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Verifying the System

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DS1104 Hardware Installation and Configuration March 2004

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Updating the Firmware

Usually your DS1104 board contains the latest firmware. If you install a

new dSPACE Release it may contain newer firmware. In this case the

firmware can be updated.

After you install the dSPACE Release, you can update the firmware.

The table below shows the path of the firmware installed from the

dSPACE Release. You have to specify this path if you update your

firmware manually.

Current version

The firmware installed in the board’s flash memory is the

current

firmware version

. It is detected automatically by the Platform Manager.

Available version

The firmware contained in your current dSPACE installation is the

available firmware

version

. The Platform Manager detects it

automatically.

Required version

The firmware needed by an application you download to your

real-time processor is the

required firmware version

. This information

is shown on the Advanced page of the Firmware Management dialog.

N

The firmware is downward compatible: You can download an

application to your hardware if the current firmware version is higher

than or equal to the required firmware version.

Boot firmware

Since Release 3.4, the flash application is no longer deleted by a

firmware update. The flash application and the bootstrap code are

saved before and loaded after the update.

Board

Firmware Type

Path of Firmware Coming with the
dSPACE Release

DS1104

– Boot firmware
– Slave DSP firmware

%DSPACE_ROOT%\Ds1104\Firmware
%DSPACE_ROOT%\Ds1104\SlaveDSP\Firmware

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Summary of Contents for CLP1104

Page 1: ...dS DS1104 R D Controller Board HardwareInstallation and Configuration For DS1104 and CP1104 CLP1104 Connector Panels Release 4 1 March 2004 ...

Page 2: ...25 33100 Paderborn Germany Tel Fax 49 5251 1638 0 49 5251 66529 E mail Technical Support info dspace de support dspace de 49 5251 1638 941 Web Subscription to e mail newsletter http www dspace de http www dspace de goto SupportNewsletter Important Notice This document contains proprietary information that is protected by copyright All rights are reserved Neither the documentation nor software may ...

Page 3: ...Safety Precautions for Using Connector Panels 19 Before You Start 21 Installation and Configuration Overview 22 Checking the System Requirements 24 Installing the Hardware 25 How to Install the DS1104 26 Connecting a Connector Panel to the Board 28 How to Connect a Panel CP CLP to a Board 29 How to Mount a Panel in a 19 Rack 30 Verifying the System 31 How to Run ControlDesk 32 How to View the Boar...

Page 4: ...e ControlDesk 61 Connecting External Devices to the dSPACE System 71 How to Connect External Devices to a Board 72 How to Connect External Devices to a Connector Panel 74 Uninstalling the System 75 How to Remove the Hardware 76 Connector Pinouts and LEDs 77 Board Overview 78 DS1104 Connectors 80 I O Connector P1 81 Master PPC Debug Connector P2 85 Slave DSP Debug Connector P3 86 Slave DSP Flash Ju...

Page 5: ...d Electrical Characteristics 130 Notes and Tips on Signal Conditioning 132 Serial Interface 136 Connecting RS232 Devices 137 Connecting RS422 RS485 Devices 138 Slave DSP Digital I O 142 I O Circuit and Electrical Characteristics 143 Notes and Tips on Signal Conditioning 144 General Notes and Tips on Signal Conditioning 146 Grounding and Shielding 147 Avoiding Crosstalk 151 Wiring Up External Devic...

Page 6: ...Contents DS1104 Hardware Installation and Configuration March 2004 I 6 ...

Page 7: ...ACE offers different types of documents see Documentation Types on page 8 For a brief description of this document see About This Document on page 10 For more information on the documents that are available when you work with the DS1104 R D Controller Board see Related Documents on page 11 ...

Page 8: ...some important documents dSPACE HelpDesk The dSPACE HelpDesk is your primary source of information on both the hardware and the software of your dSPACE system To open dSPACE HelpDesk Select dSPACE HelpDesk from the dSPACE Tools program group of the Windows Start menu From each HelpDesk page you can easily search and navigate to the desired information You also have direct access to printable Adobe...

Page 9: ...tion and Configuration Implementation Experiment and Test Production Code Generation Calibration The topics that are shown depend on your dSPACE system Context sensitive help When you work with any dSPACE software you can get context sensitive help via the F1 key and or Help button PDF Files All documents are also available as printable Adobe PDF files in the DSPACE_ROOT Doc Print folder see How t...

Page 10: ...sing an appropriate example It also gives you information about connecting external devices to the dSPACE system Knowledge in handling the host PC and the Microsoft Windows operating system is presupposed Legend The following symbols are used in this document C Warnings provide indispensable information to avoid severe damage to your system and or your work N Notes provide important information th...

Page 11: ...iles options etc of Real Time Interface RTI and RTI MP for dSPACE systems It also describes the blocks introduced by RTI MP DS1104 RTI Reference provides concise information on the board s RTI library RTLib DS1104 RTLib Reference provides detailed descriptions of the C functions needed to program RTI specific Simulink S functions or implement your control models manually via C programs handcoding ...

Page 12: ...ence provides detailed information on the libraries supported by AutomationDesk Interface libraries MLIB MTRACE MATLAB dSPACE Interface Libraries contains detailed reference information and instructions on the experiment features of MLIB MTRACE CLIB C Interface Library contains detailed reference information on the C Interface Library CLIB which contains C functions to access the dSPACE processor ...

Page 13: ...oduction to the DS1104 The dSPACE system based on the DS1104 R D Controller Board comprises hardware and software For a short introduction to the hardware components of the DS1104 refer to Hardware on page 14 For information on the software refer to Software on page 16 ...

Page 14: ...velopment system for cost sensitive RCP applications To demonstrate control design and implementation demo equipment VCFP Simulator is available for the DS1104 Easy access to input and output signals Using an adapter cable you can link your external signals from the 100 pin I O connector on the board to Sub D connectors So you can make a high density connection between the board and the devices of...

Page 15: ...ler Board is a single board system The hardware package contains One PCI slot board with a bracket including a 100 pin I O connector One adapter cable with two 50 pin female Sub D connectors The adapter cable is optional Only if ordered CP1104 or CLP1104 Connector Panel with adapter cable to the I O connector of the board ...

Page 16: ...e The dSPACE software such as the implementation and the experiment software comes on CD ROM and has to be installed first For information on the software package the installation and license handling refer to Introduction to dSPACE Software in the dSPACE Software Installation and Management Guide ...

Page 17: ...Precautions To avoid risk of injury and or damage to the dSPACE hardware read and ensure that you comply with the following safety precautions Safety Precautions for Installing and Connecting the Hardware on page 18 Safety Precautions for Using Connector Panels on page 19 ...

Page 18: ...nic devices Before unpacking installing and removing them take the following precautions to avoid damage caused by high electrostatic voltage Make sure that you and all material the board comes in contact with are properly grounded During storage or handling place the board on conductive foam or in a protective bag Do not touch the board connectors Improper handling will damage the fan of the boar...

Page 19: ...up and or external devices are switched on Make sure that the PC and external devices are turned off beforehand Safety Precautions for Using Connector Panels To avoid damage to the hardware and to achieve safe and trouble free operation the following guidelines must always be observed Before connecting a panel to a board make sure that the PC is turned off and no external devices are connected to ...

Page 20: ...Safety Precautions DS1104 Hardware Installation and Configuration March 2004 I 20 ...

Page 21: ...e you start Make yourself familiar with the installation and configuration procedures of the DS1104 R D Controller Board Refer to Installation and Configuration Overview on page 22 Check if your system fulfills the system requirements Refer to Checking the System Requirements on page 24 ...

Page 22: ... has been installed on the host PC You must first install the software before installing any hardware component in the host PC For detailed instructions on installing the software refer to Installing dSPACE Software in the dSPACE Software Installation and Management Guide N You need administrator rights to install dSPACE software 2 Check whether your hardware meets the requirements for DS1104 Refe...

