Texas Instruments TIDA-060040 Manual

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Design Guide: TIDA-060040
Absolute Angle Encoder Reference Design With Hall­
Effect Sensors for Precise Motor Position Control
Description
This reference design demonstrates a method for
absolute angle encoding typical in precision motor
control applications such as robotic arm control.
Angle encoding can be achieved using various
magnetic sensing technologies. This is done by
detecting two magnetic flux density, B-field, vector
components which are naturally 90° out of phase. As
the magnet spins, the sensor inputs are sinusoidal
which allows for calculations using trigonometric
properties. However, due to electrical and mechanical
characteristics of the system, it is often necessary
to correct the final result to achieve the greatest
accuracy. Typically in most precision motor control
applications, the final target error is less than
0.1°. This design explores the process for selecting
a magnet, determining placement, and correcting
for system-level imperfections to achieve a highly-
accurate angle measurement.
Resources
TIDA-060040
TMAG5170
DRV5055
Ask our TI E2E
3.3 V
SPI Bus
C2000
Motor Driver
LaunchPad™
Interface
Motor Supply
Voltage
TIDUC07 – MARCH 2022
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Hall-Effect
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TIDA-060040
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Features
• Measure angle in on-axis, in-plane, and off-axis
alignments for flexible alignment and sensor
placement
• Calibration process for accuracy of 0.1°
• Selectable digital SPI communication or analog
output
• Design files with sensor placement guidance
Applications
• Mobile robot motor control
• Mobile robot sensing module
• Robotic lawn mower
• Robot servo drive
• Servo drive position sensor
• Position sensors
• Self-balancing personal transporter
Absolute Angle Encoder Reference Design With Hall-Effect Sensors for
Description
Precise Motor Position Control
1