated

tables are stored at the address specified by pTable.

PM_bissc_getCrc Calculate the n-bit CRC of a message buffer by using the lookup table, to get the CRC of each byte. This function can be used for both

position and data CRC checks with corresponding CRC table and polynomial.

PM_bissc_getBits

This function is used for extracting the bits of interest from the receive data buffer. After every transaction, data received from the encoder

is stored in the receive buffer. This function can be used to extract position bits, CRC, CDS data etc. from the receive data buffer.

PM_bissc_setCDBit This function is used to configure what the CDM bit will be in the upcoming SCD transfer. Every BiSS frame ends with a timeout and

during this time no further clocks are transmitted by BiSS Master. Clock line MA is held to the state of the bit set by this function. The

inverse of the same is interpreted as the CDM bit by the slave.

PM_bissc_startOperation This function will initiate the BiSS-C transfer. To be called after PM_bissc_setupNewSCDTransfer. This function starts the transaction set

up by the PM_bissc_setupNewSCDTransfer function earlier. Note that the setup up and start operation are separate function calls. User

can setup the transfer when needed and start the actual transfer using this function call, as needed, at a different time.

PM_bissc_setupPeriph Setup for SPI, CLB and other interconnect XBARs for BiSS-C are performed with this function during system initialization. This function

needs to be called after every system reset. No transactions will be performed until the setup peripheral function is called.

M_bissc_setFreq Function to set the clock frequency.

Clock Frequency = SYSCLK/(4*BISSC_FREQ_DIVIDER)

- Ex: set BISSC_FREQ_DIVIDER to 25 for 2MHz operation

PM_bissc_setupNewSCDTransfer Setup a SPI and other modules for a given transaction. All the transactions should start with this command. This function call sets up the

peripherals for upcoming BiSS-C transfer but does not actually perform any transfer or activity on the interface. Once the transfer is setup

using this function, PM_bissc_startOperation can be called to start the transfer.

T-format Commands Supported

34

Name Description

PM_tformat_generateCRCTable This function generates table of 256 entries for a given CRC polynomial (polynomial) with specified number of bits (nBits).

Generated tables are stored at the address specified by pTable.

PM_tformat_getCrc Calculate the n-bit CRC of a message buffer by using the lookup table, to get the CRC of each byte. This function can be

used for both position and data CRC checks with corresponding CRC table and polynomial.

PM_tformat_setupCommand

Setup a SPI and other modules for a given command to be transmitted. All the transactions should start with this command.

This function call sets up the peripherals for upcoming transfer but does not actually perform any transfer or activity on the

encoder interface. This function call in turn populates the sdata array of TFORMAT_DATA_STRUCT with the data to be

transmitted to the Encoder.

PM_tformat_startOperation This function will initiate the transfer on the interface. To be called after PM_tformat_setupCommand. Performs the

transaction set up by earlier. Note that the setup up and start operation are separate function calls. User can setup the

transfer when needed and start the actual transfer using this function call, as needed, at a different time.

PM_tformat_receiveData

Function for unpacking and populating the tformat data structure with the data received from Encoder. This function will be

called when the data from Encoder is available in the SPI data buffer and transferred to rdata array of

TFORMAT_DATA_STRUCT. Upon the function call, received data is unpacked as per the current command and unpacked

results are stored accordingly.

PM_tformat_setupPeriph Setup for SPI, CLB and other interconnect XBARs for BiSS-C are performed with this function during system initialization.

This function needs to be called after every system reset. No transactions will be performed until the setup peripheral

function is called.

M_tformat_setFreq Function to set the clock frequency.

Clock Frequency = SYSCLK/(4*tformat_FREQ_DIVIDER)

- Ex: set tformat_FREQ_DIVIDER to 25 for 2MHz operation

PM_EnDat22 Resource Requirements for TMS320F28379

35

Shared Resources

CPU and Memory Module Check CPU and Memory utilization for various

functions Application to ensure enough CPU cycles and Memory are

allocated

ECAP2 Output Module ECAP2 output ECAP2 o/p path (GPIO34) dedicated for Endat. ECAP2

input remains available to user..

