DesignDRIVE Development Kit

IDDK v2.2 Hardware

Reference Guide

Literature Number: SPRUI23

July 2015
 Chapter 1
SPRUI23 – July 2015

Introduction

The DesignDRIVE kit (IDDK) is a single platform that facilitates development and evaluation of design
solutions for many industrial drive and servo topologies. The IDDK offers support for a wide variety of
motor types, sensing technologies, encoder standards, and communications networks. The IDDK also
offers easy expansion to develop with real-time Ethernet communications and functional safety topologies
that enable more comprehensive, integrated system solutions. Based on the real-time control architecture
of TI’s C2000™ microcontrollers (MCUs), the kit is ideal for the development of industrial inverter and
servo drives used in robotics, computer numerical control (CNC) machinery, elevators, materials
conveyance, and other industrial manufacturing applications.
The IDDK offers an integrated-drive design with a full-power stage to drive a 3-phase motor, easing
evaluation of a diverse range of feedback sensing and control topologies. The kit includes a 180-pin
HSEC controlCARD based on the TMS320F28377D C2000 Delfino™ MCU, which integrates dual C28x
real-time processing cores and dual CLA real-time coprocessors that provide 800 MIPS of floating-point
performance with integrated trigonometric and FFT acceleration.
The sophisticated sensing peripherals on the TMS320F28377D MCU include sigma-delta filter modules
with up to eight input channels, four high-performance 16-bit ADCs, and eight windowed comparators.
These peripherals enable the IDDK to support shunt, flux gate/HALL, and sigma-delta current sensing
simultaneously. For position feedback, the IDDK leverages integrated MCU support for the resolver and
incremental encoder interfaces. In addition, customers can also explore configuration options that place
the MCU on either side of the high-voltage isolation barrier.
Ti designed the kit to plug into 110-V/220-V AC mains, deliver up to 8 amps, and to drive motors to 1
horsepower.
This document covers the kit contents and hardware details and explains the functions and locations of
various connector on the board. This document supersedes all the documents for the kit.

WARNING
TI intends this EVM to be operated in a lab environment only and
does not consider it to be a finished product for general consumer
use.
TI intends this EVM to be used only by qualified engineers and
technicians familiar with risks associated with handling high-
voltage electrical and mechanical components, systems, and
subsystems.
This equipment operates at voltages and currents that can cause
shock, fire, and/or injure you if not properly handled or applied.
Use the equipment with necessary caution and appropriate
safeguards to avoid injuring yourself or damaging property.
TI considers it the user’s responsibility to confirm that the voltages
and isolation requirements are identified and understood before
energizing the board and or simulation. When energized, do not
touch the EVM or components connected to the EVM.

C2000, Delfino, controlSUITE are trademarks of Texas Instruments.

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 Chapter 2
SPRUI23 – July 2015

Getting Familiar With the Kit

2.1 Contents of the Kit

The kit consists of the following items:
• An IDDK EVM
• A TMDXCNCD28377D control processor
• A USB-B to A cable
• A PMSM motor for evaluation
– The motor is not included with TMDXIDDK377D.
– The motor is included with TMDXIDDKM377D bundle.
– The motor is available stand-alone from the TI eStore. (The part number is HVPMSMMTR.)
• Items not included
– An external, isolated power supply for developing code at low voltage

2.2 IDDK EVM Features

The EVM has the following features:
• Processor slots for control, real-time connectivity, and functional safety
• The Position Encoder Suite
• The Current Sensor Suite
• A high-voltage rectifier and inverter
• Power supplies
• Two digital-to-analog converters (DACs) to observe system variables on an oscilloscope for debugging
• The Hardware Developer’s Package (including schematics and bill of materials) is available through
controlSUITE™.

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 Chapter 3
SPRUI23 – July 2015

Hardware Overview

Figure 3-1 shows that the IDDK evaluation board is an open board without enclosures.

Figure 3-1. IDDK EVM Kit

The board can be divided into the following functional blocks:

• The processor (CPU) block for control, real-time connectivity, and functional safety
• The position encoder suite
• The current sensor suite
• The power inverter and rectifier
• Onboard power supplies
For experimentation, three GND planes are on the board: one plane is for safety and connectivity circuits,
another plane is for control and interface, and a third plane is for high power circuits. Provisions are on the
board to connect GND planes. If the GND control is tied to the power GND, ensure that position sensors
and encoders connected to the board are properly grounded to earth.

NOTE: IDDK offers reconfigurable GND planes, an interprocessor interface, and power stage
control. The GND plane configurations can change depending on the style of current sensing
and position sensing in the drive solution. The default configuration of the GND planes is
only intended for users to develop MCU software drivers to evaluate their topologies. TI does
not recommend this configuration for any final drive design or solution. You can select and
develop control strategies based on the GND plane reconfigurations and interprocessor
interface.
The default configuration of the evaluation board is set so that all GND planes connect. This
configuration makes them all high-voltage GND (HOT).

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www.ti.com Functional Blocks

3.1 Functional Blocks

Figure 3-2 shows the functional block diagram of the IDDK. Dedicated processors provide the system with
control, real-time connectivity, and safety functions. The control processor has a suite of position encoder
interfaces and current sense interfaces. You can configure the controller to select the interfaces you want.
Table 3-1 shows that each block is subdivided into macros representing a subfunction.

Power Supplies Rectifier and

Inverter

Position Encoder Current Sensor

Suite Suite

Processors

Figure 3-2. Functional Block Diagram of IDDK

Table 3-1. Hardware Macros in IDDK and Their Functions

Functional Block Macro Reference Macro Function
Power Supplies M2 Isolated DC-DC converter – 400 V to 15 V
M3 DC-Power Supply – Linear Reg 15 V – 5 V to 3.3 V
M8 Isolated DC/DC Converter – 400 V to 15 V
M9 DC-Power Supply – Linear Reg 15 V – 5 V to 3.3 V
Rectifier and Inverter M1 AC Main Power Entry
M4 3-Phase Inverter
Current Sensor Suite M5 Flux Gate – Motor Current Sense Interface
M6 Overcurrent Protection
M7 Sigma-Delta – Motor Current Sense Interface
Position Encoder Suite M10 QEP Interface
M11 Resolver Interface
M12 EnDat Encoder Interface
M13 Sin-Cos Encoder Interface
Processors Main board All other functions

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Functional Blocks www.ti.com

The following sections present each functional block and their macros. Figure 3-3 shows the layout of
various macros in the board. Schematic details of the individual macros are available at
controlSUITE\development_kits\ TMDSIDDK_v1.0\IDDK_HwDevPkg\IDDK_HwDevPkg_v2.2.

