AM2434: AM2434

Jinlong Shen

Intellectual 480 points

Part Number: AM2434

Tool/software:

Hi there , how many motors can am2434 control with EnDat?

best, Jinlong

6 months ago

+1 Dhaval Khandla 6 months ago

TI__Mastermind 27144 points

It depends on other system requirements.

Technically, we can do 12x EnDat interfaces with 2x PRI-ICSSG from 1 AM243x. But let's say if you need one Industrial Communication interface (like EtherCAT, Profinet, EtherNet/IP, etc), it will take up one PRU-ICSSG. If you also need current sense using SDFM, 0.5x PRU-ICSSG is needed for 9x SDFM channels. In this case, you can implement 3-axis motor control using 1x AM243x, where 1x PRU-ICSSG does industrial communication and other PRU-ICSSG does 3x EnDat and 9x SDFM. Also we only have 9x SoC EPWMs on chip. But we also have additional PWMs which can be implemented with ICSS PWM.

Please refer to AM243x Motor Control SDK: Introduction for more details. Also, we have a 2-axis reference design :TIDEP-01032 EtherCAT-Connected Single-Chip Dual-Servo Motor Drive Reference Design

Regards

Dhaval

0 Jinlong Shen 6 months ago in reply to Dhaval Khandla

Intellectual 480 points

Thanks. Can you image any possibility to run 4 motors with a single AM2434 with EnDat and SDFM for each and every motor, where one PRU-ICSSG is taken by one industrial communication interface?

0 Dhaval Khandla 6 months ago in reply to Jinlong Shen

TI__Mastermind 27144 points

It is difficult to do 4 encoders and SDFM with 1x PRU-ICSSG. If you use ADC for current sense instead of SDFM, we can use 1x PRU-ICSSG for 4x EnDat as we do not need to do SDFM using PRU-ICSSG.

Regards

Dhaval

0 Jinlong Shen 6 months ago in reply to Dhaval Khandla

Intellectual 480 points

Thanks. The number of motors is clarified.

Another question, we do not use EnDat encoder. Instead, we use rotary encoder. Do you have an example project for one or two motors?

0 Dhaval Khandla 6 months ago in reply to Jinlong Shen

TI__Mastermind 27144 points

What is the interface for this rotary encoder?

https://software-dl.ti.com/processor-industrial-sw/esd/motor_control_sdk/am243x/09_02_00_09/docs/api_guide_am243x/index.html has details on supported interfaces for encoders.

Regards

Dhaval

0 Jinlong Shen 6 months ago in reply to Dhaval Khandla

Intellectual 480 points

Not EnDat encoder or other encoders listed on your web page.

We will use eqep: channel a, channel b, and channel i. Each rotation will have four square signal; phase between channel A and channel B indicates direction of rotation.

+1 Paula Carrillo 6 months ago in reply to Jinlong Shen

TI__Mastermind 36940 points

Hi Jinlong, there is an EQEP Capture example in our MCU+SDK

AM243x MCU+ SDK: EQEP Capture. for this example EQEP is signals are generated using GPIO toggling. Example check EQEP_A and EQEP_B signals clockwise and counterclockwise

Few more details: AM243x MCU+ SDK: EQEP

APIs: AM243x MCU+ SDK: APIs for EQEP

thank you,

Paula

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AM2434: AM2434