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TIDEP-0101

Tamagawa Encoder Interface Protocol on AM437x Reference Design

Design files

TIDEP-0101

Design files

Overview

The commonly-accepted existing solution to interface Tamagawa SmartAbs full-absolute or Smart Inc encoders with a drive feedback and control system is to use a Smartceiver AU5561N1. Use of these receivers requires additional components, complexity, and costs to the system. This reference design details a compatible receiver implementation using Sitara™ AM437x processors, which have an Arm® Cortex®-A9 core and multiple instances of PRU-ICSS. This receiver implementation bypasses the requirement for additional components because a single instance of PRU-ICSS controls the Tamagawa encoder, while the ARM device and remaining PRU-ICSS resources handle the drive control, current sense, and industrial communications. This implementation allows for a cost-effective, single-chip, industrial drive and communication solution.

Features
  • Tamagawa receiver on AM437x using PRU-ICSS
  • Tamagawa smartceiver AU5561N1 compatible
  • Supports 2.5-Mbps full-absolute SmartAbs and SmartInc encoders
  • Supports data readout and reset frames
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Design files & products

Design files

Download ready-to-use system files to speed your design process.

download Design guide — TIDEP-0101
TIDUDJ7.PDF (3096 KB)

Reference design overview and verified performance test data

download Assembly drawing — TIDEP-0101
TIDRC76A.ZIP (870 KB)

Detailed overview of design layout for component placement

download Bill of materials (BOM) — TIDEP-0101
TIDRC80A.ZIP (581 KB)

Complete listing of design components, reference designators, and manufacturers/part numbers

download CAD/CAE symbol — TIDEP-0101
TIDRC77A.ZIP (21148 KB)

Files used for 3D models or 2D drawings of IC components

download Gerber file — TIDEP-0101
TIDC823A.ZIP (11389 KB)

Design file that contains information on physical board layer of design PCB

download PCB layout — TIDEP-0101
TIDRC78A.ZIP (6066 KB)

PCB layer plot file used for generating PCB design layout

download Schematic — TIDEP-0101
TIDRC79A.ZIP (1277 KB)

Detailed schematic diagram for design layout and components

Products

Includes TI products in the design and potential alternatives.

RS-485 & RS-422 transceivers

SN65HVD75 — 3.3-V half-duplex RS-485 transceiver with IEC ESD, 20 Mbps

Data sheet: PDF | HTML
Arm-based processors

AM4379 — Sitara processor: Arm Cortex-A9, PRU-ICSS, EtherCAT, 3D graphics

Data sheet: PDF | HTML

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Hardware

Evaluation board

RS485-HF-DPLX-EVM — RS-485 half-duplex evaluation module

The RS-485 half-duplex evaluation module (EVM) helps designers evaluate device performance, supporting fast development and analysis of data-transmission systems using any of the SN65HVD1x, SN65HVD2x, SN65HVD7x, SN65HVD8x and SN65HVD96 half-duplex transceivers. The EVM board comes without the (...)
EVM user’s guide: PDF | HTML
Supported products & hardware

Supported products & hardware

Hardware development
Reference design
TIDEP-0101 — Tamagawa Encoder Interface Protocol on AM437x Reference Design
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RS485-HF-DPLX-EVM — RS-485 half-duplex evaluation module

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Hardware development
Reference design
TIDEP-0101 — Tamagawa Encoder Interface Protocol on AM437x Reference Design
Evaluation board

TMDSIDK437X — AM437x/AMIC120 Industrial Development Kit (IDK)

The AM437x/AMIC120 Industrial Development Kit (IDK) is an application development platform for evaluating the industrial communication and control capabilities of Sitara™ AM4379, AM4377 and AMIC120 processors for industrial applications.

The  AM4379, AM4377 and AMIC120 processors are ideal for (...)

