TMS320F28026F, TMS320F28027F
InstaSPIN™-FOC Software
Technical Reference Manual
Literature Number: SPRUHP4
August 2013
Contents
1
2
3
4
5
6
TMS320F2802xF InstaSPIN™-FOC Enabled MCUs ...................................................................
FAST Estimator Features .....................................................................................................
InstaSPIN™-FOC Solution Features .......................................................................................
InstaSPIN-FOC Block Diagram ..............................................................................................
Comparing FAST Estimator to Typical Solutions ....................................................................
FAST Provides Sensorless FOC Performance ........................................................................
4
6
6
7
8
9
...................................................................... 9
.................................................................... 11
6.3
Phase Currents Key to Estimator Accuracy ........................................................................ 11
7
Evaluating FAST and InstaSPIN-FOC Performance ................................................................ 12
8
Microcontroller Resources ................................................................................................. 12
8.1
Memory Allocation and Utilization ................................................................................... 15
8.2
Pin Utilization ........................................................................................................... 17
Appendix A Definition of Terms and Acronyms ............................................................................. 18
2
6.1
FAST Estimator Replaces Mechanical Sensor
6.2
Rotor Angle Accuracy Critical for Performance
Table of Contents
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List of Figures
..................................
............................
Sensored FOC System ...................................................................................................
Inverter Using the 3-Shunt Current Sampling Technique ............................................................
Software Execution Clock Tree Provides Flexibility with Real-Time Scheduling..................................
28027 Memory Map .......................................................................................................
2802xF Allocated Memory for InstaSPIN-FOC Library ...............................................................
1
FAST - Estimating Flux, Angle, Speed, Torque - Automatic Motor Identification
5
2
Block Diagram of InstaSPIN-FOC in User Memory, with Exception of FAST in ROM
7
3
4
5
6
7
10
12
13
15
16
List of Tables
1
FAST Estimator Compared to Typical Solutions ........................................................................
2
CPU Cycles for MIN Implementation Executing from ROM, RAM, and FLASH ..................................
13
3
Table 3. CPU loading for MIN Implementation Executing from ROM, RAM, and FLASH .......................
14
4
2802xF Allocated Memory for InstaSPIN-FOC Library ...............................................................
16
5
User Memory and Stack Sizes
..........................................................................................
16
6
Pin Utilization Per Motor ..................................................................................................
17
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List of Figures
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8
3
Technical Reference Manual
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TMS320F28026F, TMS320F28027F
InstaSPIN™-FOC Software
1
TMS320F2802xF InstaSPIN™-FOC Enabled MCUs
TMS320F2802xF are the second family of devices (26F and 27F — 48-pin package) from Texas
Instruments that include the FAST™ (Figure 1) estimator and additional motor control functions needed for
cascaded speed and torque loops for efficient three-phase field-oriented motor control (FOC).
Together — with F2802xF peripheral drivers in user code — they enable a sensorless (also known as selfsensing) InstaSPIN-FOC solution which can identify, tune the torque controller and efficiently control your
motor in minutes, without the use of any mechanical rotor sensors. This entire package is called
InstaSPIN-FOC. The FAST estimator is called from execute only ROM while the rest of the functions
required for InstaSPIN-FOC reside in user memory (FLASH and RAM). InstaSPIN-FOC was designed for
flexibility to accommodate a range of system software architectures and customization. The range of this
flexibility is shown in Figure 2.
This document is a supplement to all standard TMS320F2802x documentation, including the standard
device data sheet [TMS320F2802x Piccolo Microcontrollers (literature number SPRS523)], technical
reference manual, and user’s guides. An additional document included with the InstaSPIN-FOC
documentation package is the TMS320F2806xF, TMS320F2802xF InstaSPIN-FOC/TMS320F2806xM
InstaSPIN-MOTION User's Guide (literature number SPRUHJ1), which covers the scope and functionality
of:
• F2802xF devices
• F2802xF ROM contents
• FAST flux estimator
• InstaSPIN-FOC system solutions.
