Hardware Manual - RTD Embedded Technologies, Inc.
Contents
1. 23 BASE 2h INHIBIT CHANNEL 2 1b AFTER RESET 23 BASE 4h IRQ CONF 0000b AFTER 24 BASE 6h BOARD CNTRL O11 1b AFTER RESET 24 8 RD RESOLUTION 00h AFTER RESET eene eene eene terrasse eterne tnn nnne 24 BASE Ah INCREMENT DIGHAL POT uiae a ans eas u ku TRE 25 BASE Ch READ CHANNELJ3H eA as SS S sm Wa um EEE RE ER RENE UE 25 BASE Eh READ CHANNEBD s n us ans Sa aD ede diede 25 BASE 10h CLEAR CHANNEL 1 INTERRUPT seen E aqhana SQ nnn 25 BASE 12h CLEAR CHANNEL 2 INTERRUPYT enne hehehe nene n eren e nennen nennen 25 SETTING UP THE ERES 104 BOARD nn 25 CHAPTER7 IDAN DIMENSIONS AND PINOUT A 26 8 RETURN POLICY AND WARRENTY 28 RETURN POLICY Z E bb e e i e er MM E QU IS 28 IBITIOEnn 29 FIGURES Figure 2 1 Board layout showing jumper 3 Figure 2 2 Base Address jumper block A2. 10 FINDING PIN EOE CONNECTORS epe ye eo eee EP Oe e ep Pie ER ERE TCI uu asas 10 SYNCRO RESOLVER CONNECTOR nn 10 uu nee edd 11 5 HARDWARE DESCRIPTION 12 RESOLVER TO DIGITAL CONVERTERS ccccccecececececececececececececececececececececececececececececececececececececececececececececececececececesecs 13 Connecting Resolvers to ERES104d sete e m tee E a ebbe ponit 13 Connecting Inductosyn to ERESTOM isi eere aree He e EE Ib PESE pete iet ree pega 14 Connecting Syncros 10 EREST04 etaed eo rep e e Pe P pet irte pee 15 Connecting L VDT S to ERESI104 eiie et re e Ee e e EE PEE pese iae reponat 17 SOLID STATE SCOTT T n alana phala a pa tete E tette terere nn 17 SINE WAVEEXGIDATION Suyu S uba nanay h n ka amen munimen ditte T 18 REFERENCE CONNECTION re ie rreri siasa tuya 18 CHAPTER6 BOARD OPERATION AND PROGRAMMING 23 DEFINING THEI O MAD tet rtr ep Get di te t We AS 23 BASE 0h INHIBIT CHANNEL I 1b AFTER RESET
3. Sine Wave Excitation A special programmable AC excitation source is available on the ERES104 It can be used to drive different sensors directly The amplitude and frequency are programmable from the host interface The adjustment of the oscillator is performed with digital potentiometers providing a very stable non drifting performance The digital adjustment potentiometers have 32 steps The output adjustable frequency span is in the range of 400 Hz to 1 6K Hz Amplitude adjustment ranges from 0 to about 21 Vp p Adjustment of the gain can be performed in 32 steps also Note that the settings of the frequency and gain are non volatile and will be automatically stored in the EEPROM of the trim pots The output of the reference oscillator source is buffered with a power Op amp It derives its power from the onboard DC DC converter or the PC 104 bus The onboard excitation source will work well with resolutions up to 16 bits In case you desire to use 16 bit resolution you must make sure that cabling and shielding is performed carefully Reference Connection The reference feedback that is connected to the RD converter must fulfill two main criteria Firstly the single ended incoming signal must be 5V max and secondly it must be in phase with the incoming signal In case the reference excitation feedback is too high in amplitude a series resistor may be added either externally or by soldering one on the board There are two locations reser
4. 1600 Hz al Excitation Out Sinewave B2 Pins1 amp 9 Ext Ref In 2 Test Pins 15 amp 26 Point 21 10 7 4 RDC R9 0 Ref R9 amp R10 used for lead lag adjustments Ref B5 Digital Analog Ground Ground Figure 5 10 Reference input for sensor 2 ERES104 2 channel Syncro Resolver 20 RTD Embedded Technologies Inc LAG REF REF LEAD G REF 4 REF REF Er REF Xo tan p R Where desired phase shift X 2nfc Where f carrier frequency Where c capacitance Figure 5 11 Phase shift compensation ERES104 2 channel Syncro Resolver 21 3507 R45448 45032 2 R7 R8 C RQA R9 R10 R4 1 lt lt v k Figure 5 12 Board layout showing reference components User s Manual RTD Embedded Technologies Inc Hardware Description ERES104 Block Dlagram Channel 1 Resolver to Digital Converter Channel 2 Resolver to Digital Converter Sensor Signal Connector J10 34 16 bit PC AT compatible PC 104 Bus Figure 5 13 Block diagram of ERES104 board ERES 104 2 channel Syncro Resolver 22 RTD Embedded Technologies Inc User s Manual Chapter 6 BOARD OPERATION AND PROGRAMMING This section will describe how to program the ERES104 host interface from both directions as well as explain how the onboard Resolver to Digital converters and the programm
