Pulse Width Modulation

sT-Embed Training

Ric Kolk
Altair Engineering
rkolk@altair.com
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Topics:
• PWM & Duty Cycle
• ePWM Block – Modules
• Time Base
• Action Qualifier
• Deadband
• Event Time
• Solenoid Modeling, Simulation, Transfer Function Approximation, Processor in the Loop (PIL) Simulation (requires F28069M board to be attached)
• Motor Modeling, Dynamics, Time Constant
• Using the eCap block to record PWM Carrier Period and Frequency (Example requires the F28069M board to be attached)
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PWM Basic Terminology

The “ePWM” block (“Embedded/F280x”) produces two PWM signals (PWMA and PWMB). These control signals are
always opposite each other; when one is high (On), the other is low (Off):

Tpwm tOn
On value

Off value

On value

Off value

Three Important PWM Features:

Tpwm = Carrier Period(sec)

1
Fpwm = Carrier Frequency, Hz =
Tpwm
tOn
Duty Cycle =
Tpwm
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PWM Generation
In an embedded application, the target processor produces pulses from a Time Based Clock (TBCLK). The Time Based Clock can run at
the CPU speed or a fraction of it. Pulses produced by the TBCLK are counted as they occur forming a staircase signal whose count value
at any time is monitored by a Time Based Counter (TBCTR). When the TBCTR reaches a preset value named the Time Base Period
(TBPRD), the counter resets itself to 0 and the staircase signal repeats. PWM signals are produced based when the TBCTR equals a
Compare (CMP) value.
TBCTR
(counts)
Time Based Clock (TBCLK), (sec)
TBPRD value

CMP value

5
4
3
2
1
0

time
PWM

On value

Off value

time
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PWM Count Mode, Period, and Frequency

Most target processors support three Count Modes; Up Count, Down Count, and Up/Down Count:

Tpwm is the PWM

Carrier Period (sec),
Up Fpwm is the PWM
Count Carrier Frequency Tpwm = (TBPRD + 1) * TBCLK
Mode: (Hz). Fpwm = 1/Tpwm

Each step occurs at

a clock tick.

Down Timer Period is Tpwm = (TBPRD + 1) * TBCLK

Count the number of Fpwm = 1/Tpwm
Mode: steps in one
Carrier Period
Tpwm is approx.
Tpwm = 2*TBPRD* TBCLK
Up/Down twice the value for
the Up/Down Fpwm = 1/Tpwm
Count
Mode: Count Mode
compared with
the Up or Down
Count Modes
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PWM Resolution
The resolution, n, of a PWM generator is equal to the number of Time Based pulses present in the PWM period
expressed as a number of bits.
𝑇𝑝𝑤𝑚
Number of Time Base pulses per PWM period =
𝑇𝐵𝐶𝐿𝐾
𝑇𝑝𝑤𝑚
Resolution expressed as a number of bits: 𝑛 = 𝑙𝑜𝑔2
𝑇𝐵𝐶𝐿𝐾

For example, a 20kHz PWM signal is to be generated using an 80MHz CPU. The Time Based Clock
(TBCLK) is set to 1/80Mhz and the resolution is calculated as:

𝑇𝑝𝑤𝑚 1
= 20𝑘 = 4000
𝑇𝐵𝐶𝐿𝐾 1
80𝑀

𝑛 = 𝑙𝑜𝑔2 4000 = 11.96 = 12 bits

The High Resolution Timer option, if available on your hardware, decreases the TBCLK to a value of
150e-12 seconds. This is particularly useful if your application requires a high PWM frequency
(NOTE: 250kHz and greater is considered to be a high PWM frequency).
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sTE ePWM Block

The sTE ePWM block (below) is a two channel device. It has two Duty Cycle (DC) inputs and produces two PWM output signals and two
Start of Conversion (SOC) signals. The channels are referred to as “A” and “B”. The DC inputs are fractions in 1.16 format. The PWM
and SOC signals are sent directly to hardware pins. They are accessible to your sTE model using an “Extern Read” statement.

PWM
A
Time Based Action Qualifier Deadband
Module Module PWM
Module
B

DCA
SOC
DCB A
Event Time
Module SOC
B

The ePWM block consists of four key Modules; (1) Time Based, (2) Action Qualifier, (3) Deadband,
and (4) Event Timer. Each Module is described in this document.
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sTE PWM Block – Module Properties

The sTE ePWM block (“Embedded/Piccolo/ePWM”) property window is used to configure the PWM Modules.

