Merge pull request #101 from ryanvergel/gh-pages

Fixed KD240 search
Xilinx · Aug 19, 2024 · 907298f · 907298f
2 parents 783163d + 36ee234
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 # Sphinx build info version 1
 # This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
-config: a61d5a4b0808988c06c270cf556ec6d2
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+<table class="sphinxhide">
+ <tr>
+   <td align="center"><img src="../../media/xilinx-logo.png" width="30%"/><h1> Kria&trade; KD240 Drives Starter Kit <br>FOC Motor Control Application Tutorial</h1>
+   </td>
+ </tr>
+ <tr>
+ <td align="center"><h1>Setting up the Board and Application Deployment</h1>
+
+ </td>
+ </tr>
+</table>
+
+# Board Setup and Application Deployment
+
+## Introduction
+
+This document shows how to set up the board, and run the motor control application.
+
+This guide is targeted for Ubuntu® 22.04 and the AMD 2023.1 toolchain.
+
+## Prerequisite
+
+### Hardware Requirements
+
+* [KD240 Drives Starter Kit](https://www.xilinx.com/products/som/kria/kd240-drives-starter-kit.html)
+
+* [KD240 Motor Accessory Kit](https://www.xilinx.com/products/som/kria/kd240-motor-accessory-pack.html)
+
+* KD240 power supply and adapter (included with the KD240 Drives Starter Kit)
+  * 12V AC adapter for the KD240 Starter Kit and 24V AC adapter for the Motor Accessory Kit
+
+* USB-A to micro-B cable (included with the KD240 Drives Starter Kit)
+
+* MicroSD card (32 GB card is included with the KD240 Drives Starter Kit)
+
+* CAT6 Ethernet cable
+
+* Host machine with display
+
+### Hardware Setup
+
+![KD240-Setup](./media/KD240.png)
+
+* Connect the USB cable from the host machine to the J4 UART/JTAG interface on the board.
+
+  ![KD240-Setup](./media/Connect_USB_to_J4.jpg)
+
+* Connect the Ethernet cable from J24 to your local network with DHCP enabled to install the Linux packages.
+
+  ![KD240-Setup](./media/Connect_Ethernet_to_J24.jpg)
+
+* Connect a 12V power supply to the J12 DC jack.
+
+  ![KD240-Setup](./media/Connect_12V_to_J12.jpg)
+
+* Connect a 24V power supply to the J29 DC link connector.
+
+  ![KD240-Setup](./media/Connect_24V_to_J29.jpg)
+
+* Connect the encoder header pins to the J42 QEI connector. Ensure J44 is in the "SE" selection.
+
+  ![KD240-Setup](./media/Connect_EncoderPin_to_J42.jpg)
+
+* Connect the motor input to a J32 3-phase inverter connector.
+
+  ![KD240-Setup](./media/Connect_ACpower_to_J32.jpg)
+
+### Tested Artifacts
+
+Testing was performed with the following artifacts:
+
+#### KD240 platform Artifacts
+
+| Component                      | Version                    |
+|--------------------------------|----------------------------|
+| Boot Firmware                  | K24-BootFW-01.01           |
+| Linux Kernel                   | 5.15.0-1027-xilinx-zynqmp  |
+| xlnx-firmware-kd240-motor-ctrl | 0.10.1-0xlnx1              |
+
+To obtain the latest Linux image and boot firmware, refer to the [Kria Wiki](https://xilinx-wiki.atlassian.net/wiki/spaces/A/pages/1641152513/Kria+K26+SOM#Boot-Firmware-Updates).
+
+#### Application Packages
+
+| Package                        | Version      |
+|--------------------------------|--------------|
+| xlnx-app-kd240-foc-motor-ctrl  | 0.3.1-0xlnx5 |
+
+### Initial Setup
+
+1. Go through [Booting Kria Starter Kit Linux](https://xilinx.github.io/kria-apps-docs/kd240/linux_boot.html) to complete the minimum setup required to boot Linux before continuing with instructions on this page.