4
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a
T
a
\
a
Irated
Ir_in
a
T
a
\
It_in
a
Z
a
Z
aW
aW
Flux
Angle
Speed
EST_run
Torque
&^d¡ ]u}
Flux, Angle, Speed, Torque
Motor Parameters ID
Motor Phase
Currents
Vr_in
Vt_in
Vbus
Motor Phase
Voltages
Bus Voltage
ROM
a
Rs
a
Rr
a
Lsd
a
Lsq
Enable PowerWarp¡
Enable Motor Identification
Enable Rs Online Recalibration
a
\rated
a
Irated
Enable Force Angle Startup
Motor Type
Figure 1. FAST - Estimating Flux, Angle, Speed, Torque - Automatic Motor Identification
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5
FAST Estimator Features
2
FAST Estimator Features
•
•
•
•
•
•
•
•
•
•
•
3
Unified observer structure which exploits the similarities between all motors that use magnetic flux for
energy transduction
– Both synchronous (BLDC, SPM, IPM), and asynchronous (ACIM) control are possible
– Salient compensation for Interior Permanent Magnet motors: observer tracks rotor flux and angle
correctly when Ls-d and Ls-q are provided
Unique, high quality motor feedback signals for use in control systems
– High-quality Flux signal for stable flux monitoring and field weakening
– Superior rotor flux Angle estimation accuracy over wider speed range compared to traditional
observer techniques independent of all rotor parameters for ACIM
– Real-time low-noise motor shaft Speed signal
– Accurate high bandwidth Torque signal for load monitoring and imbalance detection
Angle estimator converges within first cycle of the applied waveform, regardless of speed
Stable operation in all power quadrants, including generator quadrants
Accurate angle estimation at steady state speeds below 1 Hz (typ) with full torque
Angle integrity maintained even during slow speed reversals through zero speed
Angle integrity maintained during stall conditions, enabling smooth stall recovery
Motor Identification measures required electrical motor parameters of unloaded motor in under 2
minutes (typ)
"On-the-fly" stator resistance recalibration (online Rs) tracks stator resistance changes in real time,
resulting in robust operation over temperature. This feature can also be used as a temperature sensor
of the motor's windings (basepoint calibration required)
Superior transient response of rotor flux angle tracking compared to traditional observers
PowerWarp™ adaptively reduces current consumption to minimize the combined (rotor and stator)
copper losses to the lowest, without compromising ACIM output power levels
InstaSPIN™-FOC Solution Features
•
•
•
•
•
•
6
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Includes the Flux Angle Speed Torque (FAST) estimator, used to measure rotor flux (both magnitude
and angle) in a sensorless field-oriented control (FOC) system
Automatic torque (current) loop tuning, with option for user adjustments
Automatic speed loop tuning provides stable operation for most applications. (Better transient response
can be obtained by optimizing parameters for a particular application)
Automatic or manual field weakening and field boosting
Bus Voltage compensation
Automatic offset calibration insures quality samples of feedback signals
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InstaSPIN-FOC Block Diagram
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4
InstaSPIN-FOC Block Diagram
Torque
Mode
CTRL_run
CTRL_setup
Zref
Traj
Ramp
User_SpdRef
Speed
PI
Spdout
Iq_ref
Iq
PI
Iq
a
Z
DRV_run
Vq
User_IqRef
+
+
Id
INV
PARK
Vd
Id_ref
User_IdRef
Vr_out
Id
PI
SVM
Vt_out
Ta
Tb
Tc
a
T
PWM
Driver
FLASH/RAM
Id
PARK
Iq
a
T
Flux
Angle
Speed
Torque
EST_run
a
T
a
\
a
Irated
Ir_in
a
T
a
\
It_in
a
Z
a
Z
aW
aW
&^d¡ ]u}
Flux, Angle, Speed, Torque
Motor Parameters ID
FLASH/RAM
CLARKE
Vr_in
Vt_in
CLARKE
DRV_acqAdcInt
DRV_readAdcData
Ia
Ib
Ic
Va
Vb
Vc
ADC
Driver
Vbus
ROM
a
Rs
a
Rr
a
Lsd
a
Lsq
a
\rated
a
Irated
FLASH/RAM
Enable PowerWarp¡
Enable Motor Identification
Enable Rs Online Recalibration
Enable Force Angle Startup
Motor Type
Figure 2. Block Diagram of InstaSPIN-FOC in User Memory, with Exception of FAST in ROM
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Comparing FAST Estimator to Typical Solutions
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Comparing FAST Estimator to Typical Solutions
Table 1 shows a comparison of the FAST estimator and InstaSPIN-FOC solution to typical software
sensors and FOC solutions.
