Single-Board Hardware / DS1103 PPC Controller Board

DS1103 PPC Controller Board

Powerful controller board for rapid control prototyping

Highlights
n Single-board system with real-time processor and comprehensive I/O n CAN interface and serial interfaces ideally suited to automotive applications n High I/O speed and accuracy n PLL-driven UART for accurate baud rate selection

Application Areas The controller board is designed to meet the requirements of modern rapid control prototyping and is highly suitable for applications such as: n Automotive controllers n Induction motor control n Robotics n Positioning systems and stepper motors n Active vibration control An integrated Infineon CAN microcontroller makes the board an attractive tool for automotive and automation applications.

Key Benefits The DS1103 is an all-rounder in rapid control prototyping. You can mount the board in a dSPACE Expansion Box or dSPACE AutoBox to test your control functions in a laboratory or directly in the vehicle. Its processing power and fast I/O are vital for applications that involve numerous actuators and sensors. Used with Real-Time Interface (RTI, p. 66), the controller board is fully programmable from the Simulink block diagram environment. You can configure all I/O graphically by using RTI. This is a quick and easy way to implement your control functions on the board.

Comprehensive Interfaces The unparalleled number of I/O interfaces makes the DS1103 a versatile controller board for numerous applications. It provides a great selection of interfaces, including 50 bitI/O channels, 36 A/D channels, and 8 D/A channels. For additional I/O tasks, a DSP controller unit built around Texas Instruments TM320F240 DSP is used as a subsystem.

Recording and Output of I/O Values The control of electrical drives requires accurate recording and output of I/O values. It is possible to synchronize the A/D channels and D/A channels, and the position of the incremental encoder interface, with an internal PWM signal or an external trigger signal. Also, the serial interface (UART) is driven by a phase-locked loop to achieve absolutely accurate baud rate selection.

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Single-Board Hardware / DS1103 PPC Controller Board

Technical Details
Parameter Processor PowerPC Type CPU clock Cache Specification
n PPC 750GX n 1 GHz n 32 KB level 1 (L1) instruction cache n 32 KB level 1 (L1) data cache n 1 MB level 2 (L2)

Temperature sensor Memory Timer Local memory Global memory 2 general-purpose timers

n Reads actual temperature at the PPC n 32 MB application SDRAM as program memory, cached n 96 MB communication SDRAM for data storage and data exchange with host n One 32-bit down counter n Reload by software n 15-ns resolution n One 32-bit up counter with compare register n Reload by software n 30-ns resolution

1 sampling rate timer (decrementer)

n 32-bit down counter n 30-ns resolution

1 time base counter Interrupt controller

n 64-bit up counter n 30-ns resolution n 3 timer interrupts n 7 incremental encoder index line interrupts n 1 UART (universal asynchronous receiver and transmitter) interrupt n 1 CAN interrupt n 1 slave DSP interrupt n 2 slave DSP PWM interrupts n 1 host interrupt

A/D converter

Channels

n 16 multiplexed channels equipped with 4 sample & hold A/D converters

(4 channels belong to one A/D converter. 4 consecutive samplings are necessary to sample all channels belonging to one A/D converter.) n 4 parallel channels each equipped with one sample & hold A/D converter n Note: 8 A/D converter channels (4 multiplexed and 4 parallel) can be sampled simultaneously. Resolution Input voltage range Overvoltage protection Conversion time Offset error Gain error Offset drift Gain drift Signal-to-noise ratio D/A converter Channels Resolution Output range Settling time Offset error Gain error Offset drift Gain drift
1)

n 16-bit n 10 V n 15 V n Multiplexed channels: 1 s1) n 5 mV n 0.25% n 40 V/K n 50 ppm/K n >83 dB n 8 channels n 16-bit n 10 V n 5 s (14-bit) n 1 mV n 0.5% n 30 V/K n 25 ppm/K

Speed and timing specifications describe the capabilities of the hardware components and circuits of our products. Depending on the software complexity, the attainable overall performance figures can deviate significantly from the hardware specifications.

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Support and Maintenance

Engineering

n Parallel channels: 800 ns1)

Hardware

n 4 external interrupts (user interrupts)

Software

n Reload by software

Application Fields

Bus frequency

n 133 MHz

Introduction

Single-Board Hardware / DS1103 PPC Controller Board

Parameter D/A converter Signal-to-noise ratio I max CImax Digital I/O Channels

Specification
n >83 dB n 5 mA n 10 nF n 32-bit parallel I/O n Organized in four 8-bit groups n Each 8-bit group can be set to input or output (programmable by software)

Voltage range Iout, max Digital incremental encoder interface Channels Position counters

n TTL input/output levels n 10 mA n 6 independent channels n Single-ended (TTL) or differential (RS422) input (software programmable for each channel) n 24-bit resolution n Max. 1.65 MHz input frequency, i.e.,fourfold pulse count up to 6.6 MHz n Counter reset or reload via software

Encoder supply voltage Analog incremental encoder interface Channels Position counters

n 5 V/1.5 A n Shared with analog incremental encoder interface n 1 channel n Sinusoidal signals: 1 Vpp differential or 11 App differential (software programmable) n < 5 resolution n 32-bit loadable position counter n Max. 0.6 MHz input frequency, i.e., fourfold pulse count up to 2.4 MHz

