TMS320F28P650DK: FoC+Ethercat+Biss C Example Code

Tool/software:

Dear Team, 

my customer wants to build a motor control for a robot. In the discussion several question came up. 

They want to build a first prototype. For that we recommended the following setup: 

boostxl_drv8320rs

LAUNCHXL-F28P65X

boostxl_posmgr

The challange now is to provide the correct code examples that have to be stack together to build a working application. As far as I know all code examples are made for different devices. 

Can you please check the list below and provide the links to the examples in our SDKs:  

• Encoders: 2 X Serial BISS-C Slaves (mysecure access will be granted)
• TI-C2000 allow also EdgeAI feautres
• EtherCAT Slave (PDO)
  • FSoE Communication
• Control Loops: Cyclic Position (CSP), Cyclic Torque (CST)

• Field Oriented Control (FOC) → Clarke & Park Transformation → Space Vector Modulation (SVPWM)

• Cogging compensation

• strain wave gear eccentric shaft correction (difference between Load to Motor readings)

  1. option 1 - position error mapping of motor readings with respect to the Load side reading
  2. option 2 - Correcting position/velocity using Fourier series

          3. option 3 - moving lead/lag filter for velocity loop

Thanks 

Jan