Table 1. FAST Estimator Compared to Typical Solutions
8
Topic
Typical Software Sensors and FOC Solutions
Fast Estimator and InstaSPIN-FOC Solution
Electrical Motor
Parameters
Motor-model based observers heavily dependent on
motor parameters.
Relies on fewer motor parameters.
Off-line parameter identification of motor – no data
sheet required.
On-line parameter monitoring and re-estimation of
stator resistance.
Estimator Tuning
Complex observer tuning, done multiple times for
speed/loads, for each motor.
No estimator tuning required. Once motor parameters
are identified, it works the same way every time,
across speed/torque dynamics.
Estimator Accuracy Angle-tracking performance is typically only good at
over 5-10Hz with challenges at higher speeds and
compensation for field weakening.
Dynamic performance influenced by hand tuning of
observer; Motor stalls typically crash observer.
FAST provides reliable angle tracking which
converges within one electrical cycle of the applied
waveform, and can track at less than 1 Hz frequency
(dependent on quality and resolution of analog
sensing).
Angle tracking exhibits excellent transient response
(even with sudden load transients which can stall the
motor, thus enabling a controlled restart with full
torque).
Start-up
Difficult or impossible to start from zero speed.
Observer feedback at zero speed is not stable,
resulting in poor rotor angle accuracy and speed
feedback.
InstaSPIN-FOC includes:
• Zero Speed start with forced-angle
• 100% torque at start-up
• FAST rotor flux angle tracking converges within
one electrical cycle.
FAST is completely stable through zero speed,
providing accurate speed and angle estimation.
Current Loop
Tuning FOC current control is challenging – especially Automatically sets the initial tuning of current
for novices.
controllers based on the parameters identified. User
may update gains or use own controllers, if desired.
The algorithm to fully tune the observer and torque
controller takes less than 2 minutes.
Feedback Signals
System offsets and drifts are not managed.
FAST includes automatic hardware/software
calibration and offset compensation.
FAST requires 2-phase currents (3 for 100% and
over-modulation), 3-phase voltages to support full
dynamic performance, DCbus voltage for ripple
compensation in current controllers.
FAST includes an on-line stator resistance tracking
algorithm.
Motor Types
Multiple techniques for multiple motors: standard
back-EMF, Sliding Mode, Saliency tracking, induction
flux estimators, or "mixed mode" observers.
FAST works with all 3-phase motor types,
synchronous and asynchronous, regardless of load
dynamics. Supports salient IPM motors with different
Ls-d and Ls-q.
Includes PowerWarp™ for induction motors = energy
savings.
Field-Weakening
Field-weakening region challenging for observers - as
the Back-EMF signals grow too large, tracking and
stability effected.
FAST estimator allows easy field weakening or field
boosting applications due to the stability of the flux
estimation in a wide range, including field weakening
region.
Motor Temperature Angle tracking degrades with stator temperature
changes.
Angle estimation accuracy is improved from online
stator resistance recalibration.
Speed Estimation
Poor speed estimation causes efficiency losses in the
FOC system and less stable dynamic operation.