Page 23: ...in Contact dSPACE support using the dSPACE Support Wizard It is available On your dSPACE CD at Diag Tools dSPACESupportWizard exe Via Start Programs dSPACE Tools after installation of the dSPACE software External devices For information on connecting external devices of your application to the dSPACE system refer to Connecting External Devices to the dSPACE System on page 71 ...

Page 24: ...her your hardware meets the system requirements Host PC Your host PC must fulfill the system requirements concerning the dSPACE software other required third party software and the hardware equipment For details refer to Checking the System Requirements in the dSPACE Software Installation and Management Guide N It is not possible to install the DS1104 in an expansion box ...

Page 25: ...iled instructions refer to How to Install the DS1104 on page 26 If you use a connector panel for connecting the external devices to the dSPACE system refer to Connecting a Connector Panel to the Board on page 28 You can install the connector panels in a standard 19 industry rack For details see How to Mount a Panel in a 19 Rack on page 30 ...

Page 26: ...lable in your host PC Preconditions The host PC is switched off Precautions are taken to avoid damage by high electrostatic voltages For details refer to Safety Precautions for Installing and Connecting the Hardware on page 18 Method To install the DS1104 in the host PC C WARNING Hazardous voltages Risk of electric shock and or damage to the hardware Before doing any installation work make sure th...

Page 27: ... seated in the slot 5 When the board is firmly seated in the slot secure the bracket with the screw you removed in step 4 6 Close the enclosure and reconnect the PC to the power supply 7 Turn on the host PC The host PC should boot as usual Now you can run ControlDesk to verify the installation see Verifying the System on page 31 If the PC does not boot switch off the power supply immediately and c...

Page 28: ...f LEDs which indicate the states of the digital signals Connecting CP CLP to a board After you have installed the board in the host PC you can connect the accompanying panel to the board For detailed instructions refer to How to Connect a Panel CP CLP to a Board on page 29 Mounting panels in a rack As a standard the CP and CLP connector panels are installed in a desktop box made from aluminum prof...

Page 29: ...f the host PC and the external devices beforehand 1 If the panel is to be mounted in a 19 rack this should be done first see How to Mount a Panel in a 19 Rack on page 30 2 Plug the CP1104 or CLP1104 to the DS1104 and tighten the lock screws Take care not to mix up the connectors of the DS1104 Connectors are installed correctly when ribbon cables are not twisted and do not cross over each other Fur...

Page 30: ...off All connections to external devices are removed Method To mount panels in a standard 19 industry rack 1 Remove the aluminum box To do so unscrew one of its side panels 4 screws If there is a ribbon cable strain relief at the bottom of the box it must be cut open 2 Bolt the panel to the front of a 19 rack as shown below Depending on the rack used several M2 5x10 or M3x10 bolts are required 122 ...

Page 31: ...ation on how to access the Platform Manager see How to Run ControlDesk on page 32 Board properties To view the current settings and properties of the boards in your system see How to View the Board Properties on page 34 Installation check After you set the working board check if your board is ready to run real time applications see How to Verify the Installation on page 37 Updating the firmware Th...

Page 32: ...n the desktop To start ControlDesk 1 In the Windows Start menu choose Programs dSPACE Tools ControlDesk 2 In the Navigator click the Platform tab The Platform Navigator appears and displays the installed DS1104 R D Controller Board icon The first DS1104 is named ds1104 All following DS1104 boards are named ds1104_xx xx 2 9 Tool window Platform Navigator Status bar Toolbars Menu bar File selector N...

Page 33: ...r system that do not support plug play to download applications to your simulation platform manually For more information on ControlDesk and its features refer to the ControlDesk Experiment Guide N Working with more than one dSPACE board in plug play configuration may cause assignment problems For details refer to Problems with Multiple Plug Play Boards on page 165 ...

Page 34: ...tor double click the corresponding DS1104 icon to open the Controller Board Properties dialog 2 In the Controller Board Properties dialog check the accompanying pages T You can also select the board on the Platform page of the Navigator and choose Platform Properties from the menu bar N The displayed entries cannot be changed Board Properties page This page provides information on the hardware and...

Page 35: ...tion on the module versions it is based on E dSPACE ini file The dSPACE ini file describes the configuration mostly board properties of the platforms already registered in the form of key value pairs Initializing a DS1104 some properties of the board are entered into the dSPACE ini file N If you delete this file you will have to reregister any boards that do not support plug play This does not app...

Page 36: ...Verifying the System DS1104 Hardware Installation and Configuration March 2004 I 36 To view the dSPACE ini file From ControlDesk s menu bar choose View dSPACE ini The Dspace ini window opens E ...

Page 37: ... application smd_1104_ch sdf To verify the installation 1 In ControlDesk s File Selector change to DSPACE_ROOT Demos DS1104 Check select the System Description file SDF and drag drop it onto the DS1104 icon in the Platform Navigator 2 In the Tool Window select the Log Viewer page If no error message is displayed in the Log Viewer the board is installed correctly Now your system is ready to run rea...

Page 38: ...ntained in your current dSPACE installation is the available firmware version The Platform Manager detects it automatically Required version The firmware needed by an application you download to your real time processor is the required firmware version This information is shown on the Advanced page of the Firmware Management dialog N The firmware is downward compatible You can download an applicat...

Page 39: ...ill automatically update its firmware to the available version if the current version is lower than the available one This is the default setting after you install the dSPACE software You can also switch off automatic updating For details see Platform Manager Page in the ControlDesk Reference Manual update If you use user firmware or switched off automatic updating you will be prompted to update y...

Page 40: ...elect Firmware Type list select the firmware type you want to update 3 In the Object file edit field specify the path of the firmware to be downloaded to your board Use the Browse button for this purpose N The firmware path is set by default from the RTLib installation 4 Click the Update Firmware button The firmware will be updated to the available version 5 When the update is complete the Close b...

Page 41: ...ontrol algorithm For this purpose you can either embed the blocks provided by dSPACE s Real Time Interface RTI in a Simulink model or use RTLib s functions to handcode your application directly in C For some basic information on this step see Implementing Models on page 43 2 Then build your model and download it to your dSPACE real time hardware For detailed instructions on how to download start a...

Page 42: ...s soon as the real time application is running on your hardware you can use ControlDesk to experiment with it For some basic information on how to create a ControlDesk experiment and observe the variables and change parameters of a running real time application see Experimenting with ControlDesk on page 59 ...

Page 43: ...g control models the C code is automatically generated by the Real Time Workshop in conjunction with dSPACE s Real Time Interface RTI RTI is the interface between Simulink and the various dSPACE platforms See Implementing Simulink Models Using Real Time Interface on page 44 Handcoding An algorithm can also be handcoded in C In addition to the necessary compilers the tools required to generate obje...

Page 44: ...owing instructions apply To start RTI1104 1 Make sure that the required licenses are available and activated For information on handling the license mechanism refer to Protected Products and Required Licenses in the dSPACE Software Installation and Management Guide 2 Open ControlDesk via Programs dSPACE Tools ControlDesk in the Windows Start menu and specify the DS1104 as the working board via Pla...

Page 45: ...enter simulink The Simulink Library Browser appears in a separate window 6 In the Simulink Library Browser window you can click the signs to browse through the dSPACE RTI1104 library T You can also right click a library icon and choose from the context menu Open the Name of the Library Library to open the corresponding library ...

Page 46: ...nd Window enter rti Name of the Library to start the appropriate library for example rti1103 How to Work with a Model In the following the demo model smd_1104_sl is used to describe how to use the RTI1104 board library It simulates a damped spring mass system stimulated by a square wave signal It does not require any I O hardware and thus serves as a ready to use example If you want to use a handc...

Page 47: ...ble click DEMOS 2 Double click the box titled Spring Mass Damper in the Library rti1104demolib window to open the Simulink model smd_1104_sl The Simulink model smd_1104_sl is displayed in an extra window 3 To examine the model double click its blocks 4 From the menu bar of the Model window choose Tools Real Time Workshop Options to view the simulation parameters ...