EVM user’s guide: PDF
Supported products & hardware

Supported products & hardware

Hardware development
Reference design
TIDEP-0101 — Tamagawa Encoder Interface Protocol on AM437x Reference Design TIDEP0035 — ARM MPU with Integrated HIPERFACE DSL Master Interface Reference Design TIDEP0064 — Real-time Ethernet Tracer with PRU-ICSS Reference Design
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TMDSIDK437X — AM437x/AMIC120 Industrial Development Kit (IDK)

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Version: null
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Hardware development
Reference design
TIDEP-0101 — Tamagawa Encoder Interface Protocol on AM437x Reference Design TIDEP0035 — ARM MPU with Integrated HIPERFACE DSL Master Interface Reference Design TIDEP0064 — Real-time Ethernet Tracer with PRU-ICSS Reference Design
TI’s Standard Terms and Conditions for Evaluation Items apply.

Software

Software development kit (SDK)

PROCESSOR-SDK-RTOS-AM437X — TI-RTOS processor SDK for AM437x and AMIC120 (No design support from TI available. Refer to Overview- RTOS Highlights for details.)

Processor SDK (Software Development Kit) is a unified software platform for TI embedded processors providing easy setup and fast out-of-the-box access to benchmarks and demos.  All releases of Processor SDK are consistent across TI’s broad portfolio, allowing developers to seamlessly (...)

Supported products & hardware

Supported products & hardware

Products
Arm-based processors
AM4376 — Sitara processor: Arm Cortex-A9, PRU-ICSS AM4377 — Sitara processor: Arm Cortex-A9, PRU-ICSS, EtherCAT AM4378 — Sitara processor: Arm Cortex-A9, PRU-ICSS, 3D graphics AM4379 — Sitara processor: Arm Cortex-A9, PRU-ICSS, EtherCAT, 3D graphics AMIC120 — Sitara processor; Arm Cortex-A9; 10+ Ethernet protocols, encoder protocols
Hardware development
Reference design
TIDEP-0101 — Tamagawa Encoder Interface Protocol on AM437x Reference Design
Evaluation board
TMDSEVM437X — AM437x evaluation module TMDSIDK437X — AM437x/AMIC120 Industrial Development Kit (IDK) TMDXSK437X — AM437x starter kit
Download options

PROCESSOR-SDK-RTOS-AM437X — TI-RTOS processor SDK for AM437x and AMIC120 (No design support from TI available. Refer to Overview- RTOS Highlights for details.)

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Latest version
Version: 06.03.00.106
Release date: Apr 18, 2020
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Release notes

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ti-processor-sdk-rtos-am437x-evm-06.03.00.106-Windows-x86-Install.exe  — 743579 K

AM437x RTOS SDK installer for Windows Host

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ti-processor-sdk-rtos-am437x-evm-06.03.00.106-Linux-x86-Install.bin  — 734601 K

AM437x RTOS SDK installer for Linux Host

SHA-256 checksum
Products
Arm-based processors
AM4376 — Sitara processor: Arm Cortex-A9, PRU-ICSS AM4377 — Sitara processor: Arm Cortex-A9, PRU-ICSS, EtherCAT AM4378 — Sitara processor: Arm Cortex-A9, PRU-ICSS, 3D graphics AM4379 — Sitara processor: Arm Cortex-A9, PRU-ICSS, EtherCAT, 3D graphics AMIC120 — Sitara processor; Arm Cortex-A9; 10+ Ethernet protocols, encoder protocols
Hardware development
Reference design
TIDEP-0101 — Tamagawa Encoder Interface Protocol on AM437x Reference Design
Evaluation board
TMDSEVM437X — AM437x evaluation module TMDSIDK437X — AM437x/AMIC120 Industrial Development Kit (IDK) TMDXSK437X — AM437x starter kit

Documentation

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CCS9.3.0.00012_win64.zip

Code Composer Studio IDE for Windows Host

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CCS9.3.0.00012_linux-x64.tar.gz

Code Composer Studio IDE for Linux Host

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Download Pin Mux Tool

AM437X Pin Mux Configuration Utility

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Download Clock Tree Tool

AM437X Clock Tree Configuration Utility

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Windows SD Card Creation Guide

Instructions for creating an SD Card with Windows Host

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Linux SD Card Creation Guide

Instructions for creating an SD Card with Linux Host

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Processor SDK RTOS Release Notes

Link to Release Notes for Processor SDK RTOS

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Processor SDK RTOS Getting Started Guide

Link to Getting Started Guide for Processor SDK RTOS

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Processor SDK RTOS Developer Guide

