Texas Instruments TIDM-1011 Guide

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™ is a flexible, cost-effective
platform intended for evaluating various encoder
interfaces and is designed to work with multiple
C2000 MCU LaunchPad™ development kits. The
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 Design Folder
LAUNCHXL-F28379D
LAUNCHXL-F280039C
LAUNCHXL-F280049C
LAUNCHXL-F280025C
Tools Folder
SN65HVD78, TLV702, TPS22918-Q1 Product Folder
C2000WARE-MOTORCONTROL-SDK Tools Folder
Ask our TI E2E™ support experts
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
TMS320F28379x
T-Format Master
Encoder
Supply
RS485
RS485
Connector
Connector
Motor Tamagawa
Absolute Position Encoder
Shielded Cable
DATA+
DATA–
Power
Ground
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1 System Description
Industrial drives, like servo drives, require accurate, highly-reliable, and low-latency position feedback. The T-
Format protocol, from Tamagawa, is designed for serial transfer of digital data between a sensor and a controller.
The sensor can be an encoder (linear, rotary, or angle), a touch probe, or an accelerometer. The subsequent
electronics, or controller, includes numerical controls, servo amplifiers, and programmable-logic controllers.
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. The
transmitted-data types include absolute position, turns, temperature, parameters, and diagnostics. Commands
transmitted to the encoder from the interface select the response-data types.
Figure 1-1 shows a T-format encoder connected to a BOOSTXL_POSMGR plus F28379D LaunchPad encoder
interface.
TMS320F28379x
T-Format Master
Encoder
Supply
RS485
RS485
Connector
Connector
Motor Tamagawa
Absolute Position Encoder
Shielded Cable
DATA+
DATA–
Power
Ground
Figure 1-1. Industrial Servo Drive With T-Format Position Encoder Interface
The position encoder with T-Format connects to the TIDM-1011 device through a single, 4-wire, shielded cable.
RS-485 is used as the physical layer for T-Format encoders. The four wires used are:
• DATA+ and DATA- : differential signals for communication data
• Power and Ground: encoder power supply and ground
The Texas Instruments C2000 T-Format (PM_tformat) encoder interface implementation enables interfacing a
T-Format encoder to a C2000 device without external hardware such as an FPGA or CPLD. The reference
implementation features:
• 2.5 MBPS clock frequency as required by the T-Format protocol
• Integrated cable-propagation delay compensation to enable variable cable length, verified up to 100 m
• Software driver functions:
– Perform a transaction with the encoder. This consists of sending a request and receiving the response.
– Calculate a CRC
– Compare CRC received with a calculated CRC
– Packing and unpacking the data
This reference implementation includes all the source code. Any changes needed for the implementation can be
made by users as needed by their application.
Note
Only the basic interface drivers for the commands defined in the T-Format specification are provided.
All the higher-level application software must be developed by users using the basic interface
provided by this implementation.
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1.1 Key System Specifications
Table 1-1. Key System Specifications
PARAMETER SPECIFICATIONS DETAILS
Input voltage 5 V(1) Section 3.3.1
Output voltage (encoder) 5 V Section 3.3.1
Protocol supported T-Format Tamagawa
Frequency (encoder interface) Approximately 2.5 MBPS Tamagawa
Encoder bits T-Format protocol standard Tamagawa
CPU cycles C2000 T-Format encoder interface benchmarks Section 3.3.5
(1) 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. The core
hardware components are a C2000 real-time microcontroller (MCU) and a RS-485 transceiver. The C2000
LaunchPad and the TIDM-1011 boosterPack, which contains the RS-485 transceiver, are the boards used in
this implementation. The C2000 Motor Control SDK package contains the necessary software. This software
includes a library, which implements key T-format interface features, along with a system-level example to
demonstrate T-Format communication.
The T-Format encoder interface leverages the C2000 CLB (Configurable Logic Block) and the SPI (Serial
Peripheral Interface) modules. The CLB controls the SPI clock and compensates for cable propagation delay.
The CLB also controls the RS-485 transceiver transmit enable. The SPI module acts as the send/receive
interface to the RS-485 physical layer. The firmware, which is written in C, runs on the C28x of the C2000 MCU.