Page 48: ...ication to the DS1104 The smd_1104_sl sdf system description fileand the real time application are created The latter is downloaded to the DS1104 and started automatically 7 Use ControlDesk to stop and restart the real time application Refer to Experimenting with ControlDesk on page 59 If the real time application stored in the current MATLAB working folder is stopped it can be downloaded to the D...

Page 49: ... makefile After the object file is downloaded and started the RTP error check utility is called automatically To edit and download an application 1 Open the file DSPACE_ROOT Demos DS1104 GettingStarted HandCode smd_1104_hc c using a text editor of your choice 2 Browse through the source code but do not alter the code yet 3 To invoke down1104 in a DOS window change to the directory DSPACE_ROOT Demo...

Page 50: ... application can be loaded to the global memory or flash memory For instructions on how to start stop and reload applications on the DS1104 see How to Handle Applications for the Global Memory on page 53 How to Handle Applications for the Flash Memory on page 55 scoutcmd To download and start applications on the real time hardware it is possible to use the Platform Manager as a batch client using ...

Page 51: ... the idle state after power up or if an executing application has been stopped by ControlDesk you can start a new application by loading it to the global or flash memory If you load an application to the flash memory it is copied to the global memory before it is started Any application already in global memory is overwritten If you start the application again using ControlDesk s Reload Applicatio...

Page 52: ...will be reset immediately Therefore the termination code will not be executed and the background task will no longer be active As a result the I O will not output the termination values of the application To avoid problems with undefined termination values use RTI s simulation control RUN STOP mechanism for stopping and reloading applications see Simulation Control RUN STOP Mechanism in the RTI an...

Page 53: ... a real time application to the global memory and start the RTP In the File Selector select the system description file SDF or the object file PPC for the real time processor and drag drop it onto the board icon in the Platform Navigator The object file is loaded to and started on the real time processor Or you can choose Platform Application Load Application from the menu bar N If you drag drop a...

Page 54: ...on 1 In the Platform Navigator select the board 2 From the menu bar choose Platform Application Stop Real Time Processor Or you can click the Stop RTP Simulation icon in the Platform toolbar The program running on the real time processor is stopped To reload a real time application 1 In the Platform Navigator select the board 2 From the menu bar choose Platform Application Reload Application Or yo...

Page 55: ...mory refer to Clearing an application on page 57 To download a real time application to the flash memory and start the RTP 1 In the Platform Navigator select the board 2 From the context menu of the Platform Manager choose Load Application to Flash 3 Choose an application that is the SDF file or the PPC file in the Load Application to RTP dialog N If you load an application when your system is sti...

Page 56: ...rm Navigator select the board 2 From the menu bar choose Platform Application Stop Real Time Processor Or you can click the Stop RTP Simulation icon in the Platform toolbar The program running on the real time processor is stopped To reload a real time application 1 In the Platform Navigator select the board 2 From the menu bar choose Platform Application Reload Application Or you can click the Re...

Page 57: ... board 3 From the context menu of the board icon choose Clear Flash 4 In the Clear Flash Memory dialog you have the following options to clear the memory Select Clear complete flash memory to clear the whole flash memory Clear flash application memory to delete only the loaded application from the flash memory The currently loaded application is displayed in the Application in Flash field 5 Click ...

Page 58: ...ow enter scoutcmd b ds1104 test sdf The test sdf application is loaded to the board and the RTP is started To load an application to the flash memory using scoutcmd In a DOS window enter scoutcmd b ds1104 test sdf fl The test sdf application is loaded to the flash memory parameter fl and the RTP is started T If the parameter b is not used with the scoutcmd command the application is downloaded to ...

Page 59: ... experiment with a real time application three application specific files are required see How to Generate the Required Files on page 60 Demo model The demo model smd_1104_hc introduces you to ControlDesk s experimentation features If you want to use a Simulink application use the demo smd_1104_sl instead The related files are located in DSPACE_ROOT Demos DS1104 GettingStarted HandCode or DSPACE_R...

Page 60: ...aded onto which processor The way the SDF file is generated depends on the method used for implementation T When you load an SDF file to your system the executable and all files related to the experiment are loaded automatically Using RTI and Simulink RTI automatically generates the SDF file the TRC file s and the MAP file when generating and compiling the code C Coded Models In smd_1104_hc c serv...

Page 61: ...y cause assignment problems For details refer to Problems with Multiple Plug Play Boards on page 165 2 If ControlDesk s Platform Navigator displays more than one dSPACE board in your system it may be necessary to specify the DS1104 as the working board In the Platform Navigator you can recognize the working board by its bold print If the DS1104 is not the current working board choose Platform Set ...

Page 62: ...d Handling Applications DS1104 Hardware Installation and Configuration March 2004 I 62 4 In the Variable Browser click the trace group Model to display the variables a v x f of that block in the Showlist on the right ...

Page 63: ...ayout window and the Instrument Selector on the right side in the illustration below 6 Do the following to build an instrument panel within the layout window In the Instrument Selector click the instrument group containing the desired instrument for example Data Acquisition In the Instrument Selector click the icon of the instrument for example a PlotterArray In the layout window draw a rectangle ...

Page 64: ...dded to the Instrumentation Navigator The red frame of the instrument indicates that there is no valid data connection yet In the Variable Browser choose a signal and drag drop it onto the instrument for example x The red frame disappears when the connection is built 7 Select the instrument and choose Properties from the context menu to display or change the properties of the instrument ...

Page 65: ...ruments to the layout or to change the properties of existing instruments choose Instrumentation Edit Mode 10 From the menu bar choose File Save to save the new layout Data connections describe the connection between variables of the real time application and a ControlDesk instrument To save data connections you should create an experiment and add the layout to it For further information refer to ...

Page 66: ... the menu bar choose File Open Experiment to open the experiment smd_1104_hc cdx from DSPACE_ROOT Demos DS1104 GettingStarted HandCode ControlDesk will open the experiment together with all the related files 3 Use the Platform Navigator to load the file smd_1104_hc sdf from the same folder 4 Close all windows except the instrument panel DS1104 Spring Mass Damper Demo SMD ...

Page 67: ... Implementing and Handling Applications DS1104 Hardware Installation and Configuration March 2004 67 I 5 From the menu bar choose Instrumentation Animation mode to start the animation ...

Page 68: ...Implementing and Handling Applications DS1104 Hardware Installation and Configuration March 2004 I 68 6 Change the parameter Mass m to 0 10 with the slider and observe the system behavior in the plotter ...

Page 69: ...tion and Configuration March 2004 69 I 7 Change the Frequency f to 100 0 with the slider and observe the system behavior in the plotter without stopping the Animation mode For more information on ControlDesk and its features refer to the ControlDesk Experiment Guide ...

Page 70: ...Implementing and Handling Applications DS1104 Hardware Installation and Configuration March 2004 I 70 ...

Page 71: ...s to the dSPACE System Prior to connecting external devices to the board or a connector panel ensure you have familiarized yourself with the related instructions provided in How to Connect External Devices to a Board on page 72 How to Connect External Devices to a Connector Panel on page 74 ...

Page 72: ...ff all external devices which are to be connected to the dSPACE system 2 Turn off the host PC 3 Disconnect the host PC and all devices connected to it from the power supply C WARNING Hazardous voltages Risk of electric shock and or damage to the hardware Do not connect any high voltage devices to the I O connectors of the hardware Do not apply voltages currents outside the specified ranges to the ...

Page 73: ...ternal Devices to the dSPACE System DS1104 Hardware Installation and Configuration March 2004 73 I 6 Turn on the host PC The host PC should boot as usual 7 Turn on all external devices connected to the dSPACE system ...

Page 74: ...e connected to the dSPACE system 2 Turn off the host PC 3 Disconnect the host PC and all devices connected to it from the power supply C WARNING Hazardous voltages Risk of electric shock and or damage to the hardware Do not connect any high voltage devices to the I O connectors of the hardware Do not apply voltages currents outside the specified ranges to the connector pins The isolation of the pa...