High quality low noise Speed estimator, includes slip
calculation for induction motors.
Torque Estimation
Torque and vibration sensors typically required.
High bandwidth motor Torque estimator.
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6
FAST Provides Sensorless FOC Performance
6.1
FAST Estimator Replaces Mechanical Sensor
Field-oriented control (FOC) of an electric motor results in superior torque control, lower torque ripple, and
in many cases, improved efficiency compared to traditional AC control techniques. For best dynamic
response, rotor flux referenced control algorithms are preferred to stator flux referenced techniques. To
function correctly, these systems need to know the spacial angle of the rotor flux with respect to a fixed
point on the stator frame (typically the magnetic axis of the phase A stator coil). This has traditionally been
accomplished by a mechanical sensor (for example, encoder or resolver) mounted to the shaft of the
motor. These sensors provide excellent angle feedback, but inflict a heavy toll on the system design.
There are six major system impacts resulting from sensored angle feedback, as discussed below and
illustrated in Figure 3:
1. The sensor itself is very expensive (often over $2500 for a good resolver and several dollars for high
volume integrated encoders).
2. The installation of the sensor requires skilled assembly, which increases labor costs.
3. The sensor often requires separate power supplies, which increases system costs and reduces
reliability.
4. The sensor is the most delicate component of the system, which impacts system reliability, especially
in harsh real-world applications.
5. The sensor feedback signals are brought back to the controller board via connectors, which also
increases system costs and can significantly reduce reliability, depending on the type of connector.
6. The cabling required to bring the sensor signals back to the controller creates multiple challenges for
the system designer:
• Additional costs for the cable, especially if there is a substantial distance between the motor and
controller.
• Susceptibility to sources of noise, which requires adding expense to the cable with special
shielding or twisted pairs.
• The sensor and associated cabling must be earth grounded for safety reasons. This often adds
additional cost to isolate these signals, especially if the processor which processes the sensor
signals is not earth grounded.
In some applications where the motor is enclosed (for example, compressors), a sensored solution is
impractical due to the cost of getting the feedback wires through the casing. For these reasons, designers
of FOC systems are highly motivated to eliminate the sensor altogether, and obtain the rotor flux angle
information by processing signals which are already available on the controller circuit board. For
synchronous machines, most techniques involve executing software models of the motor being controlled
to estimate the back-EMF waveforms (rotor flux), and then processing these sensed waveforms to extract
an estimation of the rotor shaft angle, and a derivation of its speed. For asynchronous machines the
process is a bit more complicated, as this software model (observer) must also account for the slip which
exists between the rotor and rotor flux.
However, in both cases, performance suffers at lower speeds due to the amplitude of the back-EMF
waveforms being directly proportional to the speed of the motor (assuming no flux weakening). As the
back-EMF amplitude sinks into the noise floor, or if the ADC resolution cannot faithfully reproduce the
small back-EMF signal, the angle estimation falls apart, and the motor drive performance suffers.
To solve the low-speed challenge, techniques have been created that rely on high frequency injection to
measure the magnetic irregularities as a function of angle (that is, magnetic saliency) to allow accurate
angle reconstruction down to zero speed. However, this introduces another set of control problems. First,
the saliency signal is non-existent for asynchronous motors and very small for most synchronous
machines (especially those with surface mount rotor magnets). For the motors that do exhibit a strong
saliency signal (for example, IPM motors), the signal often shifts with respect to the rotor angle as a
function of loading, which must be compensated. Finally, this angle measurement technique only works at
lower speeds where the fundamental motor frequency does not interfere with the interrogation frequency.
The control system has to create a mixed-control strategy, using high-frequency injection tracking at low
speed, then move into Back-EMF based observers at nominal and high speeds.
