AM6442: About Motor Control and Industrial Ethernet Communications

Hi

We have 2 instances of PRU-ICSSG in AM6442. One PRU-ICSSG has 2 slices and each slice has 3 RISC cores.

Following are details on resource requirements for different functions:

1. Industrial Communication - EtherCAT/EtherNetIP/Profinet/IOLink : 1 full PRU-ICSSG instance

2. Position Sense Encoder - HDSL/EnDat/Tamagawa/etc. : 1 slice can do up to 3 channel of encoder interface  (only same encoder protocol within 1 slice)

3. Current Sense - SDFM : 1 slice can do up to 9 channels

Refer to SDK documentation for more details:

https://www.ti.com/tool/download/MOTOR-CONTROL-SDK-AM243X/09.01.00.06

https://www.ti.com/tool/download/INDUSTRIAL-COMMUNICATIONS-SDK-AM64X/09.01.00.03

With one AM6442, 3 axes can be done with following mapping: one ICSSG does  Industrial Communication, one slice of second ICSSG does 3 encoder interfaces and second slice of second ICSSG does 9 SDFM channels (3 per axis).

Regards

Dhaval