The C2000 LaunchPad can provide power for the TIDM-1011 RS-485 transceiver and 5V for the encoder. 5V
can also be supplied separately if the encoder specifications require a higher current than the LaunchPad can
provide.
During start-up, the application running on the C28x initializes the MCU clocks and configures the pin-mux. The
MCU's SPI and CLB are also configured as required to send and receive data.
2.1 Block Diagram
Motor
Secondary:
T-Format
Position Encoder
Connector
M12, 8-Pin
DATA+
DATA–
Power
Ground
8-Wire Cable,
Single Shielded
C2000 LaunchPad
Encoder Power
Enable
(TPS22918)
RS485
(SN65HVD78)
RS485
(SN65HVD78)
5-V IN
(J6)
Power
Supply
(TLV70233)
Abs-Enc1 (J7)
BoosterPack™ Connector
(J1, J3 and J4, J2)
TIDM-1011
BoosterPack
Primary: Encoder Interface and Controller
Figure 2-1. TIDM-1011 System Block Diagram
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2.2 Highlighted Products
The TIDM-1011 reference design hardware consists of a C2000 LaunchPad plus a BOOSTXL-POSMGR
BoosterPack. This section covers the key devices used. For more information on each of these devices, see
their respective product folders at TI.com.
2.2.1 C2000 Real-Time MCU LaunchPad
Multiple LaunchPad kits support the TIDM-1011 reference design (refer to Table 2-1). Each of the C2000
Real-Time Microcontrollers listed in Table 2-1 feature the Configurable Logic Block (CLB). The encoder interface
makes extensive use of the CLB. The CLB peripheral is exclusive to C2000 devices and allows users to
incorporate custom logic without the need for an external FPGA or CLPD. The CLB is composed of submodules
that combine together to enable custom digital logic. Submodules include: Finite State Machines (FSM), Lookup
Tables (LUT), and counters. The CLB also interfaces with existing on-chip control peripherals to enhance
functionality and provide design options.
To learn more about the CLB, visit the C2000 Academy Configurable Logic Block module.
Devices with the CLB include:
•TMS320F28379D MCU:
Provides 800 MIPS of total system performance between dual, 200-MHz, C28x CPUs and dual, 200-MHz,
real-time-control coprocessors (CLA). This powerful MCU contains 1MB of on-board flash and includes
highly-differentiated peripherals, such as 16-bit or 12-bit analog-to-digital converters (ADCs), comparators,
12-bit digital-to-analog converters (DACs), delta-sigma sync filters, HRPWMs, eCAPs, eQEPs, CANs, and
more. Find the full device features and specifications at the TMS320F28379D device product folder.
•TMS320F280039C MCU:
Provides 240 MIPS between a 120 MHz C28x CPU and 120 MHz CLA. This MCU contains up to 384 kB of
on-chip flash and includes 3 12-bit ADCs, enhanced Configurable Logic Blocks (CLB), and more. Find the full
device features and specifications at the TMS320F280039C device product folder.
•Table 2-1 lists other supported devices, their product folders, and their LaunchPad Development Kits.
Table 2-1. Supported Devices and LaunchPads
LaunchPad Development Kit MCU Device Product Folder (2)
LAUNCHXL-F28379D TMS320F28379D
LAUNCHXL-F280049C TMS320F280049C
LAUNCHXL-F280025C TMS320F280025C
LAUNCHXL-F280039C TMS320F280039C
Not Available (1) TMS320F28388D
(1) The TMS320F28388D device family does not have a LaunchPad development kit. You must supply the connections to an
RS-485 physical interface through another means. Options include (1) your own hardware, (2) a controlCard with wires to the
BOOSTXL_POSMGR, or (3) the TMXIDDK379D.
(2) 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.
2.2.2 SN65HVD78
The SN65HVD78 device combines a differential driver and a differential receiver, which operate from a single,
3.3-V power supply. The differential outputs of the driver and the differential inputs of the receiver are internally
connected to form a bus port suitable for half-duplex (two-wire bus) communication. These devices feature a
wide, common-mode voltage range, which makes the devices suitable for multipoint applications over long cable
runs.
Find the full device features and specifications at the SN65HVD78 product folder.