+
+2. Get the latest motor control application and firmware package:
+
+   * Download the firmware.
+      * Search package feed for packages compatible with the KD240.
+
+         ```bash
+         ubuntu@kria:~$ sudo apt search xlnx-firmware-kd240
+         Sorting... Done
+         Full Text Search... Done
+         xlnx-firmware-kd240-bist/jammy,now 0.10-0xlnx1 arm64 [installed]
+         FPGA firmware for Xilinx boards - kd240 bist application
+         xlnx-firmware-kd240-motor-ctrl-qei/jammy,now 0.10-0xlnx1 arm64 [installed]
+         FPGA firmware for Xilinx boards - kd240 motor-ctrl-qei application
+         ```
+
+      * Install the firmware binaries.
+
+         ```bash
+         sudo apt install xlnx-firmware-kd240-motor-ctrl-qei
+         ```
+
+   * Install the motor control application.
+
+      ```bash
+      sudo apt install xlnx-app-kd240-foc-motor-ctrl
+      ```
+
+## Run the Motor Control Application
+
+* Load the firmware:
+
+  * Show the list and status of available application firmware.
+
+    After installing the firmware, execute xmutil listapps to verify that it is captured under the listapps function and to have dfx-mgrd rescan and register all accelerators in the firmware directory tree.
+
+    ```bash
+    ubuntu@kria:~$ sudo xmutil listapps
+           Accelerator          Accel_type                 Base           Base_type      #slots(PL+AIE)    Active_slot
+
+      kd240-motor-ctrl-qei       XRT_FLAT         kd240-motor-ctrl-qei     XRT_FLAT            (0+0)           -1
+    ```
+
+  * Load the desired application firmware.
+
+    When there is already another accelerator/firmware loaded, unload it first, then load the kd240-foc-motor-ctrl firmware.
+
+    ```bash
+    sudo xmutil unloadapp
+    sudo xmutil loadapp kd240-motor-ctrl-qei
+    ```
+
+* Run the bokeh server:
+
+  ```bash
+  # Run the application to launch bokeh server for the dashboard
+  export PATH=${PATH}:/opt/xilinx/xlnx-app-kd240-foc-motor-ctrl/bin
+  start_motor_dashboard
+  # Enter the sudo password if required and note the ip address of the board
+  ```
+
+  Sample screenshot of the terminal on launching the motor dashboard.
+
+  ![Terminal](./media/terminal.png)
+
+## On the Host PC
+
+* Open &lt;ip&gt;:5006 in a web browser.
+
+  >**NOTE:** Once the server is running, it retains its settings no matter how many times the browser is closed, opened, or refreshed.
+
+* The system is set to OFF mode/state on starting the dashboard, observe the blue LED DS10 is off.
+* If the unit is plugged into a network with DHCP, an IP will be assigned automatically. If not on a network, then configure a static IP. For help on setting up static IP, see [Setting up a private network](https://github.com/Xilinx/vck190-base-trd/blob/2022.1/docs/source/run/run-dashboard.rst#setting-up-a-private-network).
+
+>**NOTE:** The open-loop mode of motor operation is a test mode intended for users with motor control knowledge and experience. Incorrect configurations of values of Vd and Vq can cause the motor to spin at speeds higher than its rating and potentially cause excessive motor heating. Use caution when using the open-loop mode.
+
+## Dashboard
+
+### Dashboard Features
+
+* The Mode drop-down is used to select the control system mode of operation.
+* The Sample Size text box is used to indicate how many samples are collected and plotted on the graphs for each type of data. The samples are collected at 100 microsecond intervals. The maximum number of samples is limited to 3000 due to dashboard performance limitations. For a large number of samples, there might be a small delay before a dashboard command takes effect.
+* The Refresh Interval text box is used to indicate how often the dashboard plots will refresh. A minimum refresh interval will be enforced based on the current sample size (a larger sample size requires a larger refresh interval).
