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RM46 controlCARDs from Texas Instruments are ideal products for initial software development and short run builds for system prototypes, test stands, and many other projects that require easy access to high-performance controllers. The controlCARDs are complete board-level modules that utilize an industry-standard DIMM form factor to provide a low-profile single-board controller solution. controlCARDs use the same 100-pin connector footprint to provide the analog and digital I/Os on-board controller and are reasonably interchangeable. The RM46CNCD board operates from an external power supply provided via the barrel connector located on the top-front of the card. The expected voltage for the control card is 6.0V to 30.0V as per the input capability of the TPS65381. The control card can be used as part of a motor control kit and offers additional control, connectivity and safety evaluation features.

More information specific to the RM4 Hercules family can be found on the RM4 wiki page.

Kit Contents

Included in the kit are the following items:

The CNCD is made available as part of the DRV8301-RM46-KIT or orderable standalone as TMDXRM46CNCD. The kit contains everything needed to develop and run brushless DC motor control applications utilizing Hercules Safety MCUs. For more information on the kit, please see\tool\drv8301-RM46-kit. The stand-alone card is shipped with a DVD containing:

TI GUIComposer runtime environment TI MotorWare motor control CCS5 example projects for redundant SMO and Encoder based FOC as well as InstaSPIN™-BLDC GUI applications demonstrating the MotorWare projects (as tested on the DRV8301) MotorWare™ Documentation Hardware Documentation HALCoGen nowFlash nowECC

How to Order Kit

To order the RM46 Hercules Control Card, visit the TI e-Store.

Control Card Schematic

The PDF format schematic drawings for the RM46 Control Card is available here: RM46_CNCD_Schematic.pdf

The Cadence Capture Format format schematic drawings for the RM46 Control Card is available here:

The gerber files for the RM46 Control Card are available here:

The BOM for the RM46 Control Card are available here:

Demo Software

Hercules Motorware Update (Run the Control Card with DRV8301 Kit[1])

Hercules Motorware Release in August 2012 (Run the Control Card with DRV8301 Kit[2])

Run the Control Card with LwIP (For documentation details, please refer to HALCoGen EMAC Driver & lwIP Demonstration)

N2HET timer emulate I2C N2HET_EMU_I2C_AppNote.pdf

N2HET timer emulate UART N2HET_EMU_UART_AppNote.pdf


When using nowFlash (3.42) or flash470 and trying to load the MCU using the xds100v2 or an external emulator, SDConfEx is complaining about a power issue and will not load the part.

This is likely because your JTAG clock needs to be reconfigured to support the isolated paths on the controlCARD. The LS12 (and RM46) controlCARDs include isolators to help protect the host PC from an over-power incident. The Isolators limit the speed of the JTAG to 5MHz. In nowFlash, find the files board_tixds100v2_v3_cortex_rxx.dat (for the built-in XDS100V2) or board_tixds560_v3_cortex_rxx.dat (for the TI XDS560), etc., that apply to your emulator. Modify “tclk_frequency=9.0MHz” to “tclk_frequency=5.0MHz”. After that, nowFlash will work. For the 510USB, modify sdopt.cfg.

It appears that the power supply included in the kit is not strong enough to handle fast accelerations and decelerations.

Yes, this is true. Deceleration is mostly affected in our experience but there could be some variations from kit to kit. There is a notification about this also in the quickstart guide. You can put a own higher current power supply (and motor for that matter with IS-BLDC) and see much better performance. The DRV8301 can handle up to a 60A, 60V supply. The supply selected for the kit was a standard, reasonably priced 24V supply and it's 2.5A rating is enough to evaluate the motor and our algorithms, we believe. Also, you may notice that the other DRV8301 Kits don’t include motors or power supplies but the Hercules kits do!

Resetting the MCU causes the GUI to disconnect from the MCU. Restarting the GUI takes a long time. This is very annoying.

I agree. The reconnect time is well known issue with GUI composer as it forces a reflash every time. A mechanism to recognize that the to-be flashed code is already loaded onto the MCU has already been crafted/proposed to the software team that handles the loader code and will be fixed on future releases.


Important Links

  • Visit the Hercules Homepage for the latest information on upcoming products and Hercules announcements.