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Texas Instruments TIDM-1011 Design Manual
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Texas Instruments TIDM-1011 Design Manual

Tamagawa t-format absolute-encoder master interface reference design for c2000 mcus
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Design Guide: TIDM-1011
Tamagawa T-Format Absolute-Encoder Master Interface
Reference Design for C2000™ MCUs
Description
C2000
™
microcontroller (MCU) Position Manager
technology offers an integrated solution to interface to
the most popular digital- and analog-position sensors,
which eliminates the necessity for external field-
programmable gate arrays (FPGAs) or application-
specific integrated circuits (ASICs). The Position
Manager BoosterPack
™
platform intended for evaluating various encoder
interfaces and is designed to work with multiple
C2000 MCU LaunchPad
™
software of this reference design specifically targets
implementation of the T-Format, which is a digital,
bidirectional interface for position encoders. The
highly optimized and easy-to-use software reference
implementation and examples included in this
reference design enable T-Format, position-encoder
operation using the Position Manager BoosterPack.
Resources
TIDM-1011
LAUNCHXL-F28379D
LAUNCHXL-F280039C
LAUNCHXL-F280049C
LAUNCHXL-F280025C
SN65HVD78, TLV702,
TPS22918-Q1
C2000WARE-MOTORCONTROL-SDK
Ask our TI E2E
DATA+
DATA–
Power
Shielded Cable
Ground
Connector
Tamagawa
Motor
Absolute Position Encoder
TIDUE74D – SEPTEMBER 2020 – REVISED OCTOBER 2022
Submit Document Feedback
is a flexible, cost-effective
development kits. The
Design Folder
Tools Folder
Product Folder
Tools Folder
™
support experts
Encoder
Supply
Connector
RS485
RS485
Copyright © 2022 Texas Instruments Incorporated
Features
•
Flexible, low-voltage, BoosterPack evaluation
platform for position-encoder interfaces
•
Integrated MCU solution for T-Format encoder
interface without additional FPGA requirements
•
Easy interface T-Format commands through driver
functions and data structure provided by interface
function
•
Support for unpacking received data and optimized
cyclic redundancy check (CRC) algorithm
•
Supports a clock frequency of 2.5 MBPS and
verified operation up to 100-m cable length
•
Includes evaluation software example showcasing
the T-Format implementation
Applications
•
Industrial
•
Motor Drives
Tamagawa T-Format Absolute-Encoder Master Interface Reference Design for
Description
1
C2000™ MCUs

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Summary of Contents for Texas Instruments TIDM-1011

  • Page 1 Shielded Cable Ground Encoder Connector Supply Connector RS485 RS485 Tamagawa Motor Absolute Position Encoder TIDUE74D – SEPTEMBER 2020 – REVISED OCTOBER 2022 Tamagawa T-Format Absolute-Encoder Master Interface Reference Design for Submit Document Feedback C2000™ MCUs Copyright © 2022 Texas Instruments Incorporated...
  • Page 2 The TIDM-1011 design implements a T-Format encoder interface to a C2000 LaunchPad. T-Format is a pure- serial, digital interface, based on the RS-485 standard. T-Format is capable of transmitting position values, along with other physical quantities, and allows reading and writing of the internal memory of the encoder.
  • Page 3 C2000 T-Format encoder interface benchmarks Section 3.3.5 The time of the encoder connected to the TIDM-1011 device determines the current limit of this supply. TI recommends a generic, bench-top, adjustable, power supply with an adjustable current limit. 2 System Overview The C2000 T-Format TIDM-1011 reference design is a combination of hardware and software.
  • Page 4 BOOSTXL_POSMGR, or (3) the TMXIDDK379D. The TIDM-1011 reference design requires a C2000 LaunchPad with an MCU featuring the Configurable Logic Block (CLB) type 1 or later. Devices supported at the time of this release are shown. Additional devices may be available.
  • Page 5 Absolute encoders include both single-turn and multi-turn types. The TIDM-1011 reference design focuses on an absolute-type which provides a digital output through an RS-485 line driver. The protocol format of the transaction supported by TIDM-1011 is known as T-Format.
  • Page 6 Data ID for the transaction. StatusField (SF) Status information from the encoder. Tamagawa T-Format Absolute-Encoder Master Interface Reference Design for TIDUE74D – SEPTEMBER 2020 – REVISED OCTOBER 2022 C2000™ MCUs Submit Document Feedback Copyright © 2022 Texas Instruments Incorporated...
  • Page 7 In the following data readout example, the controller requests the multi-turn data (Data ID 1). Referencing Table 2-5, the response DataFields correspond to the multi-turn data (ABM0:ABM1:ABM2). TIDUE74D – SEPTEMBER 2020 – REVISED OCTOBER 2022 Tamagawa T-Format Absolute-Encoder Master Interface Reference Design for Submit Document Feedback C2000™ MCUs Copyright © 2022 Texas Instruments Incorporated...
