• State Resolved
  • +1 person also asked this people also asked this
  • Locked Locked
  • Replies 17 replies
  • Answers 4 answers
  • Subscribers 106 subscribers
  • Views 500 views
  • Users 0 members are here
Support feedback
Options
Options
Similar topics

This thread has been locked.

If you have a related question, please click the "Ask a related question" button in the top right corner. The newly created question will be automatically linked to this question.

AM6421: ARM64 MCU for industry motion control application

Umesh Swamy
Prodigy 90 points
Part Number: AM6421
Other Parts Discussed in Thread: AM6442, DP83869, TMDS64EVM, SN65LBC174, SN65LBC175

Tool/software:

I'm working on conceptualizing a motion control system based on ARM64
I look forward for your support in making right selections from TI portfolio for this application hardware.

Highlighting features of application board, asper below..
- Board with industrial grade 64 bit ARM based microcontroller for motion control applications
- Integrated EtherCAT
- A bunch of about 40 digital, analog (INPUTS and OUTPUTS)
- Parallel bus for memory interface
- SERDES for ethernet and/or PCIe
- Long term availability of selected components (atleast next 20years)

Regards,
Umesh

  • 0
    TI__Intellectual 2925 points

    Hi Umesh,

    Couple comments:

    • Do you need to support EtherCAT slave?  If so, you will need to order the "E" or "F" version. (see attached)
    • The Ethernet MACs supoprt MII, RMII, and RGMII - They do not support SGMI
    • I would start by evaluating the AM6442BSFGHAALV or AM6442BSEGHAALV
    • Lifetimes of TI's industrial parts can exceed 20 years - I don't see any plans to discontinnue the AM64x fmaily.

    Good luck with the desing.

    AM64x_Intro.pdf

  • 0
    TI__Intellectual 2925 points

    If you are evaluating the AM6421, I would look at the: AM6421BSFGHAALV or AM6421BSEFHAALVR.

  • 0 in reply to Michael Firth
    Prodigy 90 points

    Hi Michael

    - Suppport for EtherCAT slave is nice to have feature integrated in one IC pkg.

    - "The Ethernet MACs supoprt MII, RMII, and RGMII - They do not support SGMI", here the selected MPU should support the 1Gbps backbone interface for EtherCAT-G 

    - One year from now, can there be TI product out in market that support EtherCAT-G application.

    - Your suggestions that likely helps in conceptualizing the control system with EtherCAT-G as fieldbus.

  • 0 in reply to Umesh Swamy
    TI__Intellectual 2925 points

    Hi Umesh,

    Are you seeing a strong market / customer pull for 1G EtherCAT?  I would be interested to know what you are seeing and if there a specifc driver for Gbps suport or is this more a "future proof" play (i.e. be able to support the standaerd once it becomes more widely used / needed).  

    The AM64x industrial communication subsystem is a firmware based architecture that can support new and evolving 1Gbps communication standards. We currently do not have firmware to support EtherCAT 1G (we do support 100Mbps EtherCAT) but do have plans to add support once the standard is published and we start to see market pull. 

    Best regards,

    Mike

  • 0 in reply to Michael Firth
    Prodigy 90 points

    Hi Mike, I have selected AM6442x processor and working on hardware concept for ECAT 1Gbps motion control system.. If there is a suitable multichannel PMIC to supply necessary power to this processor part from +24V external supply.. if you can help, recommend the PMIC that best solve my board small size requirement

    Also, looking forward the inputs to realize 1G EtherCAT MASTER using PRU-ICSSG.. Hope I'm thinking it right, PRU cores in AM6442 can implement EtherCAT Master at 1Gbps datarate but EtherCAT Slave datarate is limited to 100Mps due to non-availability of slave-stack.

  • 0 in reply to Umesh Swamy
    TI__Intellectual 2925 points

    Hi Umesh,

    There is a PMIC for AM6442, but it's a 3.3V device (so you would need to step down the +24V rail).

    With respect to the 1G EtherCAT question, today the AM6442 can support 100Mbps EtherCAT Slave and we believe the hardware can support 1G speeds as well, but until the standard is published and we start work on the firmware, we won't know for certain.   

    Also note that for 1G EtherCAT Master, if it follows the same architecture as the 100Mbps EtherCAT Master, a standard 1G Ethernet MAC should support the standard (i.e. you won't need special Ethernet hardware to support the Master Stack and you could use the CPSW as well as the ICSSG Ethernet MACs)

    Best regards,

    Mike

  • 0 in reply to Michael Firth
    Prodigy 90 points

    Hi Mike, thanks for your wonderful support.. I will get back for any questions on suggested PMIC part,

    Few statements to support the reason for asking if same ethernet MACs can be used as SLAVE at 100Mbps / 1Gbps and aswellas MASTER at 1Gbps is because..