Page 75: ...e and hardware can be removed from the host PC in the following order 1 You have to remove the software first For further information refer to Removing dSPACE Software in the dSPACE Software Installation and Management Guide 2 Afterwards you can remove the hardware from the host PC Refer to How to Remove the Hardware on page 76 ...

Page 76: ... to the hardware Before removing any board make sure that The power supply of the host PC is switched off No external device is connected to the dSPACE system 1 Disconnect the host PC and all external devices connected to them from the power supply 2 Unplug any external devices or connector panels from the I O connector of the DS1104 3 Open the enclosure of the host PC 4 Unscrew the bracket of the...

Page 77: ...illustration of the board showing the location of connectors jumpers and LEDs DS1104 Connectors on page 80 shows the pin assignments of the different board connectors CP1104 CLP1104 Connectors on page 88 shows the front view of the connector panel and the pin assignments of the connectors equipped on the panel CLP1104 LED Assignments on page 100 shows the LED array of the CLP Mapping of I O signal...

Page 78: ...to right The I O connector P1 is a 100 pin connector The signals available at this connector are described in I O Connector P1 on page 81 The slave DSP debug connector P3 is a JTAG 1149 1 hardware debug connector and can be used for slave DSP debugging The signals available at this connector are described in Slave DSP Debug Connector P3 on page 86 Slave DSP flash jumper J1 Master PPC debug connect...

Page 79: ...d the watchdog mode see Slave DSP Flash Jumper J1 on page 87 The red status LED is equipped for troubleshooting purposes For details see Checking the DS1104 on page 164 The master PPC debug connector P2 is a JTAG 1149 1 hardware debug connector and can be used for master PPC debugging The signals available at this connector are described in Master PPC Debug Connector P2 on page 85 ...

Page 80: ... connectors I O Connector P1 on page 81 Master PPC Debug Connector P2 on page 85 Slave DSP Debug Connector P3 on page 86 Slave DSP Flash Jumper J1 on page 87 N Prior to connecting external devices to the board ensure you have familiarized yourself with the relevant instructions provided in Connecting External Devices to the dSPACE System on page 71 ...

Page 81: ...onnector see Signal Connection to External Devices on page 119 N For the DS1104 the total load of the connector pins providing VCC P1 19 and P1 20 P1A 4 and P1B 4 on the Sub D connectors must not exceed 500 mA The VCC lines are protected against short circuits by a common multifuse on the DS1104 If VCC is overloaded or shorted the multifuse on the DS1104 is heated up by the overcurrent and abruptl...

Page 82: ...I90 1 P1 41 P1B 24 PHI90 2 P1 42 P1A 24 PHI90 1 P1 43 P1B 8 PHI0 2 P1 44 P1A 8 PHI0 1 P1 45 P1B 41 PHI0 2 P1 46 P1A 41 PHI0 1 P1 47 P1B 25 GND P1 48 P1A 25 GND P1 49 P1B 9 IO19 P1 50 P1A 9 IO18 P1 51 P1B 42 IO17 P1 52 P1A 42 IO16 P1 53 P1B 26 IO15 P1 54 P1A 26 IO14 P1 55 P1B 10 IO13 P1 56 P1A 10 IO12 P1 57 P1B 43 IO11 P1 58 P1A 43 IO10 P1 59 P1B 27 IO9 P1 60 P1A 27 IO8 P1 61 P1B 11 IO7 P1 62 P1A 1...

Page 83: ... the Sub D connector P1A Signal names in parentheses apply when the UART is set to the RS422 or RS485 mode Connector P1A Pin Signal Pin Signal Pin Signal 1 GND 34 RTS 2 DTR TXD 18 RTS RTS 35 TXD TXD 3 SCAP3 19 SCAP4 36 SCAP2 4 VCC 5 V 20 SCAP1 37 SPWM6 5 SPWM4 21 SPWM5 38 SPWM3 6 SPWM1 22 SPWM2 39 GND 7 IDX 1 23 IDX 1 40 PHI90 1 8 PHI0 1 24 PHI90 1 41 PHI0 1 9 IO18 25 GND 42 IO16 10 IO12 26 IO14 4...

Page 84: ...al Pin Signal Pin Signal 1 GND 34 DCD CTS 2 DSR RXD 18 CTS CTS 35 RXD RXD 3 SSIMO 19 SSOMI 36 SSTE 4 VCC 5 V 20 SSCLK 37 ST3PWM 5 ST1PWM 21 ST2PWM 38 SPWM9 6 SPWM7 22 SPWM8 39 GND 7 IDX 2 23 IDX 2 40 PHI90 2 8 PHI0 2 24 PHI90 2 41 PHI0 2 9 IO19 25 GND 42 IO17 10 IO13 26 IO15 43 IO11 11 IO7 27 IO9 44 IO5 12 IO1 28 IO3 45 GND 13 GND 29 DACH8 46 DACH6 14 DACH4 30 GND 47 GND 15 GND 31 DACH2 48 ADCH8 1...

Page 85: ...standard emulation port which can be used for software debugging For the location of the connector on the board see Board Overview on page 78 N The dSPACE software does not support the master PPC debug connector Connector P2 Pin Signal Pin Signal 1 TDO 2 N C 3 TDI 4 TRST 5 RUN_STP 6 VDD_SENSE 7 TCK 8 CHKSTP_IN 9 TMS 10 N C 11 N C 12 N C 13 HRESET 14 15 CKSTP_OUT 16 GND 1 2 15 16 ...

Page 86: ...ion port can be used for software debugging The DS1104 contains a JTAG connector to connect an external emulator such as the Texas Instruments XDS510 For the location of the connector on the board see Board Overview on page 78 N The dSPACE software does not support the slave DSP debug connector Connector Pin Signal Pin Signal 1 TMS 2 TRST 3 TDI 4 GND 5 VCC 6 7 TDO 8 GND 9 TCK 10 GND 11 TCK 12 GND ...

Page 87: ...of the TMS320F240 slave DSP selects the protection mode of the flash memory and the slave DSP watchdog mode If the jumper connects VCCp to VCC default setting erase write operations to the flash memory are enabled the watchdog is disabled If the jumper connects VCCp to GND erase write operations to the flash memory are disabled the watchdog is enabled N The dSPACE software does not support the wat...

Page 88: ...he DS1104 and devices to be connected to it Devices can be individually connected disconnected or interchanged without soldering This simplifies system construction testing and troubleshooting N Prior to connecting external devices to the connector panel ensure you have familiarized yourself with the relevant instructions provided in How to Connect External Devices to a Connector Panel on page 74 ...

Page 89: ...he total load of all connector pins that provide access to the PC power supply must not exceed 500 mA CP1104 or 400 mA CLP1104 The VCC lines are protected against short circuits by a common multifuse on the DS1104 CP1 CP2 CP3 CP4 CP5 CP6 CP7 CP8 CP9 CP10 CP11 CP12 CP13 CP14 CP15 CP16 Hole for 19 rack mount Incremental Encoder Interface connectors UART RS232 connector CP21 UART RS485 RS422 connecto...

Page 90: ...ion March 2004 I 90 If VCC is overloaded or shorted the multifuse on the DS1104 is heated up by the overcurrent and abruptly raises its resistance To reset the multifuse to its initial low resistance turn off the power for some minutes to allow the multifuse to cool down ...

Page 91: ...C Connectors CP1 CP16 The CP1 CP16 connectors are female BNC connectors Their shells are connected to GND N In order to avoid poor performance of the analog subsystems do not create ground loops within the BNC wiring For detailed information I O circuits electrical characteristics etc on the I O lines terminating at the BNC connectors see Analog Inputs on page 120 and Analog Outputs on page 122 Co...