  • Page 8 – Route signals into and out of the CLB and the device • External interface block – TIDM-1011 board with RS-485 differential line driver Note Depending on the device features, different methods are used to calculate CRCs. Refer to Section 2.3.5...
  • Page 9 F2837x family. Note The TIDM-1011 daughter card is identical to the Position Manager BoosterPack plug-in module (BOOSTXL-POSMGR), which means the TIDM-1011 can interface with several position-encoder types. The board is fully populated by default. This reference design focuses on the T-Format absolute encoder protocol, and the hardware blocks not used can be ignored.
  • Page 10 Figure 2-4. TIDM-1011 Board and BOOSTXL-POSMGR Encoder Support As provided, TIDM-1011 uses LaunchPad Site 2 and BOOSTXL-POSMGR's Encoder 1 connections. Figure 2-5 shows the connections. The complete schematic of the TIDM-1011 BoosterPack can be downloaded from the BOOSTXL-POSMGR product page.
  • Page 11 Cyclic Redundancy Check (CRC) is an error detection mechanism used in communication networks and data storage. The device resources available on a C2000 MCU to calculate a CRC have increased over time. TIDM-1011 uses different resources depending on device features and whether the data is transmitted or received. The resource usage is summarized in Table 2-10.
  • Page 12 VCRC extension to C28x • C28x Lookup Table is available on all C28x devices. This method, however, is the slowest and requries RAM memory for look-up table storage. TIDM-1011 only uses a look-up table on devices without another capability. •...
  • Page 13 FILTER Figure 2-6. F2837xD Input, Output, and CLB Usage for BOOSTXL_POSMGR and TMDXIDDKF273XD TIDUE74D – SEPTEMBER 2020 – REVISED OCTOBER 2022 Tamagawa T-Format Absolute-Encoder Master Interface Reference Design for Submit Document Feedback C2000™ MCUs Copyright © 2022 Texas Instruments Incorporated...
  • Page 14 FILTER Figure 2-7. F28004x Input, Output, and CLB Usage for BOOSTXL_POSMGR and TMDXIDDKF273XD Tamagawa T-Format Absolute-Encoder Master Interface Reference Design for TIDUE74D – SEPTEMBER 2020 – REVISED OCTOBER 2022 C2000™ MCUs Submit Document Feedback Copyright © 2022 Texas Instruments Incorporated...
  • Page 15 FILTER Figure 2-8. F28002x and F28003x Input, Output, and CLB Usage for BOOSTXL_POSMGR TIDUE74D – SEPTEMBER 2020 – REVISED OCTOBER 2022 Tamagawa T-Format Absolute-Encoder Master Interface Reference Design for Submit Document Feedback C2000™ MCUs Copyright © 2022 Texas Instruments Incorporated...
  • Page 16 Figure 2-9. F2838x Input and Output for TMDXIDDKF273XD 2.3.6 CLB T-Format Implementation Details The CLB communications tile is responsible for: Tamagawa T-Format Absolute-Encoder Master Interface Reference Design for TIDUE74D – SEPTEMBER 2020 – REVISED OCTOBER 2022 C2000™ MCUs Submit Document Feedback Copyright © 2022 Texas Instruments Incorporated...
  • Page 17 The next step is visualization of the specific submodule behavior. Start with a quick sketch and then add additional detail as the design develops. Figure 2-11 shows an example waveform. TIDUE74D – SEPTEMBER 2020 – REVISED OCTOBER 2022 Tamagawa T-Format Absolute-Encoder Master Interface Reference Design for Submit Document Feedback C2000™ MCUs Copyright © 2022 Texas Instruments Incorporated...
  • Page 18 Enables transmission through the RS-485 driver by pulling the TxEN signal high. • Starts generation of the CLOCK signal. CLOCK becomes the CLB_SPI_CLOCK. Tamagawa T-Format Absolute-Encoder Master Interface Reference Design for TIDUE74D – SEPTEMBER 2020 – REVISED OCTOBER 2022 C2000™ MCUs Submit Document Feedback Copyright © 2022 Texas Instruments Incorporated...
  • Page 19 The CLB returns FRAME_STATE back to IDLE. This pattern is repeated for each transaction with the encoder. TIDUE74D – SEPTEMBER 2020 – REVISED OCTOBER 2022 Tamagawa T-Format Absolute-Encoder Master Interface Reference Design for Submit Document Feedback C2000™ MCUs Copyright © 2022 Texas Instruments Incorporated...
