Does TIDA-00915 could be configured to run as full bridge by firmware?
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The inverter stage of this reference desing is a three-phase full-bridge inverter, and normally, the controller's firmware should be configured to run it in this mode.
As for the input, it requires a DC input within the 200V~400V range. If you would like to use an AC input, then external rectifier stage and DC bus capacitor to convert it into a DC voltage are needed. Please make sure the converted DC voltage is with the 200V~400V range.
For the inverter stage, at the begining of the Design Guide in the Description section, it mentions "this reference design is a three-phase inverter ... for driving 200-V AC servo motors". In Page 9 of the Design Guide, it mentions "the power stage consist of three identical half bridges", and thus surely it can be configures to run as a three-phase full briage inverter, so as to drive an AC motor.
For the converter stage, this reference design does not have a high voltage converter stage to rectify an AC power input. It only accepts high voltage DC input of 200V~400V via J5. Please refer to Page 18 of the Design Guide for Figure 17 of the 'Test Connections' and Table 2 of 'Key System Specifications' in Page 3 for the 'DC link voltage' spec.