2.2.3 TLV702
The TLV702 series of low-dropout (LDO) linear regulators are low-quiescent current devices with excellent line
and load-transient performance. All device versions have thermal shutdown and current limit for safety. The
devices regulate to specified accuracy with no output load.
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Find the full device features and specifications at the TLV702 product folder.
2.2.4 TPS22918-Q1
The TPS22918-Q1 is a single-channel load switch, with configurable rise time and configurable quick-output
discharge. The device contains an N-channel MOSFET that can support a maximum-continuous current of 2 A.
The switch is controlled by an on and off input, which can interface directly with low-voltage control signals.
Find the full device features and specifications at the TPS22918-Q1 product folder.
2.3 Design Considerations
This section provides:
1. Overview of the Tamagawa T-Format protocol.
2. Overview of the C2000 T-Format encoder interface.
3. TIDM-1011 hardware (BOOSTXL-POSMGR BoosterPack) implementation.
4. C2000 MCU implementation, including the required input/output, CRC calculations, and the CLB design.
5. Overview of the C2000 T-Format encoder interface software library.
Note
This section provides implementation details only. For information related to:
• Hardware requirements, setup and testing: Refer to Section 3.
• Software: Installing and running the software: Refer to: "C2000 T-Format Encoder Interface
Software Guide" (html, pdf). The software guide includes documentation for:
– Communication demonstration
– T-Format application programmer interface (API)
– Incorporating the library into your own solution
– Migration from previous versions
2.3.1 Tamagawa T-Format Protocol
Tamagawa is a manufacturer of encoder technology used for obtaining high-precision position information in
machine tools, robotics, motor drives and so forth. Tamagawa rotary encoders consist broadly of two types:
incremental or absolute. Incremental encoders provide a train of pulses, while the absolute-type provides
absolute digital values. 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.
Note
This section provides an overview of the T-Format protocol. For specific information, refer to the
T-format specification available from Tamagawa.
Note
Not all encoders produced by Tamagawa use the T-Format protocol. Check the specification of your
encoder.
The C2000 T-Format encoder interface provides the required physical layer for a controller to communicate with
an encoder. This encoder interface provides the RS-485 drive control to send and receive digital information with
the encoder. In this context, a T-Format transaction is the transmission of a request from the controller plus the
response back from the encoder. From the perspective of the encoder interface, a transaction can be divided
into FRAME_STATES shown in Figure 2-2:
1. IDLE: No RS-485 activity
2. TRANSMIT_DATA: The controller sends a request to the encoder
3. WAIT_FOR_START: Wait for the encoder's response
4. RECEIVE_DATA: The controller receives the encoder's response
5. Back to IDLE.
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This pattern is repeated for each transaction with the encoder.
WAIT_FOR_START
IDLE
TxEN
Driven by CLB
TRANSMIT_DATA RECEIVE_DATA
SPI SOMI
Request to
Encoder
SPI CLK (2.5 MHz)
Driven by CLB
0 0 1 0
IDLE
START
SINK DATAID + …..
… ...
IDLE
SPI SIMO
Response from
Encoder
… ...
… ...
… ...
0 0 1 0
IDLE
START
SINK
… ...
DATAID + …..
Cable Length DependentCycles are Command Dependent
Command Dependent Data
Command Dependent Response
… ...
… ...
… ...
… ...
Cycles are Command Dependent
FRAME_STATE
Transmit on the Falling Edge of SPICLK
Receive on the Rising Edge of SPICLK
Figure 2-2. T-Format Frame
Note
Figure 2-2 includes information related to the C2000 encoder interface implementation. For example,
the CLB drives the SPI CLOCK and the TxEN signal.
The T-format communication protocol is broadly classified into three types of transactions: data readout, reset,
and EEPROM access. Each transaction has a unique Data ID defined by the protocol. The Data ID is used to
identify the specific request made by the controller through the encoder interface.
Table 2-2. T-Format Transactions
Transaction Type Data ID Transaction
Readout ID 0 Absolute data in one revolution
ID 1 Multi-turn data
ID 2 Encoder ID
ID 3 All of the above plus the encoder error status
Reset ID 7 Reset absolute data in one revolution
ID 8 Reset multi-turn data
ID C Reset errors
EEPROM ID D Read encoder's EEPROM
ID 6 Write to encoders EEPROM
Each transaction consists of 10-bit fields. Each field has the format shown in Table 2-3. The first bit is a start bit
(always 0) and the last bit is a delimiter bit (always 1). The content of the 8-bits of data between the start bit and
delimiter depend on the specific type of field.
