3 InstaSPIN-MOTION Block Diagrams

InstaSPIN-MOTION is designed in a modular structure. Customers can determine which functions will be included in their system. The FAST Observer resides in ROM. The core control algorithms of the SpinTAC library reside in ROM, and these functions are accessed by Application Program Interface (API) from the user code.

InstaSPIN-MOTION supports a wide array of system designs. InstaSPIN-MOTION uses the FAST software encoder for sensorless FOC systems (for additional information, see the TMS320F28052F, TMS320F28054F InstaSPIN-FOC™ Software Technical Reference Manual). InstaSPIN-MOTION also supports solutions that leverage mechanical sensors (for example, encoders and resolvers). These scenarios are described below.

The variables in Figure 4-1, Figure 4-2, Figure 4-3, and Figure 4-4 are defined as:

• θ_Qep: position angle signal from encoder
• θ_SP: sawtooth position reference signal generated by SpinTAC Position Move
• ω_lim: speed limit (used in position profile generation)
• : acceleration limit
• : jerk limit
• ω_Ref: speed reference
• : acceleration reference
• : motor time constant