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Original question:

TIDEP-01032: Using CiA402 Profile for Motor Control (R5FSS0-0 NORTOS)

TIDEP-01032: Using Motor with HDSL SYNC

Alan Ismail
Intellectual 290 points
Part Number: TIDEP-01032

Tool/software:

Dear Ti Experts

The TIDEP-01032 has been developed using Motors with Endat2.2. I would like to use Motor with HDSL in SYNC Mode. Could you give hints on the the changes needed. 

I've looked at HDSL diagnostic SYNC implementation, It is not obvious to me the sections that need to be changed to enable PWM SYNCOUT instead of IEP1 sync

Also, I only need to run 1 motor at this stage.

Thank you

Alan I 

  • 0
    TI__Mastermind 26414 points

    Alan

    We will review and get back to you by end of this week.

    Regards

    Dhaval

  • 0 in reply to Dhaval Khandla
    Intellectual 290 points

    Hi Dhaval

    Do you have any update on this?

    Thanks

    Alan I

  • 0 in reply to Alan Ismail
    TI__Mastermind 26414 points

    Alan

    Sorry for the delay here. We will get back with the changes needed in reference design.

    Have you tried running the SYNC mode with stand-alone HDSL example in SDK? Is it working fine?

    Regards

    Dhaval

  • 0 in reply to Dhaval Khandla
    TI__Mastermind 26414 points

    Alan

    For more details on HDSL SYNC mode, please check following:

    We need to make following changes. This list may not be exhaustive and may need more changes.

    Number File Change(s) needed
    1

    endat_periodic_trigger.c

    endat_periodic_trigger.h

    These files are not needed

    Code for PRU-ICSS IEP CMP programming is not needed, because in HDSL, we use SYNC pulse and not IEP CMP.
    2 example.syscfg Remove ENDAT module and add HDSL
    3 settings.h

    Rename and update ENDAT_EVENT macro based on corresponding changes in change #1 and change #5

    It depends on which interrupt from HDSL will be used for encoder position update. In our solution, we have interrupts on H-frame and V-frame data availability. If you refer the standalone HDSL example, data tracing is done using V-frame interrupt.
    4 single_chip_servo.c

    Update the include paths for HDSL firmware

    Update the name of global variables and macros. Refer to examples\position_sense\hdsl_diagnostic\hdsl_diagnostic.c for changes

    Update the function calls as per the code present in examples\position_sense\hdsl_diagnostic\hdsl_diagnostic.c and examples\position_sense\hdsl_diagnostic\hdsl_diagnostic.h
    5

    PRU Firmware

    source\position_sense\hdsl\firmware\*

    Changes to store data into TCM or another global memory directly

    In the reference design, CMP based position trigger in used and PRU-ICSS IEP is reset by EPWM SYNC OUT. But in HDSL, we need an external SYNC pulse. In your system, how do you plan to generate the SYNC pulse? 

    Regards

    Dhaval

  • 0 in reply to Dhaval Khandla
    Intellectual 290 points

    Hi Dhaval

    Thank you for the detail reply.

    May I know how does V-Frame and H-frame interrupt relationship for HDSL Data Channels ( Figure 3 of https://www.sick.com/media/docs/7/07/607/Technical_information_HIPERFACE_DSL_Implementation_en_IM0056607.PDF )

    As for the External SYNC, our are planning to use EPWM SYNC OUT as HDSL external SYNC.

    In our system EPWM SYNC OUT/External SYNC will have period of  62.5us and we and ES can be set to smallest value feasible,

    Based on above configuration, I would like to get position update for every External SYNC ( the most recent position from encoder after External SYNC event), .may I know which interrupt should I use

     I am able to run with HDSL SYNC  in test mode condition

    Thank You

    Alan I

  • 0 in reply to Alan Ismail
    TI__Mastermind 26414 points

    Hi

    Alan Ismail said:
    May I know how does V-Frame and H-frame interrupt relationship for HDSL Data Channels ( Figure 3 of https://www.sick.com/media/docs/7/07/607/Technical_information_HIPERFACE_DSL_Implementation_en_IM0056607.PDF )

    Green colored boxes showing delta delta position mean H-frame (Horizontal frame). 8 H-frames form 1 V-frame (Vertical Frame). 1 V-frame provides one safe position.

    Alan Ismail said:

    In our system EPWM SYNC OUT/External SYNC will have period of  62.5us and we and ES can be set to smallest value feasible,

    Based on above configuration, I would like to get position update for every External SYNC ( the most recent position from encoder after External SYNC event), .may I know which interrupt should I use

    As I said, we have interrupts available for H-frame and V-frame both. It depends on your control loop design - which position are you using from HDSL.

    Regards

    Dhaval