  • Page 20 COUNTER1.match2 (falling edge) (CLOCK Count) by the HLC Figure 2-12. T-Format Communication Tile Tamagawa T-Format Absolute-Encoder Master Interface Reference Design for TIDUE74D – SEPTEMBER 2020 – REVISED OCTOBER 2022 C2000™ MCUs Submit Document Feedback Copyright © 2022 Texas Instruments Incorporated...
  • Page 21 ENCODER_RESPONSE falling edge never occurs at the same time as START_OPERATION rising edge. TIDUE74D – SEPTEMBER 2020 – REVISED OCTOBER 2022 Tamagawa T-Format Absolute-Encoder Master Interface Reference Design for Submit Document Feedback C2000™ MCUs Copyright © 2022 Texas Instruments Incorporated...
  • Page 22 Transmit Enable output starting from Input0 and Input1, and passing through LUT_0, Counter_0, Counter1 and FSM_2 as controlled by 3 outputs from FSM_1. Tamagawa T-Format Absolute-Encoder Master Interface Reference Design for TIDUE74D – SEPTEMBER 2020 – REVISED OCTOBER 2022 C2000™ MCUs Submit Document Feedback Copyright © 2022 Texas Instruments Incorporated...
  • Page 23 Figure 2-13. LUTs, OUTLUTs, and Counters FSM_1 FSM_0 FSM_2 Figure 2-14. Finite State Machines TIDUE74D – SEPTEMBER 2020 – REVISED OCTOBER 2022 Tamagawa T-Format Absolute-Encoder Master Interface Reference Design for Submit Document Feedback C2000™ MCUs Copyright © 2022 Texas Instruments Incorporated...
  • Page 24 Figure 2-15. The Main State Machine Figure 2-16. CLB Outputs – HLC Event0 and EPWM Output Enable Tamagawa T-Format Absolute-Encoder Master Interface Reference Design for TIDUE74D – SEPTEMBER 2020 – REVISED OCTOBER 2022 C2000™ MCUs Submit Document Feedback Copyright © 2022 Texas Instruments Incorporated...
  • Page 25 Only the F2837xD design overrides the EPWM outputs. Figure 2-17. CLB Outputs – Clock to SPI TIDUE74D – SEPTEMBER 2020 – REVISED OCTOBER 2022 Tamagawa T-Format Absolute-Encoder Master Interface Reference Design for Submit Document Feedback C2000™ MCUs Copyright © 2022 Texas Instruments Incorporated...
  • Page 26 The field is not the CRCField. The CRC is always the last field in the encoder's response. Tamagawa T-Format Absolute-Encoder Master Interface Reference Design for TIDUE74D – SEPTEMBER 2020 – REVISED OCTOBER 2022 C2000™ MCUs Submit Document Feedback Copyright © 2022 Texas Instruments Incorporated...
  • Page 27 The equations for the submodules can be viewed using the CLB Tool. TIDUE74D – SEPTEMBER 2020 – REVISED OCTOBER 2022 Tamagawa T-Format Absolute-Encoder Master Interface Reference Design for Submit Document Feedback C2000™ MCUs Copyright © 2022 Texas Instruments Incorporated...
  • Page 28 Shift LFSR for 8 data bits Start Start Delimiter Figure 2-20. CRC Waveform Data ID3 Tamagawa T-Format Absolute-Encoder Master Interface Reference Design for TIDUE74D – SEPTEMBER 2020 – REVISED OCTOBER 2022 C2000™ MCUs Submit Document Feedback Copyright © 2022 Texas Instruments Incorporated...
  • Page 29 This section provides a high-level overview of the functions provided by the API. TIDUE74D – SEPTEMBER 2020 – REVISED OCTOBER 2022 Tamagawa T-Format Absolute-Encoder Master Interface Reference Design for Submit Document Feedback C2000™ MCUs Copyright © 2022 Texas Instruments Incorporated...
  • Page 30 Scales the CLB_SPI_CLK to match the T-Format frequency. The scaling is dependent on the CLB clock. Tamagawa T-Format Absolute-Encoder Master Interface Reference Design for TIDUE74D – SEPTEMBER 2020 – REVISED OCTOBER 2022 C2000™ MCUs Submit Document Feedback Copyright © 2022 Texas Instruments Incorporated...
  • Page 31 Hardware, Software, Testing Requirements, and Test Results 3 Hardware, Software, Testing Requirements, and Test Results 3.1 Hardware To experiment with the TIDM-1011, the following hardware components are required: • TIDM-1011 BoosterPack (also known as the BOOSTXL-POSMGR) • External, 5-V, DC power supply (see...