+* The gain text boxes are used to adjust the proportional and integral gains of the corresponding control loop.
+* The Speed Setpoint text box is used to set the speed setpoint when running the motor in speed mode. The valid range of speed setpoints is -10000 to 10000 rpm.
+* The Torque Setpoint text box is used to set the torque setpoint when running the motor in torque mode. The valid range of torque setpoints is -2.5 to 2.5 amps.
+* The Open Loop - Vd text box is used to set the  direct voltage (Vd). The valid range for Vd is -24 to 24 volts.
+  >**NOTE:** Normally this should be set to ~0V.
+* The Open Loop - Vq text box is used to set the quadrature voltage (Vq). The valid range for Vq is -24 to 24 volts.
+* The Fault Status indicators show if any faults have occured. When a critical fault occurs, the corresponding indicator will turn red. For a warning level faults, the corresponding indicator will turn yellow.
+* The Clear Faults button is used to clear all faults and put the system into Off mode.
+* The Electrical Data plot shows the currents and voltages for Phase A, B, and C. The voltage lines are hidden by default. The visibility of each current and voltage line can be toggled by clicking the legend labels. The current axis is shown on the left if any current lines are visible, and the voltage axis is shown on the right is any voltage lines are visible.
+* The Mechanical Data plot shows the speed and position of the motor. The visibility of each line can be toggled by clicking on the legend labels. The speed axis is shown on the left is speed is visible and the position axis is shown on the right if position is visible.
+* The Live Analysis plot shows the data that is selected for each axis using the buttons on the right.
+
+When the dashboard is first launched, the system will be in Off mode, and the dashboard will look similar to the following image. Observe that the electrical readings are near zero.
+
+![Motor-Control-Dashboard](./media/Motor_Control_Dashboard_Off.png)
+
+To run the application in Speed mode, select **Speed** from the Mode drop-down, and use the Speed Setpoint text box to enter a speed setpoint. The following image shows the motor running in speed mode with a speed setpoint of 2000 rpm and the load disk that is included in the Motor Accessory Kit.
+
+![Motor-Control-Dashboard](./media/Motor_Control_Dashboard_Speed.png)
+
+To run the application in Torque mode, select **Torque** from the Mode drop-down and use the Torque Setpoint text box to enter a torque setpoint. The following image shows the motor running in torque mode with a torque setpoint of 1 amp and the load disk that is included in the Motor Accessory Kit.
+
+![Motor-Control-Dashboard](./media/Motor_Control_Dashboard_Torque.png)
+
+To run the application in Open Loop mode, select **Open Loop** from the Mode drop-down, and use the Vd/Vq text boxes to set Vd/Vq. The following image shows the motor running in open loop mode with Vd set to 0, Vq set to 4 volts, and the load disk that is included in the Motor Accessory Kit.
+
+![Motor-Control-Dashboard](./media/Motor_Control_Dashboard_OpenLoop.png)
+
+The following images show what the dashboard looks like when a larger load is applied to the motor. As the load on the motor increases, the currents will increase and the I_alpha/I_beta circle will expand.
+
+![Motor-Control-Dashboard](./media/Motor_Control_Dashboard_Speed_Loaded.png)
+![Motor-Control-Dashboard](./media/Motor_Control_Dashboard_Torque_Loaded.png)
+![Motor-Control-Dashboard](./media/Motor_Control_Dashboard_OpenLoop_Loaded.png)
+
+## Next Steps
+
+* Go back to the [KD240 FOC Motor Control Application Start Page](../foc_motor_control_landing)
+
+<!---
+
+Licensed under the Apache License, Version 2.0 (the "License"); you may not use
+this file except in compliance with the License.
+
+You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0.
+
+Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
+
+-->
+
+<p class="sphinxhide" align="center">Copyright&copy; 2023 Advanced Micro Devices, Inc</p>