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TMS320F28386D: Motor control application

Part Number: TMS320F28386D
Other Parts Discussed in Thread: TIDM-02006, DESIGNDRIVE


I am trying to identify a MCU for my motor control application. My application has DC servomotors.  I am inclined towards TMS320F28386D. I read about the Utilizing Sitara™ processors for Industry 4.0 servo drives (spry330a.pdf) and would like to have a Sitara processor as my main controller for other peripheral interface and have TMS320F28386D as the motor controller unit. I have the following queries with respect to this approach

1. If interfacing to a servodrive module, would there be a need for separate C2000 based (TMS320F28386D, in my case) Can the Sitara processor's interfaces be used for interfacing to the servo drive

2. Is the C2000 based controller  (TMS320F28386D) separate controller needed only for applications where there are no servo drive modules and have discrete circuitry for the motor controller interface

3. I went through the Distributed Multi-axis Servo Drive Over Fast Serial Interface (FSI) Reference Design (Design Guide: TIDM-02006). Here there are two c2000 based MCUs used. Master node based on F2838xD and Slave nodes based on F28004x.  Again in  this example, is the Slave nodes emulate the drive controller for the Inverter. If I am using a servo drive to drive my servo motor in my application, will just the F2838xD suffice? 

4. What is the difference between approach in point 1 (Sitara + C2000 based design for motor control) Vs point 3 (F2838xD based master and F28004x based slave for motor control). which one is advantageous. 

Please clarify. 

Thanks & Regards,


  • 1. As long as the main controller and motor controller have common peripheral interface such as SPI, FSI or CAN, ECAT (not limited to this alone), you can pick a processor of choice.

    2. Using C2000, you can replace the discrete controller into a compact one.

    3. Yes, as long as your servo drive supports FSI.

    4. It depends on the reqs and complexity of the overall system.  The article your read (spry330a) is the best resource to find out your answer.

  • Hi Ramesh,

    Thanks for your response and the references. I read through the spry330a.pdf and also C2000™ MCU DesignDRIVE Solutions for Industrial Motor Drives. A little brief about my system requirement

    1. To drive 4 DC servo motors and 4 DC stepper motors (Micro step)

    2. Apart from these there are other general I/O needs, peripheral requirements, and sensor feedbacks in the system. 

    I am considering the Sitara+C2000 for the motor controls. I have the following queries

    1. The C2000 supports the current loop, and position manager can handle the position loop. The speed loop to be handled by Sitara? Is Sitara to be viewed as an exclusive servo processor or can it also be used for my other system needs and function as a Main controller unit of the system 

    2.  Is there a Servo driver controller and driver eval kits available with the Sitara+c2000 combination?

    Please clarify. 

    Thanks & Regards,


  • 1. The C2000 is capable of speed loop as well. You could Sitara for motion profiling purposes and pass the position command to C2000 or you can run the position loop in Sitara and pass the speed command to C2000. It would not make sense to pass the intermediate loop to Sitara while C2000 handles the inner most and outer most loops.

    2. No, we dont have such kits at this time.

  • Thanks.. Yes, that makes sense in terms of the feedback. Will do.

    Another query - Can the Sitara+C2000 approach be used for driving both DC and AC servo motors?  or is this kind of implementation only for DC servo motors?

  • It suits all motor drives.