Figure 3-3. Layout of IDDK EVM With Functional Macros

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www.ti.com Processor Section

3.2 Processor Section

Figure 3-4. Processor Block

3.3 Control Processor Slot – H1

TI design the IDDK around the main control processor card in slot H1. TI design this slot for a C2000
Delfino (TMS320F28377D) MCU control card TMDXCNCD28377D with an HSEC 180-pin edge connector.
Digital and analog feedback sensors and the inverter driver connect to this card to evaluate various motor
control topologies.

3.4 Expansion Processor Slots

The IDDK supports two expansion control cards slots (H7 and H8) and the control processor slot (H1) for
experimenting with the additional capabilities using the main drive control processor. In this release of
IDDK, the interface connections among these H1, H7, and H8 connectors are base-level functions achieve
a minimum set of interactions. TI will improve or customize this capability in the later revisions of the
IDDK. TI will include application solutions for these functions in a future release of the IDDK. Refer to the
schematic at controlSUITE\development_kits\TMDSIDDK_v1.0\IDDK_HwDevPkg\IDDK_HwDevPkg_v2.2
for further details about this interface.

3.4.1 Real-time Connectivity – H7

Real-time connectivity is a necessity in many industrial drives. The control processor (H1) extends the SPI
and McBSP signals and the isolated and nonisolated interface to the H7 connector. This processor slot
allows real-time connectivity solutions (for example, EtherCAT, Ethernet, Profinet, and so forth) to
communicate through SPI or McBSP to the control processor. TI will include application solutions for these
functions in a future release of the IDDK.

3.4.2 Functional Safety – H8

Functional safety is mandatory for drives to ensure safety to both the machine and its operator. To
implement IEC61800-5-2 drive safety functions, the H8 processor slot allows interface to critical control
and sensing signals to the safety processor and to disable the power stage. Many topologies help achieve
functional safety to comply with various safety levels. The processor slot lets the external safety module
design meet functional safety functions. The control processor (H1) extends SPI interface signals to H8 to
communicate with the functional safety processor available on the H8 slot. TI will explore application
solutions with functional safety capabilities further in a future release of the IDDK.
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Position Encoder Suite www.ti.com

3.5 Position Encoder Suite

Figure 3-5. Position Sensor Suite

The Position Encoder Suite provides a range of position encoder and sensing interfaces such as the
following:
• QEP
• Resolver
• Sin-Cos
• EnDat / BiSS
Ti designed each interface separately. All interfaces can be used simultaneously, except EnDat / BiSS.
EnDat / BiSS cannot be used simultaneously without other interfaces because they share resources.

NOTE: Software support for BiSS, EnDat, and Sin-Cos encoders will be provided in a future release
of controlSUITE.

3.5.1 QEP
QEP is a macro (M10). The external interface to QEP is provided by header H2. Figure 3-6 shows the
pinouts of the QEP interface.
H2
5 GND
4 5V
3 I (Index)
2 B (QEP-B)
1 A (QEP-A)

Figure 3-6. QEP Interface Header

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www.ti.com Position Encoder Suite

3.5.2 Resolver
Resolver is a macro (M11). Refer to the schematic at controlSUITE\development_kits\
TMDSIDDK_v1.0\IDDK_HwDevPkg\IDDK_HwDevPkg_v2.2 for the interface amplifier configuration and
gain settings. You can tweak these by modifying the appropriate resistors. The exciter winding amplifier
can source and sink 45 mA. For a resolver needing a greater current, use an external buffer. Figure 3-7
shows the External Interface Header (H3) and its pinouts.
H3

NC 8 7 GND
EXC 6 5 NC
SIN + 4 3 SIN -
COS + 2 1 COS -

Figure 3-7. Resolver Interface Header

3.5.3 Sin-Cos Encoder

The Sin-Cos Encoder is a macro (M13). This interface is similar to resolver interface because it processes
the sine and cosine feedback signals from the encoder. Figure 3-8 shows the External Interface Header
(H4) and its pinouts.
H4

GND 8 7 5 V-Enc
A- 6 5 A+
B- 4 3 B+
R- 2 1 R+

Figure 3-8. Sin-Cos Interface Header

3.5.4 BiSS / EnDat Encoder

The BiSS / EnDat Encoder is a macro (M12). This header is a common interface for both EnDat and BiSS
encoders. Figure 3-9 shows the External Interface Header (H6) and how it interfaces with only digital
signals. If the BiSS / EnDat encoder have Sin-Cos analog signals, connect them to the Sin-Cos Encoder
Interface Header (H4).
H6

DATA - 8 7 5 V-Enc
DATA + 6 5 15 V
CLK - 4 3 NC
CLK + 2 1 GND

Figure 3-9. EnDat / BiSS Interface Header

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3.5.5 TI Design Interface Connector

The encoder signals are brought out on the H13 and H15 connectors and compatible for evaluation with
position encoder TI designs such as Interface to an EnDat 2.2 Position Encoder (TIDU368).

3.6 Current Sensor Suite

This block provides a range of current sensor interfaces including the following:
• Shunt current sensing within an inverter block
• LEM flux gate or HALL current sensing
• Sigma-delta current sensing
This block also includes circuits to protect against overcurrent. See Figure 3-10 for further information.

Figure 3-10. Current Sensor Suite

3.6.1 Shunt Current Sensing

Shunt current sensing is a macro (M4). Motor currents are measured by using an on-chip ADC to sense
the voltage across shunt resistors connected to the bottom of each half-bridge of the inverter.