5. 0 0 X X 1 0 X X Channel 2 16 bit 0 0 X X 1 1 X X Table 6 3 Base 8 in LVDT Mode Mode Bit 7 6 Bit 5 4 Bit 3 2 Bit 1 0 Channel 1 8 bit X X 1 0 X X 0 0 Channel 1 10 bit X X 0 1 X X 0 0 Channel 1 12 bit X X 1 1 X X 1 0 Channel 1 14 bit X X 1 1 X X 0 0 Channel 2 8 bit 1 0 X X 0 0 X X Channel 2 10 bit 0 1 X X 0 1 X X Channel 2 12 bit 1 1 X X 1 0 X X Channel 2 14 bit 1 1 X X 0 0 X X ERES104 2 channel Syncro Resolver 24 RTD Embedded Technologies Inc User s Manual BASE Ah INCREMENT DIGITAL POT Writing to this address will increment the counter of the selected digital trim pots that control the excitation frequency and amplitude The direction of the increment is set by the UP DN bit in address BASE 6 BOARD To increment the trim pots you must bring the increment signal low and return the signal high again under software control by writing to BASE A a 0 and a 1 Please refer to the example programs on how to do this BASE Ch READ CHANNEL 1 Reading from this address will output the RD converter 1 data to the host Note that the ERES104 is a true AT board and it will output a 16 bit value from addresses BASE C The ERES104 does not support a XT host BASE Eh READ CHANNEL 2 Reading from this address will output the RD converter 2 data to the host Note that the ERES104 is a true AT board and it will output a 16 bit value from addresses BASE E The ERES1
6. 1 LSB using recommended thin film package 4 Note on DC Offset Gains Input options affect DC offset gains and therefore affect carrier frequency ripple and jitter Offsets gains associated with differ ential mode offset gain for differential configuration 1 RF RI and direct mode offset gain for direct configuration 1 show differential will always be high er Higher DC offsets cause higher carrier frequency ripple due to demodulation process This carrier frequency ripple because it is riding on the top of the DC error signal causes jitter A higher carrier frequency vs bandwidth ratio will help decrease ripple and jitter associated with offsets Summary R D s with differ ential inputs are more susceptible to offset problems than R D s in single ended mode RD s in higher resolutions such as 16 bit will further compound offset issues due to higher internal voltage gains Although the differential configuration has a higher DC offset gain the differential configuration s common mode noise rejection makes it the preferred input option The tradeoffs should be considered on a design to design basis Also refer to FAQ GIQ 021 Figure 5 3 Differential Resolver input using DDC 49530 11 8V DDC 49590 90V or DDC 76037 2V Notes e Slis pin 19 S2 is pin 23 S3 is pin 20 and S4 is pin 22 of J10 as an example for channel 1 e Slis pin 27 S2 is pin 31 S3 is pin 28 and S4 is pin 30 of J10 as an example for channel 2 e resistors ins
7. input with internal reference on both sensors The following paragraphs explain how to change the factory jumper settings to suit your specific application Table 2 1 Factory Default Jumper Settings Jumper Name Description Number of Jumpers Factory Default Base Address Base Address 4 0x300 IRQI Interrupt Channel 1 6 10 IRQ2 Interrupt Channel 2 6 11 Sensor 1 A Sensor selection 3 1 2 Sensor 1 B Sensor selection 5 3 4 Sensor 1 C Sensor selection 2 Open Sensor2 A Sensor selection 3 1 2 Sensor 2 B Sensor selection 5 3 4 Sensor2 C Sensor selection 2 Open RTD Embedded Technologies Inc np 5 juin apm e appris 7 T J www rtd com gt 4 A E o xb Bays A Sensor IRQI Sp 5 5 Qe D IRQ2 zi lt C gt in A Sensor 2 PE p gt B Base Address omo m Sp p b i A KL Figure 2 1 Board layout showing jumper locations ERES104 2 channel Syncro Resolver 3 RTD Embedded Technologies Inc Configuring the ERES104 Base Address jumpers Factory setting 300h The most common cause of failure when you are first setting up your module is address contention Some of your computers I O space is already occupied by other internal I O devices and expansion boards When the ERES104 attempts to use its reserved I O addresses already used by another peripheral de