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With any technique, the process of producing a stable software sensor is also extremely challenging, as
this motor model (observer) is essentially its own control system that needs to be tuned per motor across
the range of use. This tuning must be done with a stable forward control loop. Needed is a stable torque
(and usually speed) loop to tune the observer, but how do you pre-tune your forward control without a
functioning observer? One option is to use a mechanical sensor for feedback to create stable current and
speed loops, and then tune your software sensor in parallel to the mechanical sensor. However, the use of
a mechanical sensor is often not practical. This problem has delayed market use of software sensors for
sensorless FOC control.
Sensor Issues
Texas Instruments
Dave ¶ s
Motor Control
Center
+ V sensor
- V sensor
Sensor Power Supplies
Noise Susceptibility
Sensor Connector
Sensor Cabling
Figure 3. Sensored FOC System
In
•
•
•
•
•
•
summary, these existing solutions all suffer from various maladies including:
Poor low-speed performance (back-EMF and SMO)
Poor high-speed performance (saliency observers)
Poor dynamic response
Calculation intensive (multi-modal observers)
Parameter sensitivity
Requirement for observer tuning.
The most recent innovation in the evolution of sensorless control is InstaSPIN-FOC. Available as a Ccallable library embedded in on-chip ROM on several TI processors, InstaSPIN-FOC was created to solve
all of these challenges, and more. It reduces system cost and development time, while improving
performance of three-phase variable speed motor systems. This is achieved primarily through the
replacement of mechanical sensors with the proprietary FAST estimator. FAST is an estimator that:
• Works efficiently with all three phase motors, taking into account the differences between
synchronous/asynchronous, salient/non-salient, and permanent/non-permanent/induced magnets.
• Dramatically improves performance and stability across the entire operating frequency and load range
for a variety of applications.
• Removes the manual tuning challenge of traditional FOC systems:
– Qbservers and estimators, completely removes required tuning.
– Current loop regulators, dramatically reduces required tuning.
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•
•
6.2
Eliminates or reduces motor parameter variation effects.
Automatically designs a stable and functional control system for most motors in under two minutes.
Rotor Angle Accuracy Critical for Performance
Why has the need for a precise estimation of the rotor flux angle driven many to use mechanical sensors?
For efficient control of three-phase motors, the objective is to create a rotating flux vector on the stator
aligned to an ideal orientation with respect to the rotor in such a way that the rotor field follows the stator
field while creating necessary torque and using the minimum amount of current.
• Stator: stationary portion of the motor connected to the microprocessor-controlled inverter.
• Ideal Orientation: 90 degrees for non-salient synchronous; slightly more for salient machines, and
slightly less in asynchronous machines since part of the current vector is also used to produce rotor
flux.
• Rotor: rotating portion of the motor, produces torque on the shaft to do work.
To achieve this, you need to extract the following information from the motor:
• Current being consumed by each phase.
• Precise relative angle of the rotor flux magnetic field (usually within ± 3 electrical degrees), so you can
orient your stator field correctly.
• For speed loops, you also need to know rotor speed.
6.3
Phase Currents Key to Estimator Accuracy
Resistor shunt current measurement is a very reasonable technique for measuring phase current in a
motor control inverter. There are three widely used examples, the 1-, 2-, and 3-shunt resistor
measurements. While at first the 1- and 2-shunt techniques seem to reduce cost, they require much faster
and more expensive amplifier circuits. These 1- and 2-shunt current measurements also limit the capability
of the current feedback which will limit the ability of the drive to use the full voltage that is provided to the
inverter. The 3-shunt technique is superior and not much different in cost due to the advantage of using
cheap slow current amplifier circuits. For best performance and cost with the FAST and InstaSPIN-FOC,
the 3-shunt technique is recommended.
For more details, see the TMS320F2806xF, TMS320F2802xF InstaSPIN-FOC/TMS320F2806xM
InstaSPIN-MOTION User's Guide (literature number SPRUHJ1).
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Evaluating FAST and InstaSPIN-FOC Performance
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C
B
A
C2
B2
A2
R1shunt
C1
B1
A1
VDC +
-
R3shunt
R2shunt
A1
C phase current window is too small.