NOTE: Shunt current sensing requires the CPU GND and GND inverter be tied together. This
sensing method makes the GND control HOT. For applications requiring a COLD control
GND, you cannot use this sensing method. Refer to Section 3.7 to disable this sensing
method for setting up the COLD control GND.

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www.ti.com Current Sensor Suite

3.6.2 LEM Current Sensing

LEM current sensing is a macro (M5). LEM sensors are connected to the motor phases in series.
Proportional to its input current, use the on-chip ADC to measure the output voltage.

3.6.3 Sigma-Delta Current Sensing

Sigma-delta current sensing is a macro (M7). Connected in series to the motor phases, voltage across a
shunt resistor is measured digitally using isolated delta-sigma converters.
All current sensing topologies are designed to give 1.0 per unit value for a current of approximately 10 A.
You can sense the currents using all three of them at the same time. You can choose the current
feedback to close the current loop using the software.

3.6.4 Overcurrent Protection

Overcurrent protection is a macro (M6). The current sensor suite also includes an overcurrent protection
block [M6]. This macro monitors the outputs of both LEM current sensors and generates a TRIP signal to
shut down the inverter if the current exceeds 11 A.

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Power Supplies and GND Plane Configurations www.ti.com

3.7 Power Supplies and GND Plane Configurations

The kit has two identical onboard switching power-supply modules (M2 and M8) that take in DC-bus
voltage though jumpers J1 and J2, respectively. Each module delivers an isolated 15-V (400 mA rated)
output to identical linear regulator blocks M3 and M9, respectively. The blocks deliver 5 V and 3.3 V to
their local GNDs, respectively. M3 (M9) has a power-supply jack (JP1) and a toggle switch (SW1).
An external,15-V power supply can be fed in through JP1 while SW1 selects between the local 15 V from
M2 (M8) and the external supply feeds the linear regulators of M3 (M9). TI prefers an external power
supply to power the controller during code development so the board operates at low voltage. This low-
voltage operation ensures safe operation without a high-voltage node on the board. Figure 3-11 shows the
power supply block.

Figure 3-11. Power Supply Block

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www.ti.com Power Supplies and GND Plane Configurations

M3 powers the gate-drive circuits of the inverter (the HOT side) while M9 powers the functional safety and
real-time connectivity processors on the H7 and H8 connectors (the COLD side). The control CPU and its
interface circuits can either connect to HOT side or COLD side, depending on a set of zero Ω resistor
bridges (R8 through R13). You can use only M3 or M9 to power either side by suitably populating a set of
jumpers (J3 through J8). Figure 3-12 shows the circuit diagram and Table 3-2 shows the possible
configurations.

Figure 3-12. Schematic Configuration of Power Supplies

Table 3-2. Power Supply Connection Configuration

Configuratio GND Plane HOT Side Parts COLD Side Parts

n Number Connection J3 to J5 R8, R10, R12 R14 J6 to J8 R9, R11, R13 R15
1 HOT -→ M3
COLD → M9 √ √ √ √ X X
CONTROL → HOT
2 HOT → M3
COLD → M9 √ X X √ √ √
CONTROL → COLD
3 HOT → M3
COLD → M3 √ √ √ X √ √
CONTROL → HOT
4 (Default) HOT → M9
COLD → M9 X √ √ √ √ √
CONTROL → HOT

The first and second line entries in Table 3-2 are cases that require separate HOT and COLD grounds,
the GND control be tied to either HOT GND (as in line 1), or COLD GND (as in line 2).
Line entries 3 and 4 have all GNDs tied together, which makes them all HOT and powered by either M3 or
M9.

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To power the board out of M9, populate J6 through J8 jumpers and R8 through R13 resistors in the main
section of the board. Connecting different GND planes, resistors R14 and R15 are present on the bottom
of the board and are unlabeled. Figure 3-13 shows multiple 1206 resistor pads across the various GND
planes in multiple locations. TI intends to provide an option to evaluate the impact of the locations tying
GND planes together. Carefully identify the GND planes of M9 and M3 before populating these resistors.

Figure 3-13. Various GND Planes on the Bottom of Board

GND_H and GND_C are tied to M3 and M9, respectively.

The default power supply configuration of the IDDK board is line entry 4 in Table 3-2. This configuration
powers the entire board with M9. Figure 3-14 shows the default GND plane connection configuration.

Figure 3-14. Default Connection of Various GND Planes

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www.ti.com Rectifier and Inverter

3.8 Rectifier and Inverter

3.8.1 Rectifier Stage

The rectifier is a block (M1). AC input to the board is fed through a 3-pronged connector (P1). The base of
the board (which also acts as heat sink for power components) is connected to the EARTH pin through a
pig-tail wire. A diode-bridge rectifier module is mounted on the bottom of the main printed-circuit-board
(PCB).

Figure 3-15. AC Line Input Filter and Rectifier

NOTE: The fuse is mounted on fuse holder F1 located close to connector P1

BS1, BS2, and BS3 banana jacks provide flexibility and experimenting with high-voltage power sources.
BS1 extends access to unfiltered rectified output of the AC mains. BS2 is tied to the positive terminal of
DC-link caps while BS3 is tied to power ground PGND. Figure 3-16 shows how this configuration helps
power the board with an external variable DC supply through BS2 and BS3, bypassing the rectifier.
Figure 3-17 shows how BS1 and BS2 can connect through a banana cable before turning on the AC when
appropriate to restore the AC supply to the board.

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3.8.1.1 Connecting the External DC Supply to the DC Link

The external variable power supply can be connected to the board using the BS2 and BS3 banana jacks.
If using M2 and M8 bias power supplies, connect BS3 to BS1.

Figure 3-16. Powering Through an External DC Source

3.8.1.2 Connecting Rectifier Output to DC Link

When the drive board is ready to power through AC mains, BS1 and BS2 must be connected through a
banana cable before turning on the AC power (110 V–60 Hz/220 V–50 Hz) to P1. BS3 remains open.