Input XBAR 1 channel To be connected to SPISIMO of the corresponding

SPI instance dedicated for EnDat INPUTXBAR1 is used for EnDat implementation.

Remaining inputs are available for application use

Output XBAR 1 channel Bringing out EnDat TxEn (Direction Control) signal

on GPIO32 via OUTPUT1 of Output XBAR OUTPUT1 is used for EnDat implementation. Remaining

outputs are available for application use


GPIO34 IO EnDat Direction control for Data on IDDK Which GPIO is used for direction is user configurable in

project

SPI Module and IOs One SPI instance to emulate EnDat interface (SPIB

on IDDK) required Any instance of SPI can be chosen – Module and

corresponding IOs will be dedicated for EnDat

GPIO32 IO For EnDat Power control on IDDK Can choose any available GPIO for power control (CPU

managed)

Dedicated Resources

GPIO6 IO EnDat Clock from master to Encoder IO dedicated for EnDat

GPIO7 IO SPI clock generated by MCU IO dedicated for EnDat

EPWM4 IO Internal clock generation EPWM4 dedicated for EnDat


PM_BiSS-C Resource Requirements for TMS320F28379

36

Shared Resources


allocated

ECAP2 Output Module ECAP2 output ECAP2 o/p path (GPIO34) dedicated for BiSS. ECAP2 input

remains available to user..

Input XBAR 1 channel To be connected to SPISIMO of the corresponding SPI

instance dedicated for BiSS-C INPUTXBAR1 is used for BiSS-C implementation. Remaining

inputs are available for application use


BiSS-TxEn / GPIO34 IO For Transmit Enable control of RS485 Can choose any IO.

GPIO34 is used on IDDK and example projects

SPI Module and IOs One SPI instance to emulate BiSS interface (SPIB on

IDDK) required Any instance of SPI can be chosen – Module and corresponding

IOs will be dedicated for BiSS-C

Biss-PwrCtl / GPIO32 IO For BiSS-C Power control on IDDK Can choose any available GPIO for power control.


Dedicated Resources

GPIO6 IO BiSS clock from master to Encoder IO dedicated for BiSS-C

GPIO7 IO SPI clock generated by MCU IO dedicated for BiSS-CBiSS-C

EPWM4 IO Internal clock generation EPWM4 dedicated for BiSS-C


Dedicated Resource – “hardwired and consumed” by the BiSS-C project.


IDDK hardware has defined the resource used in the BiSS-C project.

Shared Resource - BiSS-C project uses a portion of the capabilities/channels available

T-format Resource Requirements for TMS320F28379

37

Shared Resources


allocated

Output XBAR 1 channel Bringing out tformat TxEn (Direction Control)

signal on GPIO32 via OUTPUT1 of Output

XBAR

OUTPUT1 is used for implementation. Remaining outputs are available for application use.

Input XBAR 1 channel To be connected to SPISIMO of the corresponding SPI

instance dedicated for BiSS-C INPUTXBAR1 is used for mplementation. Remaining inputs are

available for application use


SPI Module and IOs One SPI instance to emulate t-format interface (SPIB on

IDDK) required Any instance of SPI can be chosen – Module and corresponding

IOs will be dedicated for t-format

PwrCtl / GPIO32 IO For encoder control on IDDK Can choose any available GPIO for power control.


TxEn IO Direction control on data GPIO34 is used for this purpose on IDDK and

example projects. User can choose any GPIO with OUTPUTXBAR1 mux option

Dedicated Resources

GPIO7 IO SPI clock generated by MCU IO dedicated for t-format implementation

EPWM4 IO Internal clock generation EPWM4 dedicated for t-format


Dedicated Resource – “hardwired and consumed” by the BiSS-C project.


IDDK hardware has defined the resource used in the BiSS-C project.