Time Base Module: Define the type of

count and Period

Action Qualifier Module: Define when

the PWM cycles and the PWM output Pin
PWM Output Registers

Deadband Module: Define deadband

to prevent “shoot-through” and polarity

Event Time Module: Define the SOC

signals SOC Outputs
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sTE ePWM – Basic Time Base Module Configuration:

The basic “Time Base” Module features of the ePWM (“Embedded/F280x”) block are located in the “Time Base” frame of the ePWM
properties window.
Sets the TBCLK = 150e-12 seconds (approximately) for high
frequency PWM applications (typically > 250kHz)
Sets the TBCLK = k/CPU clock speed
(Hz), where k is selected from the
User select: Set the dropdown menu. Note: “None” means
TBPRD = # clock k=1.
ticks per PWM
period. 3 Count
Modes:

Explained on the
next slide

sTE calculates the PWM Carrier frequency

(Fpwm) based on the Timer Period, Count Mode,
and Rate Scaling.
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Change Period Dynamically Option

In some situations it is not possible to create the desired PWM Carrier Frequency from the integer “Timer Period”. Suppose we wanted to
create a PWM signal with a minimum 25nsec ON time and 475nsec OFF time. The “Count Mode” is set to “Up/Down”. The CPU Speed is
90MHz and the TBCLK = 1/90MHz.
Based on the ON and OFF times selected, the PWM Period is calculated as 500nsec and the PWM Carrier Frequency is
calculated as 1/500nsec = 2MHz.
Since the “Timer Period” MUST be an integer value, it is not
possible to achieve the desired 2MHz PWM Carrier Frequency.
(Here the best we can do is set “Timer Period” = 2 to achieve
2.04545MHz)

To solve this problem, select the “Change Period Dynamically” option which adds a “Period(1,16)” input pin to the PWM block. This
pin accepts a user defined “Fractional Period Multiplier” constant that is calculated as follows:

Experiment with the “Timer Period” value until you obtain a value that produces a PWM Carrier Frequency, F, such that F/2MHz is a
rational fraction between 0 and 1 (Note: 2MHz is the desired PWM Carrier Frequency). The “Fractional Period Multiplier” is set to this
rational fraction.

After some experimentation adjusting the “Timer Period” value, we

select a value of 200 which produces a PWM Carrier Frequency of
225kHz. Since 225k/2M = .1125 is a rational fraction between 0 and
1, we will use this “Timer Period” value and a “Fractional Period
Multiplier” set to .1125 to achieve the 2MHz PWM Carrier Frequency.
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PWM Frequency Selection Issues:

Interference with Mechanical System Frequency: Generally dominant mechanical frequencies are in the 200Hz or less range. PWM
frequency should be selected at least 10x the dominant mechanical frequency. This is normally not a limiting factor.

Power Loss: In a motor, torque is proportional to the average current. Consider a motor with a torque constant k driven by a constant
current source, 𝐼𝑐𝑜𝑛𝑠𝑡 and by a PWM current source that ranges from 0 to 𝐼𝑝𝑒𝑎𝑘 and has a Duty Cycle, DC. To achieve the same
torque, the following is true:

𝑇 = 𝑘 × 𝐼𝑐𝑜𝑛𝑠𝑡 = 𝑘 × 𝐷𝐶 × 𝐼𝑝𝑒𝑎𝑘
1
𝐼𝑝𝑒𝑎𝑘 = ×𝐼 The PWM driven motor requires
𝐷𝐶 𝑐𝑜𝑛𝑠𝑡 more current than the constant
𝑃 = (𝐼𝑝𝑒𝑎𝑘 × 𝐷𝐶)2 × 𝑅 current motor to develop the
same torque.