Figure 3-17. Powering Through AC Mains

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www.ti.com Rectifier and Inverter

3.8.2 Inverter Stage

The inverter is a block (M4) with the gate drive circuits on top and IPM on the bottom. A large, thin
aluminum base acts as the heat sink and base plate. The jumpers within this block (J1 through J4) are left
open for sensing DC-bus voltages up to 400 V but can be populated to sense voltages less than 100 V.
Figure 3-18 shows the 3-phase inverter.

Figure 3-18. 3-Phase Inverter

WARNING
Removing heat sink will break the board connection to earth.
Additional safety precautions may be needed to ensure safety of
those handling the kit.

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DACs www.ti.com

3.9 DACs
Figure 3-19 shows the TMS320F28377D with two spare DACs available and how they are brought out on
H10 header to visualize control variables in real-time when debugging.

Figure 3-19. DACs

3.10 Power Stage Disable Circuits

The power stage of the IDDK can be shut down using external digital signals. Figure 3-20 shows the
external push-button interface employed to generate an emergency shutdown request using the H9
connector. This request can also be generated by overcurrent monitoring hardware, connectivity, and
functional safety control processors on H7 and H8 connectors, respectively.

Figure 3-20. External Shutdown Signal Input

Use appropriate protection logics in applications to safely disable the power stage.

WARNING
The board layout may not represent the optimal layout even though
the best practices layout guidelines are followed.
Take care to adapt or modify the schematics and layout to meet
your application requirements.

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 Chapter 4
SPRUI23 – July 2015

Hardware Resource Mapping

4.1 Digital Signal Mapping

Table 4-1 shows the functional mapping of various digital signals connected to control processor on H1.

Table 4-1. Digital Signal Mapping on Control Card H1

IDDK Signal Name MCU GPIO MCU Peripheral Function Reserved
Associated With GPIO
PWM-1A 0 EPWM-1A PWM for inverter phase
U high side
PWM-1B 1 EPWM-1B PWM for inverter phase
U low side
PWM-2A 2 EPWM-2A PWM for inverter phase
V high side
PWM-2B 3 EPWM-2B PWM for inverter phase
V low side
PWM-3A 4 EPWM-3A PWM for inverter phase
W high side
PWM-3B 5 EPWM-3B PWM for inverter phase
W low side
En-Clk 6 ABS ENC-CLK Absolute Encoder Clock X
out
C1-SPIB-CLK 7 PEM CLK Encoder SPI Clock out X
SD-CLK-PWM5A 8 EPWM-5A Sigma-delta clk for
motor phase current
SD-CLK-PWM5B 9 EPWM-5B Sigma-delta clk for Vdc
bus
RES-PWM6A 10 EPWM-6A PWM for resolver
excitation (option)
AdcSOCXbarOut 11 OUTPUTXBAR7 ADC SoC pulse X
En-PwrPG 12 GPIO input Power Good Input from
Ext Enc Interface
----- 13
CompOutSC-B 14 OUTPUTXBAR3 SinCos Enc Interface – X
B
CompOutSC-A 15 OUTPUTXBAR4 SinCos Enc Interface – X
A
C1-SPIA-SIMO 16 SPIA SPI signal to CC2
(Connectivity card)
C1-SPIA-SOMI 17 SPIA SPI signal to CC2
(Connectivity card)
C1-SPIA-CLK 18 SPIA SPI signal to CC2
(Connectivity card)
C1-SPIA-STE 19 SPIA SPI signal to CC2
(Connectivity card)
C1-QEP1-A 20 QEP1 QEP signal
C1-QEP1-B 21 QEP1 QEP signal
AdcSOCXbarOut 22 QEP1 QEP signal
C1-QEP1-I 23 QEP1 QEP signal

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Table 4-1. Digital Signal Mapping on Control Card H1 (continued)

IDDK Signal Name MCU GPIO MCU Peripheral Function Reserved
Associated With GPIO
En-DO 24 SPIB SPI Interface for Abs
Encoder
En-DI 25 SPIB SPI Interface for Abs
Encoder
C1-SPIB-CLK 26 SPIB SPI Interface for Abs
Encoder
C1-SPIB-STE 27 SPIB SPI Interface for Abs
Encoder
SCI RX (on CC) 28 SCIA Isolated SCI on control
card
SCI TX (on CC) 29 SCIA Isolated SCI on control
card
C1-CAN-TX 30 CANA Isolated CAN Interface
C1-CAN-RX 31 CANA Isolated CAN Interface
En-PwrEn 32 GPIO output Power Enable for Abs X
Encoder
------- 33
(LED LD3) 34 (GPIO) (LED lighting) X
En-TxEn PEM TX En Tx Enable for Abs
Encoder
------- 35 to 38
En-PwrFault 39 GPIO input Power Fault Input from X
Ext Enc I/f
TZn 40 PWM TRIP ZONE Overcurrent Protection
CLR FAULT 41 Overcurrent Protection –
Clear
------- 42
------- 43
En-TxClkEn 44 GPIO output Enable TX clk for Abs X
Encoder
GPIO 45 GPIO Brought out to H15
STO-PB 46 GPIO Safe Torque Off signal X
from CC2/3
------- 47
SD-Data-V 48 SD1 SD data for phase
current V
SD-Clk-PWM5A 49 SD1 SD clk for phase current
V
SD-Data-W 50 SD2 SD data for phase
current W
SD-Clk-PWM5A 51 SD2 SD clk for phase current
W
SD-Data-Volt 52 SD3 SD data for Vdc
SD-Clk-PWM5B 53 SD3 SD clk for Vdc
CompOutSC-A 54 QEP2 QEP signal (SinCos)
CompOutSC-B 55 QEP2 QEP signal (SinCos)
AdcSOCXbarOut 56 QEP2 QEP signal (SinCos)
CompOutSC-R 57 QEP2 QEP signal (SinCos)
TripCC1 58 GPIO output Inverter Trip control
CompOutSC-R 59 OUTPUTXBAR2 SinCos Enc Interface - R X
------- 60-68