Page 92: ...b D connectors is not standardized the following figure shows the numbering scheme used front view C Do not rely on the numbers written on Sub D connectors Connector CP17 Pin Signal Pin Signal 19 GND 18 GND 37 VCC 5 V 17 GND 36 VCC 5 V 16 GND 35 GND 15 IO19 34 GND 14 IO17 33 IO18 13 GND 32 IO16 12 IO15 31 GND 11 IO13 30 IO14 10 GND 29 IO12 9 IO11 28 GND 8 IO9 27 IO10 7 GND 26 IO8 6 IO7 25 GND 5 IO...

Page 93: ...CP1104 and CLP1104 Connector Panels the total load of all connector pins that provide access to the PC power supply must not exceed 500 mA CP1104 or 400 mA CLP1104 For detailed information I O circuits electrical characteristics etc on the I O lines terminating at this connector see Bit I O on page 125 ...

Page 94: ...s is not standardized the following figure shows the numbering scheme used front view C Do not rely on the numbers written on Sub D connectors Connector CP18 Pin Signal Pin Signal 1 GND 2 SCAP1 20 GND 3 SCAP3 21 SCAP2 4 GND 22 SCAP4 5 ST2PWM 23 ST1PWM 6 GND 24 ST3PWM 7 SPWM1 25 GND 8 SPWM3 26 SPWM2 9 SPWM5 27 SPWM4 10 SPWM7 28 SPWM6 11 SPWM9 29 SPWM8 12 GND 30 GND 13 GND 31 GND 14 GND 32 GND 15 GN...

Page 95: ...and CLP1104 Connector Panels the total load of all connector pins that provide access to the PC power supply must not exceed 500 mA CP1104 or 400 mA CLP1104 For detailed information I O circuits electrical characteristics etc on the I O lines terminating at this connector see Slave DSP Digital I O on page 142 ...

Page 96: ...onnectors is not standardized the following figure shows the numbering scheme used front view C Do not rely on the numbers written on Sub D connectors x corresponds to the two available incremental encoder channels Channel 1 is connected to CP19 x 1 channel 2 is connected to CP20 x 2 N For the CP1104 and CLP1104 Connector Panels the total load of all connector pins that provide access to the PC po...

Page 97: ...Ds DS1104 Hardware Installation and Configuration March 2004 97 I For detailed information I O circuits electrical characteristics etc on the I O lines terminating at this connector see Incremental Encoder Interface on page 129 ...

Page 98: ...exclusive and cannot be used at the same time Pinout Because the pin numbering used for Sub D connectors is not standardized the following figure shows the numbering scheme used front view C Do not rely on the numbers written on Sub D connectors Signal names in parentheses apply when the UART is set to the RS422 or RS485 mode However you should use the UART RS422 RS485 Connector CP22 instead when ...

Page 99: ...gnals are available from the RS422 485 connector CP22 CP21 and CP22 are mutually exclusive and cannot be used at the same time Pinout Because the pin numbering used for Sub D connectors is not standardized the following figure shows the numbering scheme used front view C Do not rely on the numbers written on Sub D connectors For detailed information I O circuits electrical characteristics etc on t...

Page 100: ... loading of the signals as low as possible the LEDs are run through buffers For the incremental sensor signals there are buffers with true differential inputs The pulse length of data signals of the UART RXD TXD is extended to make even small blocks of data visible The power required by the LEDs is taken from the DS1104 s supply voltage VCC IO0 IO1 IO2 IO3 IO4 IO5 IO6 IO7 IO8 IO9 IO10 IO11 IO12 IO...

Page 101: ...sts the I O signals of the DS1104 by function groups their electrical specifications and the mapping of these signals to RTI blocks and RTLib functions The table also provides the mapping of the I O signals to the I O pins on the DS1104 on the Sub D connectors P1A P1B and on the CP1104 CLP1104 connector panels ...

Page 102: ...CH1 DS1104MUX_ADC Ch 1 See ADC Unit in the DS1104 RTLib Reference Ch 1 P1 100 P1A 50 CP1 ADCH2 Ch 2 Ch 2 P1 99 P1B 50 CP2 ADCH3 Ch 3 Ch 3 P1 96 P1A 33 CP3 ADCH4 Ch 4 Ch 4 P1 95 P1B 33 CP4 ADCH5 DS1104ADC_Cx Ch 5 See ADC Unit in the DS1104 RTLib Reference Ch 5 P1 92 P1A 16 CP5 ADCH6 Ch 6 Ch 6 P1 91 P1B 16 CP6 ADCH7 Ch 7 Ch 7 P1 88 P1A 48 CP7 ADCH8 Ch 8 Ch 8 P1 87 P1B 48 CP8 DAC Unit Output voltage ...

Page 103: ... 9 CP17 33 IO19 Bit 19 Bit 19 P1 49 P1B 9 CP17 15 Incremental Encoder Interface TTL or RS422 input voltage range PHI0 x digital incremental encoder interface input 0 PHI0 x inverted signal PHI90 x digital incremental encoder interface input 90 PHI90 x inverted signal IDX x digital incremental encoder interface index input IDX x inverted signal I O circuit and further electrical characteristics see...

Page 104: ...1 2 TXD P1 10 P1A 35 CP21 3 Serial Interface RS422 RS485 mode RS422 RS485 voltage range CTS CTS clear to send and inverted signal RTS RTS ready to send and inverted signal RXD RXD receive and inverted signal TXD TXD transmit and inverted signal I O circuit and further electrical characteristics see Serial Interface on page 136 CTS DS1104SER_SETUP DS1104SER_STAT DS1104SER_TX DS1104SER_RX DS1104SER_...

Page 105: ...11 ST1PWM Bit 3 Group 2 bit 3 P1 25 P1B 5 CP18 23 ST2PWM Bit 4 Group 2 bit 4 P1 23 P1B 21 CP18 5 ST3PWM Bit 5 Group 2 bit 5 P1 21 P1B 37 CP18 24 SCAP1 Bit 6 Group 3 bit 4 P1 18 P1A 20 CP18 2 SCAP2 Bit 7 Group 3 bit 5 P1 16 P1A 36 CP18 21 SCAP3 Bit 8 Group 3 bit 6 P1 14 P1A 3 CP18 3 SCAP4 Bit 9 Group 3 bit 7 P1 12 P1A 19 CP18 22 SCLK Bit 10 Group 4 bit 0 P1 17 P1B 20 CP18 17 SSTE Bit 11 Group 4 bit...

Page 106: ... further electrical characteristics see Slave DSP Digital I O on page 142 SPWM1 DS1104SL_DSP_D2F Ch 1 See Square Wave Signal Generation D2F in the DS1104 RTLib Reference Ch 1 P1 32 P1A 6 CP18 7 SPWM3 Ch 2 Ch 2 P1 28 P1A 38 CP18 8 SPWM5 Ch 3 Ch 3 P1 24 P1A 21 CP18 9 ST2PWM Ch 4 Ch 4 P1 23 P1B 21 CP18 5 Slave DSP PWM Signal Measurement PWM2D TTL input voltage range I O circuit and further electrical...

Page 107: ...d further electrical characteristics see Bit I O on page 125 IO16 DS1104MASTER_HWINT_Ix User int 1 See Interrupt Handling in the DS1104 RTLib Reference Ext int 0 P1 52 P1A 42 CP17 32 IO17 User int 2 Ext int 1 P1 51 P1B 42 CP17 14 IO18 User int 3 Ext int 2 P1 50 P1A 9 CP17 33 IO19 User int 4 Ext int 3 P1 49 P1B 9 CP17 15 Signal Channel Bit Numbers of Related RTI Blocks RTLib Functions I O Pin on Re...

Page 108: ... 20 pins P1B 4 and P1A 4 on the Sub D connector must not exceed 500 mA For the connector panels CP1104 and CLP1104 the total load of all connector pins that provide access to the PC power supply must not exceed 500 mA CP1104 or 400 mA CLP1104 Connector Pin DS1104 I O Connector P1 19 20 Sub D Connector P1A 4 P1B 4 CP1104 CLP1104 Connector Panel Digital I O CP17 36 37 Slave I O CP18 18 19 Incrementa...