    • Hardware i'm trying to conceptualize suppose to act either SLAVE or MASTER with only BOM changes,
    • With EtherCAT interface on 4 ports of ICSSG.. one port pair as main etherCAT fieldbus and the other pair as local etherCAT fieldbus.. 
    • Further given 2 virutual MACs on CPSW is utilized for firmware loading/debuging and other for TCP/IP connection thus left with no spare CPSW
  • 0 in reply to Umesh Swamy
    TI__Intellectual 2925 points

    Might want to take a look at the DP83869 Etherent PHY (https://www.ti.com/product/DP83869HM); supoprts both MII (for EtherCAT Slave) and RGMII (for 1G operation).  It's used in the TMDS64EVM

  • 0 in reply to Michael Firth
    Prodigy 90 points

    Hi Mike, noted the PHY part,

    I have a list of position encoder signals as in-table below, would like to know the way to interface these signals to EQEP (Enhanced Quadrature Encoder Pulse) module in AM64x.

    Should I convert to single ended IO before interfacing to EQEPx module.. i suppose, CLK+/- in below table is I/o with EQEP0_INDEX naming in AM64x datasheet... Are my assumptions correct?? 

    Pin

    Signal

    Description

    1

    +24VENC

    Position sensor supply

    2

    GNDENC

    Mass Position Holders

    3

    DAT+ENC1

    Data Line + Encoder 1

    4

    DAT-ENC1

    Data Line - Encoder 1

    5

    CLK+ENC1

    Clock line + encoder 1

    6

    CLK-ENC1

    Clock Line - Encoder 1

    7

    DAT+ENC2

    Data Line + Encoder 2

    8

    DAT-ENC2

    Data Line - Encoder 2

    9

    CLK+ENC2

    Clock line + encoder 2

    10

    CLK-ENC2

    Clock Line - Encoder 2

    11

    A+

    Incremental Channel A+

    12

    A-

    Incremental Channel A -

    13

    B+

    Incremental Channel B+

    14

    B-

    Incremental encoder channel B -

    15

    PE/Screen

    Shielding connection
  • 0 in reply to Umesh Swamy
    TI__Guru**** 157479 points

    Hello Umesh Swamy, 

    I am reviewing your inputs.

    Regards,

    Sreenivasa

  • 0 in reply to Umesh Swamy
    TI__Prodigy 335 points

    Hi Umesh,

        According to the table you shared, the RS485/422 transceiver/receiver (e.g SN65LBC174/SN65LBC175) has to be used to convert the differential signals A+/A-, B+/B- to single ended signals then to connect to EQEPx_A and EQEPx_B of EQEP module.

        The CLK line is for absolute (digital) encoders not the same signaling as EQEPx_INDEX. The TRM states the EQEPx_INDEX pin as followed:

    "The EQEP encoder uses an index signal to assign an absolute start position from which position information is incrementally encoded using quadrature pulses. This pin is connected to the index output of the EQEP encoder to optionally reset the position counter for each revolution. This signal
    can be used to initialize or latch the position counter on the occurrence of a desired event on the index pin."

    Regards,

    Chen

  • 0 in reply to Chen Gao
    Prodigy 90 points

    Hi TI expert,

    RS422 - wire break and short-circuit detection

    Is it feasible to detect RS422 wire break with the SN65LBC174 transceiver circuit, recommended inorder to achieve interface with EQEPx_ block of AM6442  

  • 0 in reply to Umesh Swamy
    TI__Guru**** 157479 points

    Hello Umesh, 

    Thank you.

    Please start a new thread with title as below for the relevant product line to support.

    RS422 wire break with the SN65LBC174 transceiver

    Regards,

    Sreenivasa

  • 0 in reply to Kallikuppa Sreenivasa
    Prodigy 90 points

    I see the difference in unit cost of A M 6 4 4 2 B S D F H A A L V  in TI website and Digikey.., TI mentions as 12USD unit cost whereas Digikey as 25USD, which one should we consider in our selection process.

    AM6442 2 Arm Cortex-A53 PDF data sheet HTML data sheet 1000 2 PRU-ICSSG,4 Arm Cortex-R5F 64-bit CAN FD,EtherCAT,EtherNet/IP,Ethernet,Profinet,TSN EtherCAT,EtherNet/IP,IO-Link,Profinet 5-Port 10/100/1000 1 PCIe Gen 2 PRU-ICSSG,Security Accelerator Networking Linux,RTOS Cryptography,Debug security,Secure boot,Trusted execution environment Functional Safety-Compliant 12.59 Catalog ACTIVE
  • 0 in reply to Umesh Swamy
    Prodigy 90 points

    The other input regarding the processor is, can we consider the etherCAT is enabled and TI software support is available for part =  AM6442BSDFHAALV

  • +1 in reply to Umesh Swamy
    TI__Intellectual 2925 points

    Hi Umesh,

    If you want to run the TI provided slave / sub-device stacks, you will need to purchase the "F" version (AM6442BSFGHAALV) or if you want to run a 3rd party slave / sub-device stack you will need to purchase the "E" version (AM6442BSEGHAALV)  

    If you need to support Functional Safety, you will need to purchase either the "EF" or "FF" version.

    Best regards,

    Mike