2
Heat: In a motor winding there is always a small resistance, R. As current is passed through the winding resistance, 𝐼𝑅𝑀𝑆 𝑅 watts of
energy is transferred from electrical to heat energy. For a PWM current signal with a period, T, on-time, tOn, Duty Cycle, DC, and
ranging from 0 to 𝐼𝑝𝑒𝑎𝑘 , the 𝐼𝑅𝑀𝑆 value is calculated as:

𝑡𝑂𝑛
1 2
1 2 𝑡𝑂𝑛
2 𝑡𝑂𝑛 𝑡𝑂𝑛
𝐼𝑅𝑀𝑆 = 𝐼𝑝𝑒𝑎𝑘 𝑑𝜏 → 𝑖𝑅𝑀𝑆 2 = 𝐼 𝑡 = 𝐼𝑝𝑒𝑎𝑘 → 𝐼𝑅𝑀𝑆 = 𝐼𝑝𝑒𝑎𝑘
𝑇 0 𝑇 𝑝𝑒𝑎𝑘 0 𝑇 𝑇
𝐼𝑅𝑀𝑆 = 𝐼𝑝𝑒𝑎𝑘 𝐷𝐶
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PWM Frequency Selection Issues:

2
For a 0 to 𝐼𝑝𝑒𝑎𝑘 PWM signal, power loss through a resistor, R, is calculated as: 𝑃 = 𝐼𝑝𝑒𝑎𝑘 × 𝐷𝐶 × 𝑅

For a constant current signal of value DC × 𝐼𝑝𝑒𝑎𝑘 , power loss through R is: 𝑃 = (𝐼𝑝𝑒𝑎𝑘 × 𝐷𝐶)2 × 𝑅

As DC decreases, more and more power is lost through the

resistance to heat when using a PWM signal compared to a
constant signal of the same average value.

Switching Losses: An ideal switch is either fully on or off which means it never dissipates any power. Real switches don’t switch
instantaneously, they have a transition time during which they dissipate power. The transition time is usually fixed per edge. For
example, using a switch that requires a 1 microsecond transition time in a 25kHz PWM (40 microsecond period) means that the transition
time is 1/40 of the total. If the PWM frequency were increased to 250kHz (4 microseconds), this ratio would increase to ¼ which would
significantly and adversely affect performance.

Vibration and Noise: An electric motor uses wire coils to produce magnetic force. Every length of wire in the motor undergoes lateral
movement proportional to the current being passed through it. When the current is cycled, i.e. a PWM signal, the movement becomes a
regular vibration audible to the human ear. Since the range of human hearing is generally considered to be 20Hz to 20kHz, PWM
frequency is often selected to be 20kHz or greater to eliminate audible noise being produced.

Resolution: Normally a resolution of 10 bits (1/1024 = .001) is adequate. Based on your CPU speed and PWM period, confirm your
resolution is adequate. If not consider using the “High Resolution Timer”, adjusting the PWM period, overclocking, or moving to a faster
CPU.
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Advanced Time Base Module Configuration:

The advanced “Time Base” Module features of the ePWM (“Embedded/F280x”) block are located in the “Time Base” frame of the
ePWM properties window

TBPHS: is a count offset value (to

produce a phase shift)

TBCTR = TBPHS on SYNC1 pulse: When

checked, the TBPHS count offset value is
added to TBCTR when a SYNC1 pulse
Specify the condition when to load the CMPA occurs.
and CMPB values. Choices are [Zero, Period,
Period or Zero, and Immediate]. Normally “Zero” Change Phase Dynamically: Adds an input
is selected. pin to the PWM block which accepts a
fractional value that is multiplied by the
“Timer Period” and assigned to “TBPHS”.
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Advanced Time Base Module Configuration - Synchronization:

The operation of PWM modules can be synchronized to operate as a single system when needed using hardware pins
named EPWMSYNCI (input) and EPWMSYNCO (output).

Input pin
Output pin

There are 4 selectable synchronizing actions that can be applied to the

EPWMSYNCO output signal:

EPWMSYNCI: This sets EPWMSYNCO = EPWMSYNCI

TBCTR = zero: This sets EPWMSYNCO = 1 when the TBCTR (time based
counter) = 0
TBCTR = CMPB: This sets EPWMSYNCO = 1 when the TBCTR = CMPB
None: This sets EPWMSYNCO =0 always
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sTE PWM – Time Base Setup Example 1

Example 1:

Setup the PWM to produce a 10kHz carrier frequency with “Count Mode” set to “Up. The CPU Speed is 80MHz.

Step 1: Experiment with “Timer Period” until 10kHz Carrier Frequency is

obtained.