Sample phases A and B.
B1
Sample
Here
C1
Sample
Here
A1
B phase current window is too small.
Sample phases A and C.
B1
C1
Sample
Here
A1
A phase current window is too small.
Sample phases B and C.
B1
C1
Figure 4. Inverter Using the 3-Shunt Current Sampling Technique
7
Evaluating FAST and InstaSPIN-FOC Performance
FAST and InstaSPIN-FOC performance data is being collected and will be provided in a future revision of
this document.
8
Microcontroller Resources
The F2802xF microcontroller resources required by the InstaSPIN libraries are discussed in detail in the
TMS320F2806xF, TMS320F2802xF InstaSPIN-FOC/TMS320F2806xM InstaSPIN-MOTION User's Guide
(literature number SPRUHJ1).
Specifically for the library implementation and where the code is loaded and executed from, the following
resources categories are discussed in this document:
• CPU Utilization
• Memory Allocation
• Stack Utilization
• Digital and Analog Pins Utilization
12
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Microcontroller Resources
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InstaSPIN-FOC provides flexibility throughout its design, including its software execution clock tree.
Figure 5 illustrates the options available to the designer to manage the real-time scheduling of each of the
major software functions. Balancing motor performance with CPU loading is not difficult, shortening
system integration time.
SYSCLKOUT
TBCLK
Clock
Prescale
PWMFREQ
TBPRD
CTRL
ISR
EPWMxSOCA
/ETPS
ADC
/ISRvsCTRL
/CTRLvsEST
Hardware Decimation
EST
/CTRLvsCURRENT
/CTRLvsSPEED
/CTRLvsTRAJ
CURRENT
SPEED
TRAJ
Software Decimation
Figure 5. Software Execution Clock Tree Provides Flexibility with Real-Time Scheduling
Executing from a combination of single-cycle memory (RAM and ROM) and also from FLASH, total
execution time for the minimum full implementation of InstaSPIN-FOC depends on the software execution
clock tree. Table 2 shows the CPU cycles used when a minimum full implementation of InstaSPIN is done,
as well as users' code is loaded to FLASH. Note the impact of the software execution tree to total
execution time. Table 3 shows the CPU loading and available MIPs for other system functions.
Table 2. CPU Cycles for MIN Implementation Executing from ROM, RAM, and FLASH
CPU Cycles
Executed From
Function Name
Min
Average
Max
ROM
RAM
FLASH
DRV_acqAdcInt
17
17
17
×
✓
×
DRV_readAdcData
94
94
94
×
✓
×
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Microcontroller Resources
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Table 2. CPU Cycles for MIN Implementation Executing from ROM, RAM, and FLASH (continued)
CPU Cycles
Function Name
Executed From
Min
Average
Max
ROM
RAM
FLASH
Rs Online Disabled, ISR vs CTRL = 1, CTRL vs EST = 1
2320
2331
2413
✓
✓
✓
CTRL vs EST = 2
1131
1735
2413
CTRL vs EST = 3
1154
1536
2413
ISR vs CTRL = 2, CTRL vs EST = 1
51
1191
2413
CTRL vs EST = 2
51
893
2413
CTRL vs EST = 3
51
793
2413
ISR vs CTRL = 3, CTRL vs EST = 1
51
811
2413
CTRL vs EST = 2
51
612
2413
CTRL vs EST = 3
51
544
2413
Rs Online Enabled, ISR vs CTRL = 1, CTRL vs EST = 1
2766
2781
2882
CTRL vs EST = 2
1129
1969
2882
CTRL vs EST = 3
1129
1692
2882