Link to Developer Guide for Processor SDK RTOS

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Software Manifest

Software Manifest of Components Inside the SDK

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AM437X EVM Quick Start Guide

Quick Start Guide included in the EVM kit

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AM437x Industrial Development Kit Quick Start Guide

Quick Start Guide included in the Industrial Development Kit

What's new

  • The SDK includes a real-time multitasking kernel, FAT file system, nework communications support, examples, and drivers
  • The exact content of the SDK depends on the capabilities of the device, but all devices share common APIs and build on existing proven software components to ensure reliability and quality
  • The software components are fully tested to ensure that they work together with TI’s Code Composer Studio integrated development environment

Release Information

Thank you for your interest in the AM437x Processor Software Development Kit (SDK) for a real-time operating system (RTOS). This software accelerates application development schedules by eliminating the need to create basic system software functions from scratch.
Driver or library

PRU-ICSS-INDUSTRIAL-DRIVES — PRU-ICSS software for industrial drives (EnDat2.2, Tamagawa, Hiperface DSL,SDDF and motor control support)

The PRU-ICSS Protocols enables real-time industrial communications for TI Sitara processors.  The PRU-ICSS protocols are built to use on top of Processor-SDK-RTOS, TI’s unified software development platform, and contain optimized PRU-ICSS firmware, a corresponding PRU-ICSS driver for the (...)

Supported products & hardware

Supported products & hardware

Products
Arm-based processors
AM4376 — Sitara processor: Arm Cortex-A9, PRU-ICSS AM4377 — Sitara processor: Arm Cortex-A9, PRU-ICSS, EtherCAT AM4378 — Sitara processor: Arm Cortex-A9, PRU-ICSS, 3D graphics AM4379 — Sitara processor: Arm Cortex-A9, PRU-ICSS, EtherCAT, 3D graphics
Hardware development
Reference design
TIDEP-0101 — Tamagawa Encoder Interface Protocol on AM437x Reference Design
Evaluation board
TMDSIDK437X — AM437x/AMIC120 Industrial Development Kit (IDK)
Download options

PRU-ICSS-INDUSTRIAL-DRIVES — PRU-ICSS software for industrial drives (EnDat2.2, Tamagawa, Hiperface DSL,SDDF and motor control support)

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Latest version
Version: 01.00.02.03
Release date: Nov 27, 2018
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Release notes

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PRU-ICSS Industrial Drives Linux Installer  — 6879 K

PRU-ICSS Industrial Drives package

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PRU-ICSS Industrial Drives Windows Installer  — 8713 K

PRU-ICSS Industrial Drives package

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download

Prebuilt binaries  — 289 K

PRU-ICSS Industrial Drives pre-built binaries

SHA-256 checksum
Products
Arm-based processors
AM4376 — Sitara processor: Arm Cortex-A9, PRU-ICSS AM4377 — Sitara processor: Arm Cortex-A9, PRU-ICSS, EtherCAT AM4378 — Sitara processor: Arm Cortex-A9, PRU-ICSS, 3D graphics AM4379 — Sitara processor: Arm Cortex-A9, PRU-ICSS, EtherCAT, 3D graphics
Hardware development
Reference design
TIDEP-0101 — Tamagawa Encoder Interface Protocol on AM437x Reference Design
Evaluation board
TMDSIDK437X — AM437x/AMIC120 Industrial Development Kit (IDK)

What's new

  • Motor control interface improvements for EtherCAT CiA402 Drive profile (TIDEP0025)
  • Bug Fixes

Release Information

Thank you for your interest in the PRU-ICSS Industrial Drives Package. The software components are fully tested to ensure that they work together with TI’s Code Composer Studio integrated development environment.

Technical documentation

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* Design guide Tamagawa Encoder Interface Protocol on AM437x Reference Design Sep 15, 2017

Related design resources

Software development

DRIVER OR LIBRARY
PRU-ICSS-INDUSTRIAL-SW — PRU-ICSS industrial software for Sitara™ processors
SOFTWARE DEVELOPMENT KIT (SDK)
PROCESSOR-SDK-AM437X — Processor SDK for AM437x Sitara Processors - Linux and TI-RTOS support

Support & training

TI E2E™ forums with technical support from TI engineers

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See the important notice and disclaimer covering reference designs and other TI resources.