Shared Resource - BiSS-C project uses a portion of the capabilities/channels available

Position Manager - TMS320F28379x System Resource Requirements Reference

38

QEP ADC CMPSS DAC SPI CLB PWM GPIO C28 Cyc/

Sample Pgm (KB)

RAM

(KB)

QEP 1 QEP

peripheral 90 0.2 .03

Resolver 2 Ch 1 Ch EPWM6 190 0.8 0.2

SinCos 1 3 Ch 3 6 642 1.4 0.05

EnDat 2.2 1 Y EPWM4 2x – DIR,

PWR

Refer to

table* 4.6 0.5

BiSS 1 Y EPWM4 1 PWR Refer to

table* 2.3 0.4

Tamagawa 1 Y EPWM4 2x – DIR,

PWR

Refer to

table* 1.8 0.3

*Different functions have different execution times – details captured in corresponding library documentation

** Complete resource requirements specified in the “Resource requirements” section of corresponding lib user guide

EnDat Testing Results at Heidenhain Lab

39

Encoder Name Type Resolution Cable Length

In Meters

Max EnDat

Clock

In MHz

Test Result

ROC425 Rotary 25-bits 70m 8MHz Pass

LC415 Linear 35-bits 70m 8MHz Pass

RCN8310 Rotary 29-bits 70m 8MHz Pass

ROQ437 Multi Turn 25-bits,

12-bits (Turns) 70m 8MHz Pass

LIC211 Linear 32-bits 70m 8MHz Pass

ROC413 Rotary 13-bits 70m 8MHz Pass

Note: Cable lengths up to 100m have also been tested with some of the encoders. Users are free to

deploy longer cable lengths, perform delay compensation, switch to higher EnDat clock frequencies and

perform tests.

BiSS Testing Results at TI Lab

40

Encoder

Manufacturer Encoder Name Type Resolution

Cable

Length

In Meters

Max BiSS

Clock

In MHz

CD interface

used

Test

Result

Lika HS58S18/I7 Rotary 18-bits

(padded to 24bits) 100m 3.33MHz Yes Pass

Kuebler 8.F5863.

1426.C423 Rotary 26-bits (12+14) 100m 5MHz No Pass

Note: Users are free to deploy longer cable lengths, perform delay compensation,

switch BiSS-C clock frequency and perform tests.

T-format Testing Results at TI Lab

41

Encoder

Manufacturer Encoder Name Type Resolution

Cable

Length

In Meters

Max t-format

Clock

In MHz

Test

Result

Tamagawa TS5643N100 Rotary 17-bits

(padded to 24bits) 70m 2.5 Mbps Pass

Tamagawa TS5700N8501 Rotary 24-bits 70m 2.5 Mbps Pass

Note: Users are free to deploy longer cable lengths, perform delay compensation,

and perform tests on their own.

What Next?

42

Learn more about DesignDRIVE

Position Manager at:

www.TI.com/C2000Drives

And

Training.ti.com/c2000-designdrive

http://www.ti.com/C2000Drives

http://www.training.ti.com/c2000-designdrive



Tools

Position Manager Development Support

43

TMDXIDDK379D

Get help from the E2E C2000 Forum

Software

Included in C2000 controlSUITE

Installer Includes:

• Library: PMBISSCLib or PMEnDat22Lib …

• Include Files

• Example Projects and User’s Guides

• License Agreement

Download related documentation

Watch online training video


e2e.ti.com/support/microcontrollers/c2000?HQS=epd-mcu-c2x-designdrivewebinar-asset-e2e-ppt-eu

http://www.ti.com/lsds/ti/microcontrollers_16-bit_32-bit/c2000_performance/real-time_control/applications-absolute-encoder.page?HQS=epd-mcu-c2x-designdrivewebinar-asset-lp-ppt-eu

http://www.training.ti.com/c2000-designdrive?HQS=epd-mcu-c2x-designdrivewebinar-asset-tr-ppt-eu

http://www.training.ti.com/c2000-designdrive?HQS=epd-mcu-c2x-designdrivewebinar-asset-tr-ppt-eu

the industry's first industrial drive control soc supporting digital and

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