NOTE: CPU Speed = Timer Period * Carrier Frequency

NOTE: there are 8000 discrete levels of duty cycle in this configuration
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sTE PWM – Time Base Setup Example 2 (1/3)

Example 2:

Setup the PWM to produce a 25nsec ON and 475nsec OFF signal with “Count Mode” set to “Up/Down”. The CPU Speed is 90MHz.
Based on the ON and OFF times provided, the Carrier Period is calculated as 500nsec OR equivalently, the Carrier Frequency is
2MHz.
“Timer Period” MUST be an integer
value, we cannot achieve the desired
2MHz Carrier Frequency.
To solve this problem, use the “Change Period Dynamically” option
which allows you to define a “Fractional Period Multiplier” and send
to the “ePWM” block through the “Period” input pin.

Operation:
Carrier Frequency
New Carrier Frequency Fractional Period Multiplier
=
New Timer Period = Timer Period ∗ Fractional Period Multiplier

Setting the “Fractional Period Multiplier” = .1125, these settings

become:

New Carrier Frequency = 225kHz/.1125 = 2MHz

New Timer Period = 200 * .1125 = 22.5
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sTE PWM – Time Base Setup Example 2 (2/3)

sTE model using the F28069M LaunchPad running at 90MHz. PWM setup for a Carrier Frequency = 2MHz using Up/Down Counter.

Source Model:

PWM Setup:

Source Model
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sTE PWM – Time Base Setup Example 2 (3/3)

Debug Model:
Simulation Setup:
TimeStep = .01 seconds
End = 20 seconds
Sample Rate = 225kHz
NOTE: the actual sample rate is 225kHz/.1125 =
2MHz

Plot x-Range Calculation:

200 points are recorded in the buffer.
PWM frequency = 2MHz = 500nsec
Fractional Period Multiplier = .1125
xMax = 200 * 500e-9 * .1125 = 1.125e-5 seconds

Debug Model
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PWM Events & Actions

The Duty Cycle input value is converted to a TBCTR
(counts)
CMP value.
TBPRD value
As the TBCTR pulse counter increments from 0 CMP value
to TBPRD, it passes through the CMP value.
5
4
3
Similarly, when the TBCTR is reset to 0, it also 2
passes through the CMP value. These four 1
0
Events, Z, Up, Down, and Period are shown
(right): Down Event: time
Zero (Z)
Event: TBCTR = CMP while decreasing
TBCTR = 0 Up Event: Period (P) Event:
TBCTR = CMP while increasing TBCTR = TBPRD

At each Event, any of four Actions can be performed. These actions provide a means to define the PWM edges:

X = Do Nothing
0 = Force the PWM value to 0 (Off Value)
1 = Force the PWM value to 1 (On Value)
T = Toggle the PWM value
if the PWM value = 1, Toggle will set it = 0 and if the PWM value = 0, Toggle will set it = 1
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sTE ePWM – Action Qualifier Module

The “Action Qualifier” Module features (Events, Actions, and PWMA and PWMB output pins) are configured “Action Qualifier” frame of
the ePWM properties window.

Events:
Z = When TBCTR = 0
up = When TBCTR = CMP while increasing
down = When TBCTR = CMP while decreasing
PWMA Action, P = When TBCTR = TBPRD
Event, & Pin
Settings

Output Pin numbers

assigned to PWMA and
PWMB.

PWMB Action,
Event, & Pin User select: Action dropdown:
Settings X = Do Nothing
0 = Force PWM output to 0
1 = Force PWM output to 1
T = Toggle PWM output
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PWM Examples

Example Example Example

1 2 3
Count Mode Count Mode Count Mode

TBCTR

CMP
value

PWM time

time
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PWM Deadband
An H bridge is an electronic circuit consisting of 4 switches. One use of an H bridge is to provide bidirectional rotation
control of a DC motor.

When switches S1 and S4 are closed (and S2 and S3

are open) a positive voltage is applied across the S1 S3
motor (M) causing it to rotate in one direction. Closing +
Vd M
S3 and S2 and opening S1 and S4 reverses the c
voltage polarity across the motor causing it to operate - S2 S4
in the reverse direction.