ISR vs CTRL = 2, CTRL vs EST = 1
51
1424
2882
CTRL vs EST = 2
51
1010
2882
CTRL vs EST = 3
51
871
2882
ISR vs CTRL = 3, CTRL vs EST = 1
51
966
2882
CTRL vs EST = 2
51
689
2882
CTRL vs EST = 3
51
596
2882
DRV_writePwmData
110
110
110
×
✓
×
CTRL_setup
26
36
188
×
✓
✓
Ctrl_run
Table 3. Table 3. CPU loading for MIN Implementation Executing from ROM, RAM, and FLASH
2802xF CPU = 60 MHz
Available MIPs = 60 MIPs
PWM = 15 kHz
CPU Utilization [%]
MIPs Used [MIPS]
MIPS Available
[MIPS]
64.7
38.82
21.18
CTRL vs EST = 2
49.8
29.88
30.12
CTRL vs EST = 3
44.83
26.9
33.11
ISR vs CTRL = 2, CTRL vs EST = 1
36.2
21.72
38.28
CTRL vs EST = 2
28.75
17.25
42.75
CTRL vs EST = 3
26.25
15.75
44.25
ISR vs CTRL = 3, CTRL vs EST = 1
26.7
16.02
43.98
CTRL vs EST = 2
21.73
13.04
46.97
Rs Online Disabled, ISR vs CTRL = 1, CTRL vs EST = 1
14
CTRL vs EST = 3
20.03
12.02
47.99
Rs Online Enabled, ISR vs CTRL = 1, CTRL vs EST = 1
75.95
45.57
14.43
CTRL vs EST = 2
55.65
33.39
26.61
CTRL vs EST = 3
48.73
29.24
30.77
ISR vs CTRL = 2, CTRL vs EST = 1
42.03
25.22
34.79
CTRL vs EST = 2
31.68
19.01
41
CTRL vs EST = 3
28.2
16.92
43.08
ISR vs CTRL = 3, CTRL vs EST = 1
30.58
18.35
41.66
CTRL vs EST = 2
23.65
14.19
45.81
CTRL vs EST = 3
21.33
12.8
47.21
TMS320F28026F, TMS320F28027F InstaSPIN™-FOC Software
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8.1
Memory Allocation and Utilization
Figure 6, Figure 7, and Table 4 show the memory map of the 28027, the location in ROM where the
InstaSPIN-FOC library is located, and the required allocation of M1 RAM for the library to use. For a
general memory map of these devices, see the device-specific data sheet.
Prog Space
Data Space
0x00 0000
M0 Vector RAM (Enabled if VMAP = 0)
0x00 0040
M0 SARAM (1K x 16, 0-Wait)
0x00 0400
0x00 0800
0x00 0D00
0x00 0E00
M1 SARAM (1K x 16, 0-Wait)
Peripheral Frame 0
PIE Vector - RAM
(256 x 16)
(Enabled if
VMAP = 1,
ENPIE = 1)
Reserved
Peripheral Frame 0
0x00 2000
Reserved
0x00 6000
Peripheral Frame 1
(4K x 16, Protected)
0x00 7000
0x00 8000
Reserved
Peripheral Frame 2
(4K x 16, Protected)
L0 SARAM (4K x 16)
(0-Wait, Secure Zone + ECSL, Dual Mapped)
0x00 9000
Reserved
0x3D 7800
User OTP (1K x 16, Secure Zone + ECSL)
0x3D 7C00
0x3D 7C80
0x3D 7CC0
0x3D 7CE0
0x3D 7E80
0x3D 7EB0
0x3D 7FFF
0x3D 8000
Reserved
Calibration Data
Get_mode function
Reserved
Calibration Data
Reserved
PARTID
Reserved
0x3F 0000
FLASH
(32K x 16, 4 Sectors, Secure Zone + ECSL)
0x3F 7FF8
0x3F 8000
0x3F 9000
128-Bit Password
L0 SARAM (4K x 16)
(0-Wait, Secure Zone + ECSL, Dual Mapped)
Reserved
0x3F E000
Boot ROM (8K x 16, 0-Wait)
0x3F FFC0
Vector (32 Vectors, Enabled if VMAP = 1)
Figure 6. 28027 Memory Map
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Table 4. 2802xF Allocated Memory for InstaSPIN-FOC Library
Features
2802xF
Maximum Number of Motors that can be controlled
1
FAST Version
1.7
ROM Library [size, hex, words]
2000
ROM Library Start [address, hex]
3F C000
Library Required RAM [size, hex, words]
200
Library Start RAM [address, hex]
600
Figure 7 highlights the pieces of ROM EXE-only memory used by the libraries. EXE-only is execute only
memory where read access is not possible.