Table 2-3. T-Format Field Format
Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 Bit 8 Bit 9 Bit 10
Content Start bit
Always 0
8 data bits: Least significant bit first.
The content depends on the specific field. These 8 bits of data are included in the CRC calculation.
Delimiter
bit
Always 1
The fields defined by the T-Format protocol are:
ControlField (CF) The first field in every request and every response. The ControlField includes the
unique Data ID for the transaction.
StatusField (SF) Status information from the encoder.
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DataFields (DFx) Information from the encoder. The content and number of DataFields depend on the
transaction. Examples of DataFields include the encoder's ID, position information, and
error codes. Up to 8 DataFields are possible.
CRCField An 8-bit Cyclic Redundancy Check (CRC) of the data. A CRCField is the last field of an
EEPROM read or write request. The CRCField is always the last field in the encoder's
response.
EEPROM
AddressField (ADF)
Address to be read or written in an EEPROM transaction.
EEPROM DataField
(EDF)
Contains the data read, or the data to be written, in an EEPROM transaction.
Note
For the specific contents of each field, refer to the T-Format specification available from Tamagawa.
The fields used in a request are shown in Table 2-4. To begin a transaction, the controller sends a request
through the encoder interface. The request starts with the ControlField which includes the Data ID. The encoder
uses the Data ID to identify the exact transaction requested. For a readout or reset request, only the ControlField
is required. In the case of an EEPROM read or write the controller also sends an EEPROM AddressField and an
EEPROM DataField (for a write) followed by a CRCField.
Table 2-4. T-Format Request Fields
Request type Fields Transmitted
Readout ControlField
Reset ControlField
EEPROM Write ControlField EEPROM AddressField EEPROM DataField CRCField(1)
EEPROM Read ControlField EEPROM AddressField CRCField
(1) The CRC calculation includes the 8-bits of data in the Control, EEPROM Address and EEPROM Data fields. The start bits and
delimiter bits are excluded.
The fields used in an encoder's response depend on the specific request. For readout and reset transactions
(Table 2-5), the encoder responds with an echo of the ControlField, follwed by a StatusField and one or more
DataFields. Lastly the encoder always sends a CRCField. The CRCField can be used as an integrity check of
the received data.
Table 2-5. T-Format Response Fields for Readout and Reset
Data ID Type Control
Field(1)
Status
Field
DataFields (DF0:DF1:….DF7) + CRC (2) (3)
ID 0 Read CF SF ABS0(4) ABS1 ABS2 CRC
ID 1 Read CF SF ABM0(5) ABM1 ABM2 CRC
ID 2 Read CF SF ENID(6) CRC
ID 3 Read CF SF ABS0 ABS1 ABS2 ENID ABM0 ABM1 ABM2 ALMC(7) CRC
ID 7 Reset CF SF ABS0 ABS1 ABS2 CRC
ID 8 Reset CF SF ABS0 ABS1 ABS2 CRC
ID C Reset CF SF ABS0 ABS1 ABS2 CRC
(1) CF: ControlField. Matches the ControlField sent in the request.
(2) DF: DataField. Up to 8 fields depending on the transaction.
(3) The CRCField is always transmitted immediately after the last used DataField. The CRC includes the 8-bits of data in the CF + SF +
DataFields used. The start-bit and delimiter of each field is excluded.
(4) ABS: Absolute data in one revolution. Uses 3 fields.
(5) ABM: Multi-turn data. Uses 3 fields.
(6) ENID: Encoder ID. One field.
(7) ALMC: Encoder error. One field
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).
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Table 2-6. Data Readout Example
Request: ControlField
for Data ID 1
Response: ControlField
for Data ID 1
StatusField DataField0 DataField1 DataField2 CRC
For a EEPROM transaction, the encoder responds with the ControlField + EEPROM AddressField + EEPROM
DataField + CRCField as shown in Table 2-7.