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Table 4-1. Digital Signal Mapping on Control Card H1 (continued)

IDDK Signal Name MCU GPIO MCU Peripheral Function Reserved
Associated With GPIO
C1-SPIC-SIMO 69 SPIC Comm channel to Safety X
CC – H8
C1-SPIC-SOMI 70 SPIC Comm channel to Safety X
CC – H8
C1-SPIC-CLK 71 SPIC Comm channel to Safety X
CC – H8
C1-SPIC-STE 72 SPIC Comm channel to Safety X
CC – H8
------- 73 to 83
C1-MDX 84 McBSPB Isolated McBSP X
connection from CC –
H7
C1-MDR 85 McBSPB Isolated McBSP X
connection from CC –
H7
C1-MCLKX 86 McBSPB Isolated McBSP X
connection from CC –
H7
C1-MFSX 87 McBSPB Isolated McBSP X
connection from CC –
H7
------- 88 and above

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4.2 Analog Signal Mapping

Table 4-2 shows the functional mapping of various analog signals connected to control processor on H1.

Table 4-2. Analog Signals and Mapping

IDDK Signal Name MCU Analog Signal Description Reserved
DAC-A A0 Resolver Carrier excitation
(option)
DAC-B A1 General-purpose display
Ifb-V A2 Phase V LEM current feedback
Vfb-V A3 Phase V voltage feedback
Ifb-Sv A4 Phase V shunt current
feedback
Ifb-Su A5 Phase U shunt current
feedback

Vfb-Bus B0 DC-bus voltage from shunts

DAC-C B1 General-purpose display
Ifb-W B2 Phase W LEM current
feedback
Vfb-W B3 Phase W voltage feedback
Ifb-Sw B4 Phase W shunt current
feedback
------- B5

SC-A-2 ADCIN14 Sin Cos Analog input A X

R-Cos ADCIN15 Resolver cosine feedback
Ifb-Su C2 Phase U shunt current
feedback
Vfb-U C3 Phase U voltage feedback
------- C4
------- C5

SC-B-2 D0 Sin Cos Analog input B X

R-Sin D1 Resolver sine feedback
SC-R D2 Sin Cos Analog input R X
------- D3
------- D4
------- D5

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www.ti.com Jumpers and Switches

4.3 Jumpers and Switches

Table 4-3 shows the various jumpers and switch connections available onboard.

Table 4-3. Purpose of Jumpers and Switches

Jumpers and Switches Description
[Main] – J1 Connect Vdc to power supply module M2
[Main] – J2 Connect Vdc to power supply module M8
[Main] – J3 to J5 Jumpers to bring out linear regulator block M3 voltages to HOT
and COLD sections
[Main] – J6 to J8 Jumpers to bring out linear regulator block M9 voltages to HOT
and COLD sections
[Main] – J9 Jumper to enable connectivity and functional safety processors
to shutdown the inverter
[Main] – J10 Reserved
[Main] – J12 to J18 Reserved
[Main] – J19 to J21 GND headers for probe access
[M3] – SW1 Select 15-V supply from JP1 or onboard from M2 to generate 5
V and 3.3 V
[M9] – SW1 Select 15-V supply from JP1 or onboard from M8 to generate 5
V and 3.3 V
[M4] – J1 to J4 DC-bus voltage sense scaling jumpers, DNP for voltage greater
than 100 V

SPRUI23 – July 2015 Hardware Resource Mapping 23

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Copyright © 2015, Texas Instruments Incorporated
Headers and Connectors www.ti.com

4.4 Headers and Connectors

Table 4-4 shows the headers and connectors available onboard.

Table 4-4. Headers and Connectors

Headers and Connectors Description
[M3] – JP1 15-V DC power supply jack adaptor
[M9] – JP1 15-V DC power supply jack adaptor
[Main] – H1 180-pin HSEC connector slot for control processor card
[Main] – H2 5-pin header for QEP
[Main] – H3 4 × 2 header for Resolver
[Main] – H4 4 × 2 header Sin Cos
[Main] – H5 3-pin CAN connector
[Main] – H6 4 × 2 header for EnDat / BiSS
[Main] – H7 180-pin HSEC connector slot for real time connectivity processor
card
[Main] – H8 180-pin HSEC connector slot for functional safety processor
card
[Main] – H9 2-pin header for Safe Torque Off (STO)
[Main] – H10 3-pin header for DAC
[Main] – H13 20-pin header compatible with position encoder TI designs such
as Interface to an EnDat 2.2 Position Encoder (TIDU368)
[Main] – H14 2-pin power supply header for position encoder TI designs
[Main] – H15 8-pin header compatible with position encoder TI designs such
as Interface to an EnDat 2.2 Position Encoder (TIDU368)
[Main] – P1 3-pin AC power cord adaptor
[Main] – TB1 3-pin connector for 3-phase motor terminals

24 Hardware Resource Mapping SPRUI23 – July 2015

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Copyright © 2015, Texas Instruments Incorporated
 STANDARD TERMS AND CONDITIONS FOR EVALUATION MODULES
1. Delivery: TI delivers TI evaluation boards, kits, or modules, including any accompanying demonstration software, components, or
documentation (collectively, an “EVM” or “EVMs”) to the User (“User”) in accordance with the terms and conditions set forth herein.
Acceptance of the EVM is expressly subject to the following terms and conditions.
1.1 EVMs are intended solely for product or software developers for use in a research and development setting to facilitate feasibility
evaluation, experimentation, or scientific analysis of TI semiconductors products. EVMs have no direct function and are not
finished products. EVMs shall not be directly or indirectly assembled as a part or subassembly in any finished product. For
clarification, any software or software tools provided with the EVM (“Software”) shall not be subject to the terms and conditions
set forth herein but rather shall be subject to the applicable terms and conditions that accompany such Software
1.2 EVMs are not intended for consumer or household use. EVMs may not be sold, sublicensed, leased, rented, loaned, assigned,
or otherwise distributed for commercial purposes by Users, in whole or in part, or used in any finished product or production
system.