The four switches are controlled by a complimentary Closed

PWM
pair of PWM signals, PWMA and PWMB. PWMA A Open
controls S1 and S4 and PWMB controls S2 and S3. An Closed
ideal pair of PWM control signals is shown to the right: PWM Open
B

Ideal switches require 0 time to switch S1 S3 S1 S3

between states (Open and Closed). If
the switches are ideal, two current flow S2 S4 S2 S4
patterns are possible:
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PWM Deadband – Shoot Through

Real switches (Thyristors, FET’s, …) do not behave in an ideal manner. They have a finite “turn On” and “turn Off” switch transition time
which, in general, are not equal. When these switches are used in an H bridge under PWM control, these transition times can cause a
catastrophic failure of the switches called “Shoot Through”. For example, a thyristor application may have a “turn On” = .2 milliseconds
and “turn Off” = 2.8 milliseconds.

In the following sequence of switch conditions, PWMA transitions from ON (Closed) to OFF (Open) and PWMB from OFF to ON. The
sequence uses non-ideal switches, each with a “turn Off” time > “turn On” time.

PWMA commanded
S1 S3 S1 S3 S1 S3 S1 and S4 to Open
but due to their longer
S2 S4 S2 S4 S2 S4 switch “turn Off” times,
they remain closed
PWM Closed PWM Closed PWM while S3 (commanded
A A A Open by PWMB) closes
Closed because of it’s shorter
PWM
PWM Open PWM Open “turn On” time*.
B B B

PWM signal generators have a feature called “Deadband” which provides a method for independently adding delay to the PWMA and
PWMB edges (both rising and falling edges) to accommodate switch transition times and prevent a Shoot Through situation from
occurring.
* S2 was excluded in this explanation for clarity, it too could be in a closed state.
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sTE ePWM – Deadband Module

The “Deadband” Module allows delays to be added to rising and/or falling edges of the PWM signals.

The input signals to the “Deadband” module are the PWMA and PWMB output signals from the “Action Qualifier” module. Internally, the
“Deadband” module creates the signals “DbA” and “DbB” for channel A and B based on the “Input Select” settings. The “Delay Mode” and
“Polarity” settings are then applied to the “DbA” and “DbB” signals to produce the PWMA and PWMB output signals (below):

Deadband Module

PWM DbA PWM

A A
Action Qualifier Input Select Delay Mode
Module And Polarity
PWM DbB PWM
B B

The “Deadband” Module of the ePWM

(“Embedded/F280x”) block is located in the
"Deadband" frame of the ePWM properties
window.
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sTE ePWM – Deadband Module

Input Select: Specifies the PWM source signals to be used for ChA and ChB deadband operations. These signals are named “DbA” and
“DbB”. Four configuration options are available

• PWMA In is the source for both falling-edge and rising-edge

delay. This is the default mode.
• PWMA In is the source for falling-edge delay, PWMB In is the
source for rising-edge delay.
• PWMA In is the source for rising edge delay, PWMB In is the
source for falling-edge delay.
• PWMB In is the source for both falling-edge and rising-edge
delay.
Delay Mode: Specifies the
PWM Deadband mode to be
used for Deadband • Off
operations, there are four • Deadband is applied to PWMA rising edge
• Deadband is applied to PWMB falling edge
options: • Deadband is applied to PWMA rising edge and
PWMB falling edge

Polarity: The polarity control

allows you to specify whether the
rising-edge delayed signal and/or • Off
the falling-edge delayed signal is • Invert rising edge delay on PWMA
• Invert falling edge delay on PWMB
to be inverted before being sent
• Invert rising edge delay on PWMA and invert
out of the Deadband module. falling
There are four options edge delay on PWMB
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sTE ePWM – Deadband Module Examples

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sTE ePWM – Deadband Module Examples

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sT-Embed ePWM – Event Time Module

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sT-Embed ePWM – Fault Handling

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PWM Example – Solenoid Control

Solenoid Model (Top Level):

Solenoid Model (Details):

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PWM Example – Solenoid Simulated Response

Solenoid Model Simulation Response:

Vin = 5 volts applied at 0.2 seconds

fLoad = 10 Newtons applied at 0.5 seconds and removed at 0.7 seconds
Simulation Update Time = 1e-5 seconds

Solenoid Model
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PWM Example – Solenoid PWM Generator

PWM Model (Top Level):

PWM Model (Details):

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PWM Example – Solenoid PWM Generator Simulation

PWM Model Simulation Results:

PWM Carrier Frequency = 10kHz

Duty Cycle Slider swept from .8 to .15 during the .002 second simulation
Simulation Update Time = 1e-5 seconds