  • Page 32 The Position Manager BoosterPack is expected to be plugged onto the LaunchPad site 2, as shown in Figure 3-4. Figure 3-1 shows the jumper configuration for TIDM-1011 board. Set J9 WR ³0DVWHU´ Supply 5-V DC and GND to J6 Set J5 to ³([WHUQDO´...
  • Page 33 Do not use the slave mode option. There is an error in the bootsterPack logic for this mode. 3.2 Software This section provides an overview of the software used by TIDM-1011. For comprehensive documentation, refer to the "C2000 T-Format Encoder Interface Software Guide" (html, pdf).
  • Page 34 C2000 device, creates command request data packets, initiates commands, unpacks responses, and checks the CRC. Tamagawa T-Format Absolute-Encoder Master Interface Reference Design for TIDUE74D – SEPTEMBER 2020 – REVISED OCTOBER 2022 C2000™ MCUs Submit Document Feedback Copyright © 2022 Texas Instruments Incorporated...
  • Page 35 For more information, refer to the C2000 Academy: Configurable Logic Block module. TIDUE74D – SEPTEMBER 2020 – REVISED OCTOBER 2022 Tamagawa T-Format Absolute-Encoder Master Interface Reference Design for Submit Document Feedback C2000™ MCUs Copyright © 2022 Texas Instruments Incorporated...
  • Page 36 [lib_base]\ccs\[device] Code Composer projectspec file for the reference library. Use these projects to re-build the library for each device. Tamagawa T-Format Absolute-Encoder Master Interface Reference Design for TIDUE74D – SEPTEMBER 2020 – REVISED OCTOBER 2022 C2000™ MCUs Submit Document Feedback Copyright © 2022 Texas Instruments Incorporated...
  • Page 37 1. Ensure that the jumper configuration of the TIDM-1011 board is as described in Table 3-1. 2. Connect the TIDM-1011 board to the LaunchPad using the BoosterPack connector (J5 to J7 and J8 to J6). Ensure the TIDM-1011 device is connected to site two of the LaunchPad, as shown in Figure 3-4.
  • Page 38 Hardware, Software, Testing Requirements, and Test Results www.ti.com DATA– +5 V-Enc DATA+ Figure 3-5. Abs-Enc-1 (J7) Pinout on TIDM-1011 Board 5. Supply 5-V DC and GND to J6, as shown in Figure 3-1. The board should now look like Figure 3-6.
  • Page 39 SPI CLK is shown in the device input/output diagrams inSection 2.3.5.2. Examine the waveforms: TIDUE74D – SEPTEMBER 2020 – REVISED OCTOBER 2022 Tamagawa T-Format Absolute-Encoder Master Interface Reference Design for Submit Document Feedback C2000™ MCUs Copyright © 2022 Texas Instruments Incorporated...
  • Page 40 The CLB calculates the received-data CRC as the response is incoming. This method uses an additional CLB tile and requires CLB Type 2 or later. Tamagawa T-Format Absolute-Encoder Master Interface Reference Design for TIDUE74D – SEPTEMBER 2020 – REVISED OCTOBER 2022 C2000™ MCUs Submit Document Feedback Copyright © 2022 Texas Instruments Incorporated...
  • Page 41 SPI module. This can change on different devices. TIDUE74D – SEPTEMBER 2020 – REVISED OCTOBER 2022 Tamagawa T-Format Absolute-Encoder Master Interface Reference Design for Submit Document Feedback C2000™ MCUs Copyright © 2022 Texas Instruments Incorporated...
  • Page 42 Design Files www.ti.com 4 Design Files To download the design files, see the product page at TIDM-1011. 5 Related Documentation Getting Started: 1. Texas Instruments, C2000 T-Format Encoder Interface Software Guide (html, pdf). 2. Texas Instruments, C2000 Academy, delivers easy-to-use training modules that span a wide range of topics for all C2000 devices.
  • Page 43 FPGA Field Programmable Gate Array PM_tformat Prefix used for all the encoder interface reference implementation functions. PM stands for position manager. Position Manager The TIDM-1011 board is identical to the C2000 Position Manager BoosterPack plug-in BoosterPack module (see Section 2.3.3)
  • Page 44 Deleted GPIO numbers and SPI instance information from the figure............... • Updated legacy terminology for SPI........................• Updated the last column in TIDM-1011 Board and BOOSTXL-POSMGR Connectors table......• Added LaunchPad header usage information....................• Updated information in the MCU Resource Requirements................11...
  • Page 45 TI products. TI’s provision of these resources does not expand or otherwise alter TI’s applicable warranties or warranty disclaimers for TI products. TI objects to and rejects any additional or different terms you may have proposed. IMPORTANT NOTICE Mailing Address: Texas Instruments, Post Office Box 655303, Dallas, Texas 75265 Copyright © 2022, Texas Instruments Incorporated...