2 Limited Warranty and Related Remedies/Disclaimers:

2.1 These terms and conditions do not apply to Software. The warranty, if any, for Software is covered in the applicable Software
License Agreement.
2.2 TI warrants that the TI EVM will conform to TI's published specifications for ninety (90) days after the date TI delivers such EVM
to User. Notwithstanding the foregoing, TI shall not be liable for any defects that are caused by neglect, misuse or mistreatment
by an entity other than TI, including improper installation or testing, or for any EVMs that have been altered or modified in any
way by an entity other than TI. Moreover, TI shall not be liable for any defects that result from User's design, specifications or
instructions for such EVMs. Testing and other quality control techniques are used to the extent TI deems necessary or as
mandated by government requirements. TI does not test all parameters of each EVM.
2.3 If any EVM fails to conform to the warranty set forth above, TI's sole liability shall be at its option to repair or replace such EVM,
or credit User's account for such EVM. TI's liability under this warranty shall be limited to EVMs that are returned during the
warranty period to the address designated by TI and that are determined by TI not to conform to such warranty. If TI elects to
repair or replace such EVM, TI shall have a reasonable time to repair such EVM or provide replacements. Repaired EVMs shall
be warranted for the remainder of the original warranty period. Replaced EVMs shall be warranted for a new full ninety (90) day
warranty period.

3 Regulatory Notices:
3.1 United States
3.1.1 Notice applicable to EVMs not FCC-Approved:
This kit is designed to allow product developers to evaluate electronic components, circuitry, or software associated with the kit
to determine whether to incorporate such items in a finished product and software developers to write software applications for
use with the end product. This kit is not a finished product and when assembled may not be resold or otherwise marketed unless
all required FCC equipment authorizations are first obtained. Operation is subject to the condition that this product not cause
harmful interference to licensed radio stations and that this product accept harmful interference. Unless the assembled kit is
designed to operate under part 15, part 18 or part 95 of this chapter, the operator of the kit must operate under the authority of
an FCC license holder or must secure an experimental authorization under part 5 of this chapter.
3.1.2 For EVMs annotated as FCC – FEDERAL COMMUNICATIONS COMMISSION Part 15 Compliant:

CAUTION
This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) This device may not
cause harmful interference, and (2) this device must accept any interference received, including interference that may cause
undesired operation.
Changes or modifications not expressly approved by the party responsible for compliance could void the user's authority to
operate the equipment.

FCC Interference Statement for Class A EVM devices

NOTE: This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of
the FCC Rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is
operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not
installed and used in accordance with the instruction manual, may cause harmful interference to radio communications.
Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to
correct the interference at his own expense.
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 FCC Interference Statement for Class B EVM devices
NOTE: This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to part 15 of
the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential
installation. This equipment generates, uses and can radiate radio frequency energy and, if not installed and used in accordance
with the instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference
will not occur in a particular installation. If this equipment does cause harmful interference to radio or television reception, which
can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more
of the following measures:
• Reorient or relocate the receiving antenna.
• Increase the separation between the equipment and receiver.
• Connect the equipment into an outlet on a circuit different from that to which the receiver is connected.
• Consult the dealer or an experienced radio/TV technician for help.

3.2 Canada
3.2.1 For EVMs issued with an Industry Canada Certificate of Conformance to RSS-210
Concerning EVMs Including Radio Transmitters:
This device complies with Industry Canada license-exempt RSS standard(s). Operation is subject to the following two conditions:
(1) this device may not cause interference, and (2) this device must accept any interference, including interference that may
cause undesired operation of the device.

Concernant les EVMs avec appareils radio:

Le présent appareil est conforme aux CNR d'Industrie Canada applicables aux appareils radio exempts de licence. L'exploitation
est autorisée aux deux conditions suivantes: (1) l'appareil ne doit pas produire de brouillage, et (2) l'utilisateur de l'appareil doit
accepter tout brouillage radioélectrique subi, même si le brouillage est susceptible d'en compromettre le fonctionnement.

Concerning EVMs Including Detachable Antennas:

Under Industry Canada regulations, this radio transmitter may only operate using an antenna of a type and maximum (or lesser)
gain approved for the transmitter by Industry Canada. To reduce potential radio interference to other users, the antenna type
and its gain should be so chosen that the equivalent isotropically radiated power (e.i.r.p.) is not more than that necessary for
successful communication. This radio transmitter has been approved by Industry Canada to operate with the antenna types
listed in the user guide with the maximum permissible gain and required antenna impedance for each antenna type indicated.
Antenna types not included in this list, having a gain greater than the maximum gain indicated for that type, are strictly prohibited
for use with this device.

Concernant les EVMs avec antennes détachables

Conformément à la réglementation d'Industrie Canada, le présent émetteur radio peut fonctionner avec une antenne d'un type et
d'un gain maximal (ou inférieur) approuvé pour l'émetteur par Industrie Canada. Dans le but de réduire les risques de brouillage
radioélectrique à l'intention des autres utilisateurs, il faut choisir le type d'antenne et son gain de sorte que la puissance isotrope
rayonnée équivalente (p.i.r.e.) ne dépasse pas l'intensité nécessaire à l'établissement d'une communication satisfaisante. Le
présent émetteur radio a été approuvé par Industrie Canada pour fonctionner avec les types d'antenne énumérés dans le
manuel d’usage et ayant un gain admissible maximal et l'impédance requise pour chaque type d'antenne. Les types d'antenne
non inclus dans cette liste, ou dont le gain est supérieur au gain maximal indiqué, sont strictement interdits pour l'exploitation de
l'émetteur
3.3 Japan
3.3.1 Notice for EVMs delivered in Japan: Please see http://www.tij.co.jp/lsds/ti_ja/general/eStore/notice_01.page 日本国内に
輸入される評価用キット、ボードについては、次のところをご覧ください。
http://www.tij.co.jp/lsds/ti_ja/general/eStore/notice_01.page