Table 2-7. EEPROM Read/Write Response Fields
Data ID Request Field 0 Field 1 Field 2 Field 3
ID 6 Write ControlField EEPROM
AddressField
EEPROM
DataField (1)
CRCField(3)
ID D Read ControlField EEPROM
AddressField
EEPROM
DataField (2)
CRCField
(1) Data read from the encoder's EEPROM.
(2) Data written to the EEPROM. This is an echo of the DataField in the request.
(3) The CRC calculation includes the 8-bits of data in the Control, EEPROM Address and EEPROM Data fields. The start bit and delimiter
of each field are excluded.
2.3.2 C2000 T-Format Encoder Interface Overview
Communication over a T-Format encoder interface is primarily achieved by the following components:
• CPU (C28x)
– Configures the device, CLB, and SPI
– Packs and unpacks data
– Calculates the transmit CRC for EEPROM commands
– F2837xD only: Calculates CRC for received data
– Compares calculated CRC with received CRC
• Configurable logic block (CLB)
– Controls the SPI clock
– Controls the transmit enable signal to the RS-485 transceiver
– Measures, and compensates for, cable propagation delay as required by the interface
– Calculates the CRC of the received data (feature not available on F2837xD)
• Serial peripheral interface (SPI)
– Performs the encoder-data transmit and receive
• Device interconnects (XBARs or CLB XBARs)
– 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 for information.
Figure 2-3 shows the T-Format encoder interface connections.
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CLB
SPICLK
INPUT
XBAR
OUTPUT
XBAR
TxEn
C28x
CPU
SPI-B
Peripheral
SPICLK
SPISMO
SPISOMI
SPISTE
TMS320F28379D
TX_DIR
DATA_IN
DATA_OUT
GND
PWR CTL
Test Setup
Interface
Block
Figure 2-3. T-Format Implementation Diagram Inside TMS320F28379D
The remainder of this section describes the following aspects of the design:
• The TIDM-1011 hardware (BOOSTXL-POSMGR)
• C2000 MCU resources including the CLB design
• C2000 software used by the encoder interface
2.3.3 TIDM-1011 Board Implementation
The TIDM-1011 board provides the following:
• Differential line driver and receiver for RS-485 communication between a C2000 MCU and the encoder.
• TxEN signal routed from the MCU to the direction control of the RS-485 driver/receiver.
• SPICLK signal routed to a GPIO where it can be controlled by the CLB peripheral. This connection is optional
for all supported devices except the 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.
Table 2-8 lists the connectors used by the TIDM-1011 T-Format implementation and their functions.
Table 2-8. TIDM-1011 Board and BOOSTXL-POSMGR Connectors
CONNECTOR DESCRIPTION USED BY TIDM-1011
Abs-Enc-1 (J7) T-Format and other absolute encoders Yes, LaunchPad Site 2
Abs-Enc-2 (J8) T-Format and other absolute encoders No
Abs-Enc-2 Breakout (J10) Allows two absolute encoders at site two
using jumpers
No
SinCos (J14) SinCos encoder No
Resolver (J14 and J15) Resolver interface with 15-V excitation
circuitry
No
PTO (J17) Pulse-train output No
J1, J3 and J4, J2 BoosterPack connector Yes
J6 5-V DC supply input Yes
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Table 2-8. TIDM-1011 Board and BOOSTXL-POSMGR Connectors (continued)
CONNECTOR DESCRIPTION USED BY TIDM-1011
J16 15-V DC resolver excitation input No
Figure 2-4 shows the encoder support on each site of the LaunchPad.
Site 1 (J1 J3 + J4 J2)
x x1 T-Format or other Absolute Encoder
and PTO
x x2 T-Format or other Absolute Encoder
(simultaneously)
x x1 PTO
x x1 Resolver and PTO
x x1 Absolute SinCos (Channels C and D,
requires two BOOSTXL-POSMGR)
Site 2 (J5 J7 + J8 J6)
x X1 SinCos Encoder
x x1 T-Format or other Absolute Encoder
and PTO
x x1 Resolver and PTO
x x1 PTO
x x1 Absolute SinCos (Channels A, B, I,
requires two BOOSTXL-POSMGR)
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.
Note
The F2837xD device requires an external connection between the CLB generated clock
(CLB_SPI_CLK) and the SPICLK pin. On all other devices the CLB can directly drive SPICLK and
an external connection is not required.
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