Page 109: ... as a whole Suppose two I O features of the dSPACE board use the same on board timer device In this case only one of the two I O features can be used at a time The other feature is completely blocked Conflicts for the DS1104 The following I O features of the DS1104 conflict with other I O features Bit I O Unit see page 110 Serial Interface see page 110 Slave DSP Bit I O Unit see page 111 Slave DSP...

Page 110: ...nt 2 Ext Int 1 Bit 18 Bit 18 IO18 User interrupt User Int 3 Ext Int 2 Bit 19 Bit 19 IO19 User interrupt User Int 4 Ext Int 3 Related RTI blocks and RTLib functions DS1104BIT_IN_Cx DS1104BIT_OUT_Cx See Bit I O Unit in the DS1104 RTLib Reference Related RTI blocks and RTLib functions DS1104MASTER_HWINT_Ix See Interrupt Handling in the DS1104 RTLib Reference External Trigger Signal Signal Conflicting...

Page 111: ... 7 Group 3 bit 5 SCAP2 PWM2D F2D Ch 2 Ch 2 Bit 8 Group 3 bit 6 SCAP3 PWM2D F2D Ch 3 Ch 3 Bit 9 Group 3 bit 7 SCAP4 PWM2D F2D Ch 4 Ch 4 Bit 10 Group 4 bit 0 SCLK SPI Bit 11 Group 4 bit 1 SSTE SPI Bit 12 Group 4 bit 2 SSIMO SPI Bit 13 Group 4 bit 3 SSOMI SPI Related RTI blocks and RTLib functions DS1104SL_DSP_BIT_IN_Cx DS1104SL_DSP_BIT_OUT_Cx See Slave DSP Bit I O Unit in the DS1104 RTLib Reference ...

Page 112: ... 4 SPWM9 Slave DSP Bit I O unit Bit 2 Group 2 bit 2 Related RTI blocks and RTLib functions DS1104SL_DSP_PWM See Slave DSP PWM Generation in the DS1104 RTLib Reference Related RTI blocks and RTLib functions D2F DS1104SL_DSP_D2F See Square Wave Signal Generation D2F in the DS1104 RTLib Reference Slave DSP Bit I O Unit DS1104SL_DSP_BIT_IN_Cx DS1104SL_DSP_BIT_OUT_Cx See Slave DSP Bit I O Unit in the D...

Page 113: ...cts Concerning Slave DSP 3 Phase PWM Signal Generation as a Whole If you perform 3 phase PWM signal generation PWM3 or square wave signal generation D2F you cannot generate space vector PWM signals at the same time Related RTI blocks and RTLib functions DS1104SL_DSP_PWMSV See Slave DSP PWMSV Generation in the DS1104 RTLib Reference Related RTI blocks and RTLib functions 3 phase PWM signal generati...

Page 114: ...M3 or PWMSV you cannot generate square wave signals at the same time Conflicts Concerning Single Channels Ch 4 Ch 4 ST2PWM Slave DSP Bit I O unit Bit 4 Group 2 bit 4 PWM Ch 1 Ch 1 Related RTI blocks and RTLib functions DS1104SL_DSP_D2F See Square Wave Signal Generation D2F in the DS1104 RTLib Reference Related RTI blocks and RTLib functions PWM3 PWMSV DS1104SL_DSP_PWM3 DS1104SL_DSP_PWMSV See Slave...

Page 115: ...nals at the same time Conflicts Concerning Single Channels Ch 1 Ch 1 SCAP1 Slave DSP Bit I O unit Bit 6 Group 3 bit 4 Ch 2 Ch 2 SCAP2 Slave DSP Bit I O unit Bit 7 Group 3 bit 5 Ch 3 Ch 3 SCAP3 Slave DSP Bit I O unit Bit 8 Group 3 bit 6 Ch 4 Ch 4 SCAP4 Slave DSP Bit I O unit Bit 9 Group 3 bit 7 Related RTI blocks and RTLib functions DS1104SL_DSP_PWM2D See Slave DSP PWM Measurement PWM2D in the DS11...

Page 116: ...uare wave signals at the same time Conflicts Concerning Single Channels Ch 1 Ch 1 SCAP1 Slave DSP Bit I O unit Bit 6 Group 3 bit 4 Ch 2 Ch 2 SCAP2 Slave DSP Bit I O unit Bit 7 Group 3 bit 5 Ch 3 Ch 3 SCAP3 Slave DSP Bit I O unit Bit 8 Group 3 bit 6 Ch 4 Ch 4 SCAP4 Slave DSP Bit I O unit Bit 9 Group 3 bit 7 Related RTI blocks and RTLib functions DS1104SL_DSP_F2D See Square Wave Signal Measurement F...

Page 117: ...l Interface SPI as a Whole If you use the following bits of the Slave DSP Bit I O Unit you cannot use the SPI SCLK Slave DSP Bit I O unit Bit 10 Group 4 bit 0 SSTE Slave DSP Bit I O unit Bit 11 Group 4 bit 1 SSIMO Slave DSP Bit I O unit Bit 12 Group 4 bit 2 SSOMI Slave DSP Bit I O unit Bit 13 Group 4 bit 3 Related RTLib functions See Slave DSP Serial Peripheral Interface in the DS1104 RTLib Refere...

Page 118: ...Mapping of I O Signals DS1104 Hardware Installation and Configuration March 2004 I 118 ...

Page 119: ... signal conditioning and signal connection to external devices The information given is sorted according to the I O units of the DS1104 Analog Inputs on page 120 Analog Outputs on page 122 Bit I O on page 125 Incremental Encoder Interface on page 129 Serial Interface on page 136 Slave DSP Digital I O on page 142 T User interrupts must be connected to the pins of the bit I O unit For details see Re...

Page 120: ...annels One 16 bit ADC with four multiplexed input signals ADCH1 ADCH4 Four 12 bit parallel ADCs with one input signal each ADCH5 ADCH8 For a feature description of the ADCs refer to ADC Unit in the DS1104 Features document For detailed information on connecting external devices to the analog inputs refer to Input Circuit and Electrical Characteristics on page 121 Notes and Tips on Signal Condition...

Page 121: ...s and Tips on Signal Conditioning The following notes and tips are intended to help you achieve optimum results using the ADCs Noise crosstalk and inductive effects can degrade the signal and lead to incorrect results if you do not perform the following correctly Grounding and Shielding on page 147 Avoiding Crosstalk on page 151 Wiring Up External Devices on page 152 Rin amp 10 MΩ ADC 1 kΩ ADCHx 1...

Page 122: ...DAC with 8 parallel DAC channels The analog output channels are called DACH1 DACH8 For a feature description of the DACs refer to DAC Unit in the DS1104 Features document For detailed information on connecting external devices to the analog outputs refer to Output Circuit and Electrical Characteristics on page 123 Notes and Tips on Signal Conditioning on page 124 ...

Page 123: ... a simplified diagram of the output circuitry of the DACs Electrical characteristics The analog outputs are single ended bipolar outputs with the following characteristics DAC outputs are low impedance outputs DACx 1 kΩ DACHx 100 Ω 3 kΩ Rout 0 Ω Parameter Value Min Max Output voltage 10 V 10 V Output current 5 mA 5 mA Output resistance 0 Ω Power up default 0 V SNR signal to noise ratio 80 dB ...

Page 124: ... The following notes and tips are intended to help you achieve optimum results when using the DACs Noise crosstalk and inductive effects can degrade the signal and lead to incorrect results if you do not perform the following correctly Grounding and Shielding on page 147 Avoiding Crosstalk on page 151 Wiring Up External Devices on page 152 ...

Page 125: ...ns called IO0 IO19 You can select the direction for each bit individually by software For a feature description of the bit I O unit refer to Bit I O Unit in the DS1104 Features document For detailed information on connecting external devices to the bit I O refer to I O Circuit and Electrical Characteristics on page 126 Notes and Tips on Signal Conditioning on page 127 ...