PWM Generator Model

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PWM Example – Solenoid w/PWM Control Simulation

Solenoid w/PWM Control Simulation Results:

PWM Carrier Frequency = 10kHz

Duty Cycle Slider swept randomly between 0 and 1 during the 10 second simulation
Simulation Update Time = 1e-5 seconds

Solenoid Model with PWM Control

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PWM Example – Solenoid Approximate Transfer Function

Solenoid Approximate Fixed Point Transfer Function

Vin = 5 volts
Fload = 0 Newtons
Simulation Update Time = 1e-5 seconds

Solenoid Approximate Transfer Function Model

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PWM Example – Solenoid PIL – Source Model

PIL Source Model (Top Level):

PIL Source Model (Details):

Simulation Update Time = 1e-5 seconds

PWM Driving Solenoid TF Source Model

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PWM Example – Solenoid PIL PWM Configuration

PWM Configuration

Carrier Frequency = 10kHz

GPIO0 = PWM 1A output
GPIO1 = PWM 1B output
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PWM Example – Solenoid PIL – Debug Model

PIL Debug Model (Top Level):

Simulation Update Time = .01 seconds

PWM Driving Solenoid TF Debug Model

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PWM Example – Solenoid PIL – Debug Model

PIL Debug Model (Details):

Simulation Update Time = .01 seconds

PWM Driving Solenoid TF Source Model

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PWM Example – Motor Control

It is important to understand how the PWM Carrier Period (and Frequency) is selected.

To do this we will create a basic motor model, identify its fundamental time constant, and then select
the PWM Carrier Period short enough to produce an acceptable level of motor velocity fluctuation.

Basic Motor Model: Where:

The equivalent motor block diagram becomes:

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Motor Dynamics – Electrical Time Constant

Using the following example values;

The Electrical Time Constant is calculated as:

To calculate the Mechanical Time Constant, the following simplifications are applied;
Tload = 0 (no load torque)
Motor friction, B = 0
And the electrical dynamics are replaced by their dc-value;

Applying these assumptions, the motor model block diagram simplifies to:
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Motor Dynamics – Mechanical Time Constant

The closed loop transfer function of the simplified motor model is calculated as:

And the Mechanical Time Constant is calculated as:

In successful applications, the Mechanical Time Constant should be the fundamental (or dominant)
time constant, typically 100 to 1000 times slower than the electrical time constant.
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PWM Carrier Period & Frequency

The PWM Carrier Period, Tpwm, and Frequency, Fpwm, is calculated to produce an acceptable
value of motor velocity fluctuation.

As an example, assume that a 0.05% velocity fluctuation is the goal.

If the initial motor velocity, w(0) = 1, and the dominant time constant of the motor = mechanical time
constant is 0.2 seconds,

Then the problem is that of solving the mechanical

time constant for the Tpwm (PWM Carrier Period):

Fpwm = 1/Tpwm = 10KHz.

The typical range for the PWM Carrier Frequency is 10KHz <= Fpwm <= 40KHz. Using frequencies
less than 10KHz result in unacceptable motor velocity ripple and values greater than 40KHz tend to
increase the transistor switching frequency (in the H Bridge) to a level that causes them to heat up
and prematurely fail.
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Motor Speed Response to PWM

This example illustrates the response of a motor transfer function model to a PWM signal
implemented on the F28069M LaunchPad target. Values from the previous “Motor Dynamics”
example are used.
The motor model is defined as a unity gain first order transfer
function with a mechanical dominant time constant = .2 seconds
(right) PWM Carrier Frequency
The PWM Carrier Frequency is set to 10KHz. Using the following settings:
F28x Properties: CPU Speed ePWM Properties:
(MHz) = 80MHz Rate Scaling = 1/2
Count Mode = up/down
Timer Period = 2000

if counting “up” and TBCTRA goes thru

CMPA, set EPWMA = 0
if counting “down” and TBCTRA goes
thru CMPA, set EPWMA = 1

if counting “up” and TBCTRB goes thru

CMPB, set EPWMB = 1
if counting “down” and TBCTRB goes
thru CBMPB, set EPWMB = 0
Rising and Falling edge deadbands
(time delays) normally set to the same
value (units are ticks)

Since the PWM Carrier Frequency is 10KHz, the target model update frequency is selected to
be 20 times faster (200KHz), this is equivalent to a target update time = 1/200KHz = 5e-6 sec.
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Motor Speed Response – Motor Model

The motor model transfer function is converted to a fixed point discrete
transfer function, format 4.32, using an update time = 5e-6 sec (right)

The motor model transfer function receives the PWMA signal from
GPIO0 (below) NOTE: PWMB is not used in this example.