3.3.2 Notice for Users of EVMs Considered “Radio Frequency Products” in Japan: EVMs entering Japan may not be certified
by TI as conforming to Technical Regulations of Radio Law of Japan.
If User uses EVMs in Japan, not certified to Technical Regulations of Radio Law of Japan, User is required by Radio Law of
Japan to follow the instructions below with respect to EVMs:
1. Use EVMs in a shielded room or any other test facility as defined in the notification #173 issued by Ministry of Internal
Affairs and Communications on March 28, 2006, based on Sub-section 1.1 of Article 6 of the Ministry’s Rule for
Enforcement of Radio Law of Japan,
2. Use EVMs only after User obtains the license of Test Radio Station as provided in Radio Law of Japan with respect to
EVMs, or
3. Use of EVMs only after User obtains the Technical Regulations Conformity Certification as provided in Radio Law of Japan
with respect to EVMs. Also, do not transfer EVMs, unless User gives the same notice above to the transferee. Please note
that if User does not follow the instructions above, User will be subject to penalties of Radio Law of Japan.
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 【無線電波を送信する製品の開発キットをお使いになる際の注意事項】 開発キットの中には技術基準適合証明を受けて
いないものがあります。 技術適合証明を受けていないもののご使用に際しては、電波法遵守のため、以下のいずれかの
措置を取っていただく必要がありますのでご注意ください。
1. 電波法施行規則第6条第1項第1号に基づく平成18年3月28日総務省告示第173号で定められた電波暗室等の試験設備でご使用
いただく。
2. 実験局の免許を取得後ご使用いただく。
3. 技術基準適合証明を取得後ご使用いただく。

なお、本製品は、上記の「ご使用にあたっての注意」を譲渡先、移転先に通知しない限り、譲渡、移転できないものとします。
上記を遵守頂けない場合は、電波法の罰則が適用される可能性があることをご留意ください。 日本テキサス・イ
ンスツルメンツ株式会社
東京都新宿区西新宿６丁目２４番１号
西新宿三井ビル

3.3.3 Notice for EVMs for Power Line Communication: Please see http://www.tij.co.jp/lsds/ti_ja/general/eStore/notice_02.page
電力線搬送波通信についての開発キットをお使いになる際の注意事項については、次のところをご覧くださ
い。http://www.tij.co.jp/lsds/ti_ja/general/eStore/notice_02.page
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4 EVM Use Restrictions and Warnings:
4.1 EVMS ARE NOT FOR USE IN FUNCTIONAL SAFETY AND/OR SAFETY CRITICAL EVALUATIONS, INCLUDING BUT NOT
LIMITED TO EVALUATIONS OF LIFE SUPPORT APPLICATIONS.
4.2 User must read and apply the user guide and other available documentation provided by TI regarding the EVM prior to handling
or using the EVM, including without limitation any warning or restriction notices. The notices contain important safety information
related to, for example, temperatures and voltages.
4.3 Safety-Related Warnings and Restrictions:
4.3.1 User shall operate the EVM within TI’s recommended specifications and environmental considerations stated in the user
guide, other available documentation provided by TI, and any other applicable requirements and employ reasonable and
customary safeguards. Exceeding the specified performance ratings and specifications (including but not limited to input
and output voltage, current, power, and environmental ranges) for the EVM may cause personal injury or death, or
property damage. If there are questions concerning performance ratings and specifications, User should contact a TI
field representative prior to connecting interface electronics including input power and intended loads. Any loads applied
outside of the specified output range may also result in unintended and/or inaccurate operation and/or possible
permanent damage to the EVM and/or interface electronics. Please consult the EVM user guide prior to connecting any
load to the EVM output. If there is uncertainty as to the load specification, please contact a TI field representative.
During normal operation, even with the inputs and outputs kept within the specified allowable ranges, some circuit
components may have elevated case temperatures. These components include but are not limited to linear regulators,
switching transistors, pass transistors, current sense resistors, and heat sinks, which can be identified using the
information in the associated documentation. When working with the EVM, please be aware that the EVM may become
very warm.
4.3.2 EVMs are intended solely for use by technically qualified, professional electronics experts who are familiar with the
dangers and application risks associated with handling electrical mechanical components, systems, and subsystems.
User assumes all responsibility and liability for proper and safe handling and use of the EVM by User or its employees,
affiliates, contractors or designees. User assumes all responsibility and liability to ensure that any interfaces (electronic
and/or mechanical) between the EVM and any human body are designed with suitable isolation and means to safely
limit accessible leakage currents to minimize the risk of electrical shock hazard. User assumes all responsibility and
liability for any improper or unsafe handling or use of the EVM by User or its employees, affiliates, contractors or
designees.
4.4 User assumes all responsibility and liability to determine whether the EVM is subject to any applicable international, federal,
state, or local laws and regulations related to User’s handling and use of the EVM and, if applicable, User assumes all
responsibility and liability for compliance in all respects with such laws and regulations. User assumes all responsibility and
liability for proper disposal and recycling of the EVM consistent with all applicable international, federal, state, and local
requirements.

5. Accuracy of Information: To the extent TI provides information on the availability and function of EVMs, TI attempts to be as accurate
as possible. However, TI does not warrant the accuracy of EVM descriptions, EVM availability or other information on its websites as
accurate, complete, reliable, current, or error-free.
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6. Disclaimers:
6.1 EXCEPT AS SET FORTH ABOVE, EVMS AND ANY WRITTEN DESIGN MATERIALS PROVIDED WITH THE EVM (AND THE
DESIGN OF THE EVM ITSELF) ARE PROVIDED "AS IS" AND "WITH ALL FAULTS." TI DISCLAIMS ALL OTHER
WARRANTIES, EXPRESS OR IMPLIED, REGARDING SUCH ITEMS, INCLUDING BUT NOT LIMITED TO ANY IMPLIED
WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OR NON-INFRINGEMENT OF ANY
THIRD PARTY PATENTS, COPYRIGHTS, TRADE SECRETS OR OTHER INTELLECTUAL PROPERTY RIGHTS.
6.2 EXCEPT FOR THE LIMITED RIGHT TO USE THE EVM SET FORTH HEREIN, NOTHING IN THESE TERMS AND
CONDITIONS SHALL BE CONSTRUED AS GRANTING OR CONFERRING ANY RIGHTS BY LICENSE, PATENT, OR ANY
OTHER INDUSTRIAL OR INTELLECTUAL PROPERTY RIGHT OF TI, ITS SUPPLIERS/LICENSORS OR ANY OTHER THIRD
PARTY, TO USE THE EVM IN ANY FINISHED END-USER OR READY-TO-USE FINAL PRODUCT, OR FOR ANY
INVENTION, DISCOVERY OR IMPROVEMENT MADE, CONCEIVED OR ACQUIRED PRIOR TO OR AFTER DELIVERY OF
THE EVM.