Page 126: ... characteristics The bit I O has TTL output input levels with the following characteristics Output Enable I Ox 33 Ω 10 kΩ VCC I Parameter Value Min Max Input voltage High Low 2 0 V 0 V 5 0 V 0 8 V Output voltage High Low 2 4 V 0 V 5 0 V 0 4 V Output current 5 mA 5 mA Input current The current direction is shown in the circuit diagram above 500 µA Power up default All bit I O output circuits are di...

Page 127: ...ed to help you achieve optimum results when using the bit I O Changing Power up Default on page 128 Recognizing User Interrupts on page 128 Noise crosstalk and inductive effects can degrade the signal and lead to incorrect results if you do not perform the following correctly Grounding and Shielding on page 147 Avoiding Crosstalk on page 151 Wiring Up External Devices on page 152 ...

Page 128: ...t you can set the I O pins to a defined logical low level by connecting a 1 kΩ pull down resistor from ground to each I O pin Recognizing User Interrupts IO16 IO19 can be used as external interrupt inputs To allow the interrupt controller to recognize incoming user interrupts the input of the interrupts must be kept high for at least 1 µs The interrupt is activated by the high to low transition of...

Page 129: ...PHI90 1 PHI0 1 PHI0 1 IDX 2 IDX 2 PHI90 2 PHI90 2 PHI0 2 PHI0 2 The incremental encoder interface supports single ended TTL and differential RS422 signals selectable by software For a feature description of the encoder interface refer to Incremental Encoder Interface in the DS1104 Features document For detailed information on connecting external devices to the incremental encoder interface refer t...

Page 130: ... characteristics 1 kΩ 150 Ω 1 kΩ 4 7 nF RS422 Single Ended Converter Digital Converter Interface PHI0 x PHI90 x IDX x PHI0 x PHI90 x IDX x Parameter Value Min Max TTL input voltage High Low 2 0 V 0 V 5 0 V 0 8 V TTL input resistance 12 kΩ RS422 input voltage High Low Diff 0 2 V Diff 0 2 V Diff Voltage difference between non inverted and inverted signal The input signal together with the correspond...

Page 131: ... voltage outputs VCC are connected to the PC s 5 V power supply via a multifuse If a supply output is overloaded or shorted the multifuse is heated by the overcurrent and abruptly increases its resistance To reset the multifuse to its initial low resistance remove the power for some minutes to allow the multifuse to cool down You should use the VCC supply voltages for all connected incremental sen...

Page 132: ...35 Noise crosstalk and inductive effects can degrade the signal and lead to incorrect results if you do not provide correct shielding For details refer to Shielding on page 150 Recognizing Encoder Index Interrupts To allow the interrupt controller to recognize incoming index interrupts IDX1 IDX2 the input of the index interrupts must be kept low for at least 1 µs The interrupt is activated by the ...

Page 133: ... connect the outputs of your encoder to an AC coupling network The input signals must be DC signals Encoder providing differential RS422 signals Connect encoders that provide differential RS422 signals to the DS1104 as shown in the illustration below GND Incremental encoder output DS1104 GND PHI0 PHI0 PHI90 IDX IDX PHI90 VSupply VCC PHI0 PHI90 IDX IDX PHI90 PHI0 ...

Page 134: ...HI90 PHI0 and IDX must be left unconnected see below Encoder providing SENSE lines If your encoder has sense lines connect SENSE to Vsupply and SENSE to GND Connect the sense lines directly within the connector of the encoder see below GND Incremental encoder output DS1104 GND PHI0 PHI0 PHI90 IDX IDX PHI90 VSupply VCC PHI0 PHI90 IDX Incremental encoder output DS1104 GND VSupply SENSE SENSE GND VCC...

Page 135: ...ges for all connected incremental encoders Connect both pins so that the current is shared evenly by both pins Use wires of sufficient diameter to avoid voltage drops The total load of all connector pins that provide access to the PC power supply must not exceed 500 mA DS1104 or via CP1104 or 400 mA CLP1104 Using an external power supply If you use an external supply voltage you have To guarantee ...

Page 136: ...perform communication with external devices The UART can be configured as a RS232 RS422 or RS485 transceiver The pins of the UART are called RXD RXD TXD TXD RTS RTS CTS CTS DCD DTR DSR For a feature description refer to Serial Interface in the DS1104 Features document For notes and tips of connecting the UART refer to Connecting RS232 Devices on page 137 Connecting RS422 RS485 Devices on page 138 ...

Page 137: ...he TXD and RXD signals for connecting external devices To do this connect the pin of the TXD output signal to the pin of the RXD input signal as shown below N For some devices e g modems you should not cross connect the TXD and RXD signals For the correct connection refer to the manual of the device you want to connect to the DS1104 External device or another DS1104 RXD TXD TXD RXD DS1104 RS232 mo...

Page 138: ... signal to RXD signal For proper operation of the UART interface you have to pay attention to line termination and grounding Line termination The UART chip of the DS1104 does not provide line termination If you use the UART as an RS422 or RS485 transceiver line termination is essential especially for faster data transfer rates and long cables The main reasons for correct termination are reflection...

Page 139: ...ansmitter in the bus the termination resistor is placed only at the end of the cable near the last receiver see figure below The termination resistor ZT must be within 20 of the characteristic impedance of the cable Z0 and can vary from 90 Ω to 120 Ω TXD DS1104 RS422 mode TXD ZT RXD RXD RXD RXD T T Transmitter R Receiver R R RXD RXD R ...

Page 140: ...t Moreover it is also possible for the transmitter to be in the middle of the line So both ends of the line have to be terminated with a terminator The termination resistor ZT must be within 20 of the characteristic impedance of the cable Z0 and can vary from 90 Ω to 120 Ω Avoiding undefined conditions RS485 If no transmitter is currently active in an RS485 network undefined conditions may occur T...

Page 141: ...n the grounding of the individual devices is required This has to be realized by a third wire Here a resistor can be connected in series to limit unwanted high currents resulting from ground potential differences The figure below shows the grounding arrangement in an RS485 network ZT ZT 100 Ω 100 Ω 100 Ω 100 Ω Ground wire Logic ground Chassis ground Chassis ground Logic ground T Transmitter R Rece...

Page 142: ...ral Interface The pins of the slave DSP digital I O are called SPWM1 SPWM9 ST1PWM ST3PWM SCAP1 SCAP4 SSOMI SSIMO SSTE SSCLK For a feature description of the slave DSP digital I O refer to Features Provided by the Slave DSP in the DS1104 Features document For detailed information on connecting external devices to the slave DSP digital I O refer to I O Circuit and Electrical Characteristics on page ...

Page 143: ...acteristics The slave DSP digital I O have TTL output input levels with the following characteristics Output Enable 33 Ω 10 kΩ VCC I Slave I O Parameter Value Min Max Input voltage High Low 2 0 V 0 V 5 0 V 0 8 V Output voltage High Low 2 4 V 0 V 5 0 V 0 4 V Output current 13 mA 13 mA Input current The current direction is shown in the circuit diagram above 500 µA Power up default All digital I O o...

Page 144: ... can degrade the signal and lead to incorrect results if you do not perform the following correctly Grounding and Shielding on page 147 Avoiding Crosstalk on page 151 Wiring Up External Devices on page 152 Changing Power up Default After power up the digital I O are configured to input mode In this case the I O pins have a defined logical high level because of the built in pull up resistors If you...

Page 145: ...or strobing the I O ADCs DACs and incremental encoder signals The required trigger signal can be either generated by the slave DSP or driven externally In the second case the ST1PWM pin has to be configured as an input or the slave DSP must be in reset mode Recognizing signals at the ST1PWM pin To allow the interrupt controller to recognize an incoming signal at the ST1PWM pin PWM interrupt extern...

Page 146: ... and lead to incorrect results if the following are not performed correctly Grounding and Shielding on page 147 Avoiding Crosstalk on page 151 Wiring Up External Devices on page 152 ADC performance of dSPACE boards When you are sampling an unconnected A D input you are looking at a noisy signal traced in ControlDesk This may give the impression that the performance of the A D sections of dSPACE bo...

