Texas Instruments Evaluation Board Electronics
Launchpad F28069M with two DRV8305 Booster Packs - weight: 85g
Description
The TI evaluation boards provide a ready-to-use solution for dual brushless motor control, combining the Launchpad F28069M microcontroller with DRV8305 Booster Pack motor drivers.Key Specifications
- Microcontroller: TI Launchpad F28069M
- Motor drivers: 2x DRV8305 Booster Packs
- Channels: 2 independent brushless motors
- Continuous current: 15A per channel
- Peak current: 20A per channel
- Supply voltage: 5V - 45V (typically 24V)
- Control frequency: 10kHz Field Oriented Control (FOC) per channel
- Main loop: 1kHz control loop with realtime PC
- Communication: CAN or USB
- Weight: 85g
Components
| Component | Details | Ordering Information |
|---|---|---|
| TI Launchpad F28069M | Product Page | Mouser 595-LAUNCHXL-F28069M DigiKey 296-38832-ND |
| TI Booster Pack DRV8305EVM | Product Page | Mouser 595-STXL-DRV8305EVM DigiKey 296-43181-ND |
Documentation
Brushless Motor Control System
The system consists of:
- Power supply (24V)
- TI Launchpad with motor driver boards
- Brushless motors with encoders
- Communication interface (CAN or USB)
Field Oriented Control (FOC)
The TI boards implement Field Oriented Control for efficient, high-performance motor control. FOC provides:
- Precise torque control
- Smooth operation at all speeds
- High efficiency
- Reduced acoustic noise
Launchpad Pin Assignment
GPIO Pins
- Status LEDs connected to digital GPIO pins
- GPIO 26 to ground disables motor drivers
Analog Inputs
The Launchpad has 16 analog input channels: Per Booster Pack (7 channels each):- 3 phase voltages
- 3 phase currents
- 1 supply voltage
Booster Pack Positions
The two booster packs are installed on the bottom side of the Launchpad, providing dual motor control.
Board Preparation
Setting the Jumpers
Encoder Connector Installation
Apply Heat Shrink
Apply thin heat shrink to red and yellow wires.
Apply larger heat shrink around all wires.
Locate Encoder Pins
Find the encoder pins on the Launchpad. The two ports are labeled QEP_A and QEP_B.
Booster Pack Preparation
Modifying Screw Terminals
This modification is optional but recommended for cleaner wire routing. Both booster packs must be connected to the power supply.
Bend Metal Clips
Use a small screwdriver to bend the metal clips outwards.
Repeat for all 5 metal clips.Remove Screws
Push on the screws from the bottom and remove them. Keep screws for reinstallation.
Remove the metal clips.Modify Covers
Mark hole locations on the two-pin power terminal with a pen.
Push plastic covers inwards to remove them.
Drill the plastic cover at marked locations. Start with 2mm, then 2.5mm, then 3mm drill bit.
Power Supply Wire Preparation
Strip Insulation
Use 1mm² wire. Carefully cut into the insulation with a cutter and rotate.
Cut the insulation again with a 5mm offset.
Motor Phase Wire Preparation
Final Assembly
Install the two booster packs on the bottom of the Launchpad. Ensure pin headers are aligned correctly.
The TI dual motor driver electronics are now ready for use with actuator modules.
DIP Switch Configuration
Switch Settings
- Run from Flash
- Programming Mode
Setting: ON - ON - OFFUse this setting for normal operation when motor control code is programmed into flash memory.
CAN Communication
Setup
- Install a dual channel CAN card in your computer (e.g., PEAK PCI Express)
- Connect using a 9-pin D-sub connector
- Flash the Launchpad via USB with DIP switch: ON - ON - ON
- Set DIP switches to ON - ON - OFF (run from flash)
- Control motors via CAN at 1kHz
Compatible Robots
The TI Evaluation Boards are used for:- TriFingerEDU v1
- Quadruped Robot 8dof v1
- Leg Test Stand v1
Comparison with Micro Driver
The Micro Driver Electronics provides the same capabilities as the TI boards with these differences:
| Feature | TI Boards | Micro Driver |
|---|---|---|
| Size | Large | 10x smaller |
| Weight | 85g | 13g (6x lighter) |
| Programming | Onboard USB | External JTAG |
| Communication | CAN/USB | SPI (Master Board) |
| Cost | Lower (evaluation pricing) | Higher (production) |