Table 3-8. SpinTAC™ Velocity Move State Transition.............................................................................................................178
Table 3-9. SpinTAC™ Velocity Plan Interfaces........................................................................................................................179
Table 3-10. SpinTAC™ Velocity Plan State Transition.............................................................................................................181
Table 3-11. SpinTAC™ Velocity Plan Additional Functions......................................................................................................182
Table 3-12. SpinTAC™ Velocity Identify Interfaces and Parameters.......................................................................................183
Table 3-13. SpinTAC™ Velocity Identify State Transition........................................................................................................ 185
Table 3-14. SpinTAC™ Position Convert Interfaces and Parameters......................................................................................186
Table 3-15. SpinTAC™ Position Convert State Transition.......................................................................................................187
Table 3-16. SpinTAC™ Position Control Interface Parameters............................................................................................... 188
Table 3-17. SpinTAC™ Position Control State Transition........................................................................................................190
Table 3-18. SpinTAC™ Position Move Interfaces....................................................................................................................191
Table 3-19. SpinTAC™ Position Move State Transition...........................................................................................................193
Table 3-20. SpinTAC™ Position Plan Interfaces......................................................................................................................195
Table 3-21. SpinTAC™ Position Plan State Transition............................................................................................................ 196
Table 3-22. SpinTAC™ Position Plan Additional Functions.....................................................................................................197
Table 4-1. ACIM Motor Parameters in user.h...........................................................................................................................226
Table 5-1. hal.c Configuring the PLL........................................................................................................................................236
Table 5-2. Maximum SVM Input Ranges................................................................................................................................. 237
Table 6-1. Controller (CTRL) States........................................................................................................................................ 254
Table 6-2. State Transitions for Controller (CTRL) State Diagram...........................................................................................255
Table 6-3. Estimator (EST) States........................................................................................................................................... 256
Table 6-4. State Transitions for Estimator (EST) State Diagram............................................................................................. 257
Table 6-5. Listing of PMSM and ACIM EST States..................................................................................................................259
Table 6-6. PMSM Motor Parameters in user.h.........................................................................................................................301
Table 7-1. SpinTAC™ Velocity Identify Error Code..................................................................................................................320
Table 8-1. InstaSPIN-Enabled Devices....................................................................................................................................328
Table 8-2. Allocated Memory for InstaSPIN-FOC™ Library.................................................................................................... 336
Table 8-3. ROM Table Addresses............................................................................................................................................ 337
Table 8-4. Total Memory Usage of InstaSPIN-FOC™ for F2806xF and F2805xF Devices..................................................... 339
Table 8-5. Total Memory Usage of InstaSPIN-FOC™ for F2802xF Devices........................................................................... 339
Table 8-6. Code Size and RAM Usage for SpinTAC™ Components.......................................................................................339
Table 8-7. Stack Utilization of SpinTAC™ Components + InstaSPIN-FOC™..........................................................................339
Table 8-8. CPU Execution Time Wait States (F2806xF and F2806xM Devices)..................................................................... 340
Table 8-9. CPU Execution Time Wait States (F2805xF and F2805xM Devices)..................................................................... 340
Table 8-10. CPU Execution Time Wait States (F2802xF Devices).......................................................................................... 340
Table 8-11. Full Implementation Memory Usage Executing in RAM........................................................................................342
Table 8-12. Full Implementation Executing in RAM................................................................................................................. 342
Table 8-13. Minimum Implementation Memory Usage Executing in RAM...............................................................................343
Table 8-14. Minimum Implementation Executing in RAM........................................................................................................ 343
Table 8-15. Full Implementation Memory Usage Executing in FLASH.................................................................................... 344
Table 8-16. Full Implementation Executing in FLASH............................................................................................................. 344
Table 8-17. Minimum Implementation Memory Usage Executing in FLASH........................................................................... 345
Table 8-18. Minimum Implementation Executing in FLASH.....................................................................................................345
Table 8-19. Full Implementation Executing from ROM and FLASH.........................................................................................346
Table 8-20. Minimum Implementation Executing from ROM and FLASH................................................................................346
Table 8-21. Full Implementation Executing from ROM and FLASH.........................................................................................347
Table 8-22. Minimum Implementation Executing from ROM and FLASH................................................................................347
Table 8-23. CPU Cycle Utilization for SpinTAC™ with Library Executing in RAM on F2806xM Devices................................ 350
Table 8-24. CPU Cycle Utilization for SpinTAC™ Library Executing in Flash on F2806xM Devices.......................................352
Table 8-25. Full Implementation Executing from ROM and FLASH.........................................................................................360
Table 8-26. Full Implementation Executing from ROM and FLASH.........................................................................................361
Table 8-27. CPU Cycle Utilization for SpinTAC™ Library Executing in Flash on F2805xM Device.........................................362
Table 8-28. Minimum Implementation Memory Usage Executing in FLASH........................................................................... 364
Table 8-29. Minimum Implementation Executing in FLASH.....................................................................................................364
Table 8-30. Minimum Implementation Executing from ROM, RAM, and FLASH.....................................................................365
Table 8-31. Minimum Implementation Executing from ROM, RAM and FLASH......................................................................365
Table 8-32. Pin Utilization Per Motor....................................................................................................................................... 366
Table 12-1. Time Domain Common Criteria.............................................................................................................................441
Table 12-2. SpinTAC™ Velocity Control ERR_ID Code...........................................................................................................445
Table 12-3. SpinTAC™ Position Control ERR_ID Code.......................................................................................................... 459
Table 12-4. InstaSPIN-MOTION™ Position Control Advantage.............................................................................................. 463
Table of Contents www.ti.com
16 InstaSPIN-FOC™ and
InstaSPIN-MOTION™
SPRUHJ1I – JANUARY 2013 – REVISED OCTOBER 2021
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