Page 147: ...It is better to eliminate the cause than to reduce the effects Grounding There are different terms for ground signals which are often mixed up For their definitions refer to Definitions of Different Ground Signals on page 148 For notes on cabling and connecting ground lines as well as further background information refer to Grounding Signals on page 149 Shielding For notes on cabling and connectin...

Page 148: ...e is the reference potential of a signal It should carry the same current as the corresponding signal line and this current should be kept small Power supply ground is the return path for the supply voltage It carries large and varying currents resulting in significant AC voltage drops along the cable Never use the same wire for signal return and power supply ground Shield is a barrier to keep in ...

Page 149: ... be achieved with a shielded twisted pair cable A twisted pair cable has the lowest inductance On the sensor actuator side connect one of the twisted wires to the signal and the other one to ground On the board side connect the first wire to the input output and the second one to ground The shield should be connected to the housing of the sensor actuator and to the metal shell of the board connect...

Page 150: ...inductance are the key to a good shield EMC radiation and immunity are mostly affected by the outer cable shield Individual lead shielding has only a minor effect if a common outer shield is present Individual shielding is only necessary to reduce crosstalk Cabling For cabling you should use shielded twisted pair cables The inner twisted pair leads are used for the signal line and the return line ...

Page 151: ... ideally nowhere connected to signal ground Use a large area connection and avoid pigtails Avoiding Crosstalk Crosstalk occurs if a signal with steep edges runs close to a high impedance analog signal The main reason for crosstalk is inductive coupling It can be reduced by the following measures Twist each signal line with its return line ground Never twist two signal lines Separate digital and an...

Page 152: ...of the connector for ground They do not permit shielding To avoid poor signal performance do not create ground loops within the BNC wiring Cabling Use connections as short as possible between your test bench and the dSPACE board Keep cabling away from noise sources Separate signal lines from high current or high voltage lines These lines are capable of inducing currents on the signal lines if they...

Page 153: ...alues of ideal ADCs are expected from real world components in real world board designs even inside PC environments This is impossible A 16 bit ADC for example never has an effective number of bits equal to 16 The A D section of every dSPACE board is FFT Fast Fourier Transform tested during production so that we can guarantee the published data sheet values for every board For 16 bit ADCs we typic...

Page 154: ...at http www maxim ic com appnotes cfm appnote_number 728 Notes on calculation of SNR Often the peak to peak values of the signal and the noise are mistakenly taken to calculate the SNR with the formula shown above However this results in much lower performance than the A D converter really obtains While the rms value of a sine wave can be obtained by dividing its peak to peak value by 2 828 the pe...

Page 155: ...input range of 10 V and you are looking at signals with a voltage range of a few mV That is similar to using a ruler to measure 1 1 000 inches When you use your oscilloscope you select an appropriate voltage range for the signal you are watching You should do the same with the dSPACE system You should adapt your input signal to the 10 V scale of the dSPACE board before converting it Use external a...

Page 156: ...Signal Connection to External Devices DS1104 Hardware Installation and Configuration March 2004 I 156 ...

Page 157: ...ion and Configuration March 2004 157 Data Sheets For the technical data of the DS1104 and the optional connector panels CP1104 CLP1104 see DS1104 Data Sheet on page 158 CP1104 Data Sheet on page 161 CLP1104 Data Sheet on page 161 ...

Page 158: ...al purpose timer 32 bit down counter reload by hardware 80 ns resolution 1 time base counter 64 bit up counter 40 ns resolution range 23400 years Interrupt controller 5 timer interrupts 2 incremental encoder index line interrupts 1 UART interrupt 1 slave DSP interrupt 1 slave DSP PWM interrupt 5 ADC end of conversion interrupts 1 host interrupt 4 user interrupts from the I O connector ADC 1 x 16 b...

Page 159: ... 1 mV offset error 0 1 gain error 13 ppm K offset drift 25 ppm K gain drift 80 dB signal to noise ratio SNR Digital I O 20 bit parallel I O Single bit selectable for input or output 5 mA maximum output current TTL output input levels Digital Incremental Encoder Interface 2 x 24 bit 2 channels Selectable single ended TTL or differential RS422 input Fourfold line subdivision Max 1 65 MHz input frequ...

Page 160: ... x 16 flash memory 1 x 3 phase PWM output 4 x 1 phase PWM output 4 capture inputs SPI serial peripheral interface Max 14 bit digital I O TTL output input levels for all digital I O pins 13 mA maximum output current Host interface 32 bit PCI host interface 5 V PCI slot 33 MHz 5 Physical size PCI 185 x 106 68 mm 7 28 x 4 2 in Ambient temperature 0 55 ºC 32 131 ºF Cooling Active cooling by fan Power ...

Page 161: ...desktop enclosure length x depth x height 281 x 142 5 x 70 mm 11 06 x 5 61 x 2 75 in Space needed for 19 rack mount Height 3 U width 10 8 Weight Approx 2 2 kg 4 8 lbs incl enclosure and shielded ribbon cables Parameter Characteristics Power consumption 5 V max 100 mA via DS1104 board Grounding The enclosure and the front panel are not grounded Cable length 2 m 6 6 ft standard Physical size with de...

Page 162: ...Data Sheets DS1104 Hardware Installation and Configuration March 2004 I 162 ...

Page 163: ...the DS1104 on page 164 Problems with Multiple Plug Play Boards on page 165 Checking the Host PC on page 168 Problems Related to the Firmware on page 168 T If this information does not help you solve the problem you should check the support section of our Web site http www dspace de goto support This might help you solve the problem on your own The support s FAQ section especially might be of help ...

Page 164: ...ing checks if the DS1104 does not operate correctly Check whether the host PC is running correctly Use ControlDesk s Platform Manager to check the board properties see How to Run ControlDesk on page 32 Check the PCI interface clock rate by the status of the red LED on the board If the LED is lit the host PC s PCI bus for the DS1104 is over or underclocked The LED is lit whenever the clock rate is ...

Page 165: ...e ECU related board to the ESP related board and vice versa Affected boards The problem described always applies to DS1104 boards and MicroAutoBox via DS815 or DS817 because plug play mode cannot be disabled It also applies to DS1103 and DS1005 boards if they are configured to plug play mode For these boards plug play mode can be used only if they are installed in a PC directly This might be the c...

Page 166: ...onfiguration that is a change in the names assigned to the boards and the particular board Detection is based on the board serial numbers The Platform Manager detects such a change if at least one board was allocated a different name by the device driver The affected board is removed from the dSPACE configuration and cannot be accessed by the Platform Manager to avoid confusion when loading applic...

Page 167: ... plug play mode is disabled by means of the address switches It is your responsibility to check and ensure that all applications are still loaded to the correct board Since this is not under complete control of the dSPACE software it might even be necessary to change external connections to the boards In a subsequent release of the Platform Manager it will be possible to assign board names to the ...

Page 168: ... host PC does not operate correctly after installation of the DS1104 check that the board is installed firmly Problems Related to the Firmware If you are prompted to update your firmware when downloading an application to your real time processor s see Updating the Firmware on page 38 for further information ...

Page 169: ...t for ControlDesk 66 demo model 59 development steps 41 down1104 command 49 download to global memory 53 downloading to flash memory 55 DS1104 board overview 78 conflicting I O features 109 connectors 80 data sheet 158 execution time 51 hardware package 15 I O connector P1 81 installation 26 master PPC debug connector P2 85 reloading 51 removing 76 slave DSP flash jumper J1 87 troubleshooting 164 ...

Page 170: ... devices 137 connecting RS422 485 devices 138 ground connection 141 line termination 138 shield connecting to the dSPACE system 150 connecting to the external device 151 definition 148 shielding general notes and tips 150 signal connection to external devices 119 signal return line definition 148 simulation parameters 47 Simulink model handling 47 slave DSP bit I O changing power up default 144 re...

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