7. USER'S INDEMNITY OBLIGATIONS AND REPRESENTATIONS. USER WILL DEFEND, INDEMNIFY AND HOLD TI, ITS
LICENSORS AND THEIR REPRESENTATIVES HARMLESS FROM AND AGAINST ANY AND ALL CLAIMS, DAMAGES, LOSSES,
EXPENSES, COSTS AND LIABILITIES (COLLECTIVELY, "CLAIMS") ARISING OUT OF OR IN CONNECTION WITH ANY
HANDLING OR USE OF THE EVM THAT IS NOT IN ACCORDANCE WITH THESE TERMS AND CONDITIONS. THIS OBLIGATION
SHALL APPLY WHETHER CLAIMS ARISE UNDER STATUTE, REGULATION, OR THE LAW OF TORT, CONTRACT OR ANY
OTHER LEGAL THEORY, AND EVEN IF THE EVM FAILS TO PERFORM AS DESCRIBED OR EXPECTED.

8. Limitations on Damages and Liability:

8.1 General Limitations. IN NO EVENT SHALL TI BE LIABLE FOR ANY SPECIAL, COLLATERAL, INDIRECT, PUNITIVE,
INCIDENTAL, CONSEQUENTIAL, OR EXEMPLARY DAMAGES IN CONNECTION WITH OR ARISING OUT OF THESE
TERMS ANDCONDITIONS OR THE USE OF THE EVMS PROVIDED HEREUNDER, REGARDLESS OF WHETHER TI HAS
BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES. EXCLUDED DAMAGES INCLUDE, BUT ARE NOT LIMITED
TO, COST OF REMOVAL OR REINSTALLATION, ANCILLARY COSTS TO THE PROCUREMENT OF SUBSTITUTE GOODS
OR SERVICES, RETESTING, OUTSIDE COMPUTER TIME, LABOR COSTS, LOSS OF GOODWILL, LOSS OF PROFITS,
LOSS OF SAVINGS, LOSS OF USE, LOSS OF DATA, OR BUSINESS INTERRUPTION. NO CLAIM, SUIT OR ACTION SHALL
BE BROUGHT AGAINST TI MORE THAN ONE YEAR AFTER THE RELATED CAUSE OF ACTION HAS OCCURRED.
8.2 Specific Limitations. IN NO EVENT SHALL TI'S AGGREGATE LIABILITY FROM ANY WARRANTY OR OTHER OBLIGATION
ARISING OUT OF OR IN CONNECTION WITH THESE TERMS AND CONDITIONS, OR ANY USE OF ANY TI EVM
PROVIDED HEREUNDER, EXCEED THE TOTAL AMOUNT PAID TO TI FOR THE PARTICULAR UNITS SOLD UNDER
THESE TERMS AND CONDITIONS WITH RESPECT TO WHICH LOSSES OR DAMAGES ARE CLAIMED. THE EXISTENCE
OF MORE THAN ONE CLAIM AGAINST THE PARTICULAR UNITS SOLD TO USER UNDER THESE TERMS AND
CONDITIONS SHALL NOT ENLARGE OR EXTEND THIS LIMIT.

9. Return Policy. Except as otherwise provided, TI does not offer any refunds, returns, or exchanges. Furthermore, no return of EVM(s)
will be accepted if the package has been opened and no return of the EVM(s) will be accepted if they are damaged or otherwise not in
a resalable condition. If User feels it has been incorrectly charged for the EVM(s) it ordered or that delivery violates the applicable
order, User should contact TI. All refunds will be made in full within thirty (30) working days from the return of the components(s),
excluding any postage or packaging costs.

10. Governing Law: These terms and conditions shall be governed by and interpreted in accordance with the laws of the State of Texas,
without reference to conflict-of-laws principles. User agrees that non-exclusive jurisdiction for any dispute arising out of or relating to
these terms and conditions lies within courts located in the State of Texas and consents to venue in Dallas County, Texas.
Notwithstanding the foregoing, any judgment may be enforced in any United States or foreign court, and TI may seek injunctive relief
in any United States or foreign court.

Mailing Address: Texas Instruments, Post Office Box 655303, Dallas, Texas 75265
Copyright © 2015, Texas Instruments Incorporated

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 IMPORTANT NOTICE

Texas Instruments Incorporated and its subsidiaries (TI) reserve the right to make corrections, enhancements, improvements and other
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supplied at the time of order acknowledgment.
TI warrants performance of its components to the specifications applicable at the time of sale, in accordance with the warranty in TI’s terms
and conditions of sale of semiconductor products. Testing and other quality control techniques are used to the extent TI deems necessary
to support this warranty. Except where mandated by applicable law, testing of all parameters of each component is not necessarily
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TI assumes no liability for applications assistance or the design of Buyers’ products. Buyers are responsible for their products and
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Products Applications
Audio www.ti.com/audio Automotive and Transportation www.ti.com/automotive
Amplifiers amplifier.ti.com Communications and Telecom www.ti.com/communications
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Interface interface.ti.com Medical www.ti.com/medical
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Microcontrollers microcontroller.ti.com Video and Imaging www.ti.com/video
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Mailing Address: Texas Instruments, Post Office Box 655303, Dallas, Texas 75265
Copyright © 2015, Texas Instruments Incorporated