AM2434: Motor Control SDK for FOC control

surabhi jain

Part Number: AM2434
Other Parts Discussed in Thread: TIDM-02018

Tool/software:

Hi Team,

I am using code ethernetip_adapter_generic_device_rgmii_demo_am243x-lp_r5fss0-0_freertos_ti-arm-clang from the SDK ind_comms_sdk_am243x_09_02_00_15 version in our custom board with AM2434.

That is working for EtherNET/IP application. Now I want to add motor control code also in the same application.

I have checked motor control sdk and got this link https://dev.ti.com/tirex/explore/node?node=A__ACnQnLTod5dXrU7Gy7Db8w__MOTOR-CONTROL-SDK-AM243X__2dDFdJs__LATEST

I have gone through this document https://dev.ti.com/tirex/explore/content/motor_control_sdk_am243x_09_02_00_09/docs/TIDUF42.pdf

We have LP-AM2434 and Booster Pack board. But we don't want to use encoder. In the above document code is based on sensor.

Can we migrate this code for FOC control.

And if yes how can we start migration activity.

Thanks,

Surabhi

over 1 year ago

0 surabhi jain over 1 year ago

Prodigy 115 points

I got one more link for FOC control using AM263x https://www.ti.com/lit/ug/tiduf67/tiduf67.pdf?ts=1737477836895&ref_url=https%253A%252F%252Fwww.ti.com%252Ftool%252FTIDM-02018

Can I use this code in AM2434 device. if yes then how can I start migration activity and finish as early as possible.

And is there any SDK for foc control using AM243, which I can directly use and port industrial communication code on top of that.

Thanks,

Surabhi

0 Dhaval Khandla over 1 year ago in reply to surabhi jain

TI__Mastermind 29144 points

We have AM243x Motor Control SDK: TIDEP-01032 EtherCAT-Connected Single-Chip Dual-Servo Motor Drive Reference Design in AM243x Motor Control SDK, which uses FOC with absolute encoders for position sensing.

surabhi jain said:
Can I use this code in AM2434 device. if yes then how can I start migration activity and finish as early as possible.

Yes, this can be migrated to AM243x. Certain components will change - EPWM IP is different in AM243x vs AM263x, SDFM/ADC for current sense in AM243x vs ADC on AM263x, motor parameters depending on motor used, etc.

We plan to port TIDM-02018 code to AM243x and make it available in next AM243x Motor Control SDK release.

Regards

Dhaval

0 surabhi jain over 1 year ago in reply to Dhaval Khandla

Prodigy 115 points

Thanks for your reply.

Could you please tell me when will be the next AM243x Motor Control SDK release available to use for FOC code (TIDM-02018).

I have started the migration activity. I am using the code

motor_control_sdk_am243x_09_02_00_11\examples\pruicss_pwm\pruicss_pwm_dead_band_epwm_sync\am243x-lp\r5fss0-0_nortos for migration.

As you mentioned there is a difference in components. Few findings are mentioned below -

Component	AM263x	AM243x
PRU ICSS PWM	Not Added	Can we use in place of CMPSS
ADC	Added 5	Configured 1 and added 5 different channel
CMPSS	Added 3	Not Available - what component can we use
ECAP	Added 3	Only 2 Available
EDMA	Added 1	Not Available. Instead of EDMA, can we use UDMA. But configuration is different.
XBAR	Added	Not Available - what component can we use

how can we migrate these different components for AM2434 device.

Thanks

0 MK over 1 year ago in reply to surabhi jain

TI__Intellectual 2205 points

Hi Dhaval,

Any feedback on the quires will help us move forward quickly. Kindly keep us posted on the timelines.

Best Regards,

Madhurya

0 Achala Ram over 1 year ago in reply to MK

TI__Expert 4380 points

surabhi jain said:
Could you please tell me when will be the next AM243x Motor Control SDK release available to use for FOC code (TIDM-02018).

Hi Surabhi, It will be available this month.

BR,

Achala Ram

0 surabhi jain over 1 year ago in reply to Achala Ram

Prodigy 115 points

Thanks for sharing the timeline.

Until the updated SDK release could you please help us on migration from AM263x to AM243x and configuration settings.

0 Achala Ram over 1 year ago in reply to surabhi jain

TI__Expert 4380 points

Hi Surabhi,

CMPSS: Added 3 in AM263x, not available in AM243x.
-> PRU SDFM fast detect/overcurrent and ICSS PWM can be used as alternative.

see here for fast detect and PRU PWM mapping: AM243x Motor Control SDK: SDFM Interface Design

ECAP: Added 3 in AM263x, only 2 available in AM243x.
-> Yes, only 2 are available. We need to review other components that can be used as alternatives. Can you share more details on the use cases for ECAPs?

EDMA: Added 1 in AM263x, not available in AM243x. Can UDMA be used instead?
-> Yes.

XBAR: Added in AM263x, not available in AM243x.
-> We have two options to route overcurrent to EPWM if you use SDFM for overcurrent/fast detect:

Write to the PWM register when an SDFM overcurrent error occurs.
Route ICSS PWM TZ externally to EPWM TZ input for fast detect.

Documents for PRU SDFM :AM243x Motor Control SDK: Current Sense

Thanks & Regarding

Achala Ram

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AM2434: Motor Control SDK for FOC control