0x000000
See Datasheet
0x000600
FAST Variables
0x000800
Last
Part of
M1
RAM
See Datasheet
0x3FC000
FAST Libraries
Execute
Only
ROM
0x3FE000
See Datasheet
0x3FFFFF
Figure 7. 2802xF Allocated Memory for InstaSPIN-FOC Library
Table 5 summarizes the memory used for the configurations shown in Figure 2 (Min implementation), with
user memory in FLASH.
Table 5. User Memory and Stack Sizes
Code Configurations
16
Memory Sizes (16bit Words)
ROM Code
User Code
RAM
Flash
Total
Maximum Stack
Used (16bit
Words)
Min Implementation
FLASH
0x06B2
0x2DD8
0x348A
0x0120
TMS320F28026F, TMS320F28027F InstaSPIN™-FOC Software
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8.2
Pin Utilization
Flexibility in the design of InstaSPIN-FOC allows for multiple motors to be supported. Table 6 lists the
minimum and maximum pins used per motor. Note that a F2802xF microcontroller provides (8) ePWM
outputs with the 48-pin package.
Table 6. Pin Utilization Per Motor
Pins Usage Per Motor
Pin Type
Pin Name
Min
Max
Digital
PWM1A
3
(Requires External Fault and
External Complementary Mode
with Dead Time)
7
5
(Only two currents and no
VBUS ripple compensation)
7
PWM1B (Optional)
PWM2A
PWM2B (Optional)
PWM3A
PWM3B (Optional)
Trip Zone (Optional)
Analog
IA
IB
IC (Optional)
VA
VB
VC
VBUS (Optional)
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Appendix A Definition of Terms and Acronyms
ACIM — Alternating current induction motor.
CCStudio — Code Composer Studio.
FAST — Unified observer structure which exploits the similarities between all motors that use magnetic
flux for energy transduction, automatically identifying required motor parameters and providing the
following motor feedback signals:
• High-quality Flux signal for stable flux monitoring and field weakening.
• Superior rotor flux Angle estimation accuracy over wider speed range compared to traditional
observer techniques independent of all rotor parameters for ACIM.
• Real-time low-noise motor shaft Speed signal.
• Accurate high bandwidth Torque signal for load monitoring and imbalance detection.
FOC — Field-oriented control.
Forced-Angle — Used for 100% torque at start-up until the FAST rotor flux angle tracker converges
within first electrical cycle.
InstaSPIN-FOC — Complete sensorless FOC solution provided by TI on-chip in ROM on select devices
(FAST observer, FOC, speed and current loops), efficiently controlling your motor without the use of
any mechanical rotor sensors.
IPM — Interior permanent magnet motor.
Motor Parameters ID or Motor Identification — A feature added to InstaSPIN-FOC, providing a tool to
the user so that there is no barrier between running a motor to its highest performance even though
the motor parameters are unknown.
PI — Proportional-integral regulator.
PMSM — Permanent magnet synchronous motor.
PowerWarp™ — Mode of operation used for AC induction motors (ACIM) that allows minimum current
consumption.
Rs-Offline Recalibration — InstaSPIN-FOC feature that is used to recalibrate the stator resistance, Rs,
when the motor is not running.
Rs-Online Recalibration — InstaSPIN-FOC feature that is used to recalibrate the stator resistance, Rs,
while the motor is running in closed loop.
SVM — Space-vector modulation.
18
Definition of Terms and Acronyms
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