Format 4.32, same as the transfer function

Monitor Buffers are used to record 100 elements of PWM data (into Monitor Buffer 0) and Motor
speed (into Monitor Buffer 1) – (below):

View source model in sT-Embed

The trigger signal “:trig” is pulsed every time a PWM cycle begins (10KHz)
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Motor Speed Response – Source Model

The completed Source model becomes
(right):

The source model is captured in a

compound block named “ePWM” (below):

Format 1.16 required as the duty cycle command value for the ePWM block

C Code is generated for “ePWM” and compiled into “MotorRippleDueToPWMCarrierFrequency.out”

by applying the “Code Gen…” option under the “Tools” menu.

The Debug model is created from the

Source model by replacing the “ePWM”
compound block with a “TargetInterface”
block configured to read the “.out” file
produced by the Source model. The
“TargetInterface” is configured to
execute at a “Sample Rate (Hz):” =
200KHz rate (right):
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Motor Speed Response – Debug Model

The sT-Embed Debug model, which includes the “TargetInterface” block, is configured to execute at a
0.01 second update time allowing the JTAG interface adequate time to transfer the Monitor Buffer
contents.

The competed Debug model and results showing the PWM signal and the motor speed buffers are
presented below:

Fixed Point motor model

transfer function % CPU
utilization.

NOTE: this model would not

execute at the 200KHz rate if
Fixed Point were NOT used.

NOTE: Debug model settings: dt = 0.01

seconds, "End(sec)" = 25; "Run in Real Time"
checked, "Auto Restart" checked, and "Retain
View debug model in sT-Embed State" checked.
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Motor Speed Response – Speed Jitter Results

The Debug model was allowed to restart several times with the “MotorSpeed*” fixed at .795 to
determine if the Motor Speed Jitter was within the +/- 0.0005 unit limits (below, right)

Motor Speed response to PWM is within

the +/- 0.0005 unit limits
View debug model in sT-Embed
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Record ePWM timing using eCap Block (1/5)

The “eCap” block (Embedded/Piccolo/eCap) provides the ability to record the “on” and “off” times of
PWM signals. Let’s create a sT-Embed model that outputs a PWM signal on GPIO0 and an “eCap”
block that records the “on” time and “period” of the PWM signal for display.

The following model is constructed. We have also included a “Monitor Buffer” to display the PWM
waveform in a “plot” block
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Record ePWM timing using eCap Block (2/5)

The “PWM” and “eCap” blocks are configured as follows:

Record the eCap input

first 2 set to
events GPIO5

Event 1
Triggers here &
timer is rest Event 2
Triggers here
PWM output (channel A) set to GPIO0
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Record ePWM timing using eCap Block (3/5)

The “eCap” block is configured to output the values of the first 2 events. The following figure
illustrates how the event values are calculated.

Timer count

Period
On time

time

Event 1
Triggers here &
timer is rest
Event 2
Triggers here
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Record ePWM timing using eCap Block (4/5)

For the “eCap” block to operate, we need to jumper the pins that correspond to GPIO0 and GPIO5.
The pin definitions for the F28069M LaunchPad are presented below.

The jumper is positioned as

show to the right connecting
pins 35 (GPIO5) and 40
(GPIO0)
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Record ePWM timing using eCap Block (5/5)

Results are shown below:

View source model in sT-Embed

View debug model in sT-Embed

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Record ePWM timing using eCap Block (4/5)

For the “eCap” block to operate, we need to jumper the pins that correspond to GPIO0 and GPIO5.
The pin definitions for the F28069M LaunchPad are presented below.

The jumper is positioned as

show to the right connecting
pins 35 (GPIO5) and 40
(GPIO0)
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Pin Out definitions for F28069 ControlStick

Using the PWM and “eCap”

settings from the previous
example, the jumper settings for
the F28069 ControlStick
positioned as show to the right
connecting pins 15 (GPIO5) and
17 (GPIO0)
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End of Section