A/D converter performance Encoder supply voltage CAN interface Configuration Baud rate Serial interface Configuration

n 6-bit resolution n 10 MSPS n 5 V/1.5 A n Shared with digital incremental encoder interface n 1 channel based on SAB 80C164 microcontroller n ISO DIS 11898-2 CAN high-speed standard n Max. 1 Mbit/s n TL6C550C single UART with FIFO n PLL-driven UART for accurate baud rate selection n RS232/RS422 compatibility

Baud rate Slave DSP Type Clock rate Memory

n Up to 115.2 kBd (RS232) n Up to 1 MBd (RS422) n Texas Instruments TMS320F240 DSP n 20 MHz n 64Kx16 external code memory n 28Kx16 external data memory n 4Kx16 dual-port memory for communication n 32 KB flash memory

I/O channels1)

n 16 A/D converter inputs n 10 PWM outputs n 4 capture inputs n 2 serial ports

Input voltage range Output current Host interface Physical characteristics Physical size Ambient temperature Cooling Power supply

n TTL input/output level n A/D converter inputs: 0 5 V n Max. 13 mA n Plug & Play support n Requires a full-size 16-bit ISA slot n 340 x 125 x 45 mm (13.4 x 4.9 x 1.77 in) n 0 50 C (32 122 F) n Passive cooling n +5 V 5%, 4 A n +12 V 5%, 0.75A n -12 V 5%, 0.25A

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1)

The exact number of I/O channels depends on your configuration and is described in the user documentation.

Catalog 2012 dSPACE GmbH Rathenaustrae 26 33102 Paderborn Germany info@dspace.de www.dspace.com

Single-Board Hardware / DS1103 PPC Controller Board

Product DS1103 PPC Controller Board

Order Number
n DS1103

Relevant Software and Hardware

Software Included Required Optional
n DS1103 Real-Time Library n Experiment and Platform Manager for hardware management n Real-Time Interface (RTI) (p. 66) n Microtec C Compiler for PowerPC (p. 100) n Real-Time Interface CAN Blockset (p. 78) n Real-Time Interface CAN MultiMessage Blockset (p. 80) n ControlDesk Next Generation (p. 106) n MLIB/MTRACE (p. 166) n Platform API Package (p. 164) n MotionDesk (p. 152) n RTI n CCPPPC n RTICAN_BS n RTICANMM_BS

Order Number

See p. 108
n MLIB/MTRACE n PLATFORM_API n MotionDesk

Hardware Optional
n Connector Panel (p. 288) n Connector/LED Combi Panel (p. 288) n Set of adapter cables for DS1103

Order Number
n CP1103 n CLP1103 n ADP_CAB1103

Block Diagram
Hardware
Slave DSP I/O PWM 1 x 3-Phase 4 x 1-Phase 4 Capture Inputs TMS320F240 DSP Analog Input 16 ch. 10-bit Dual Port RAM Serial peripheral interface Serial communication interface Dual Port RAM Digital I/O 18 bits CAN Interface on 80C164 Master PPC I/O DS1103

ISA Bus

PC

PowerPC 750GX

Host Interface

96 MB Communication SDRAM

Local Bus

32 MB Application SDRAM

2 General Purpose Timers

Interrupt Controller

16- / 32-bit I/O Bus

ADC 20 channels 16-bit

DAC 8 channels 16-bit

Incr. Encoder 7 channels

Digital I/O 32 channels

Serial Interface RS232/RS422

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Support and Maintenance

Engineering

Software

Application Fields

Introduction

Order Information

Single-Board Hardware / DS1103 PPC Controller Board

Graphical Configuration of the Controller Board

Using RTI With Real-Time Interface (RTI, p. 66), you can easily run your Simulink models on the controller board. You can configure all I/O graphically by using RTI. Thereby, the implementation time is reduced to a minimum. With the RTI CAN Blockset (p. 78), CAN configurations can be completely carried out in a Simulink block diagram, with very little effort.

RTI CAN MultiMessage Blockset (p. 80) for graphical configuration of CAN interfaces.

Real-Time Interface (p. 66) provides Simulink blocks for convenient configuration of items such as A/D, D/A, digital I/O lines, incremental encoder interface and PWM generation.

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Single-Board Hardware / DS1103 PPC Controller Board

Robotics
Rapid Control Prototyping in Robotics The DS1103 provides six digital incremental encoder interfaces. This is sufficient to pick up all the movements of a six-joint robot. Thus, this cost-effective single-board hardware makes it possible to perform rapid control prototyping in robotics. Easy Handling In the example below, the controller board replaces the position controller. The easy programmability of the DS1103 enables you to implement and test different control algorithms very quickly, which reduces design iteration times to a minimum. The prototyping hardware allows easy parameter changing and modification, without any hardware setup changes.

Calculating Values The real-time system picks up the robots six incremental encoder signals to determine the current robot position. Then this data is compared with the reference values. Afterwards, the DS1103 calculates the control algorithm and sends the controller output for example, data on positions and velocities back to the robot.

Calculating a control algorithm for robotics on a DS1103 PPC Controller Board.

Engineering

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Support and Maintenance

Further Processing Potential All reference values are calculated in real-time, even for inverse kinematics with highly nonlinear functions. External sensors such as axis-force momentum sensors can be included. Performing trajectory planning and advanced algorithms for collision avoidance is also very convenient with the DS1103 PPC Controller Board.

Hardware

Software

Application Fields

Introduction