8. 04 does not support a XT host BASE 10h CLEAR CHANNEL 1 INTERRUPT Reading or writing to this address will clear the pending interrupt condition for RD converter 1 Make sure you perform this clear operation before you exit from your ISR BASE 12h CLEAR CHANNEL 2 INTERRUPT Reading or writing to this address will clear the pending interrupt condition for RD converter 2 Make sure you perform this clear operation before you exit from your ISR Setting up the ERES104 board 1 Excitation selection either onboard excitation or external excitation source In case you need to interface to high voltage syncros or resolvers you must use an external reference source If you use 12V resolvers or syncros you may use the onboard reference oscillator Solder jumpers B1 and B2 must be set 2 Program the frequency of the oscillator 400 to 1 6K Hz by programming Trim pot 1 The frequency output can easily be measured with an oscilloscope from the pin 9 of the 8038 signal generator chip The sine wave output has the same frequency as the square wave output at pin 9 3 Program the excitation gain to give a 2Vrms at the sensor outputs Note that the power amplifier is AC coupled Changing the frequency will also affect the amplitude of the excitation gain 4 The reference feedback is by factory default set to a voltage division of 5 11K over 2K Change the 5 11K series resistor to suit the correct level of Reference feedback in case it is too low I
9. 52 ee BAG See 1 EXGITATION CIRCUITRY La e tete cats erect eti aet upa Th Q nde GE kahata oo nd Gu vob oat wise 4 S aypa 1 MEGHANIGAL DESCRIPTION qaa ista a aa u hu S qa lues ibd e E aie os E Oe 1 CONNECTORDESGRIPTION o ete eet eee au E a ee etum asta upa Tu A 1 WHAT COMES WITH YOUR BOARD 5 5 a aaah s q as u ua iu ue 2 SCOPE OF THIS MANUAL L uuu AN Samos tn Gola S w GN aaa Ea Goa 2 DSINGSERISMANUAE E A E it mm Sas RGS Qiu wa hatu Aus 2 WHEN YOU NEED u u Sa aaa aut Ska n tua tua Suatu E 2 CHAPTER2 CONFIGURING THE ERES104 3 FACTORY CONFIGURED JUMPER SETTINGS ccccccccececececececececececececececececececececececececececececececececececscscecececececececseeeeeecess 3 BASE A DDRESS JUMPERS eterne Wa D eee va oy sch ur exea tete ca ulead eee eet se 4 INTERRUPT CHANNEL dase ay ceva Q cire lu S es i E RET 5 SENSOR 1 AND SENSOR 2 CONFIGURATION n 5 SOEDER JUMPERS C u a Suyu eere eine 7 CHAPTER3 INSTALLING THE ERES104 8 RECOMMENDED PROCEDURE S u u ro reti Rede ose e eee eee ee oes ee eee e esee eee bee iere E E mec tes 8 CHAPTER4 CONNECTING THE ERES104
10. 8 to top 5 to bottom eene eene 4 Figure 2 3 Interrupt Selection 5 Figure 2 4 Board layout showing solder jumper locations sscceseceesseceeeeecsseceeeeecaeceeneecsaeceeeecsaeceeeecaeceeeesaeeeeees 7 Figure 3 1 Example of ERES104 in a stack 9 Figure 5 1 ERES104 Block diagram eo notet Petre e eG e RET sia s ete E busua A 12 Figure 5 2 Differential Resolver connection to a 104 13 Figure 5 3 Differential Resolver input using DDC 49530 11 8V DDC 49590 90V or DDC 76037 2V 14 Figure 5 4 Inductosyn Connections eO tr i o roti tecto ear RUSSE 15 Figure 5 5 SynBcro Input 2 oett ttt EH RARI ete etae ie testet eme Li etui rte ode e Dee 15 Figure 5 6 Syncro Input using DDC 49530 11 8V DDC 49590 90V or DDC 76037 2 16 Figure 5 7 A generic 2 wire LVDT connection to a converter nn eene enne 17 Figure 5 8 Solid State Scott T converter 18 Figure 5 9 Referenceunput for Sensor eo Dee RD ettet t ence iet brio ete Died 19 Figure 5 10 Reference mput for sensor 2 so oes Ree tiet e ie tee ite pit Leon ient 20 Figure 5 11 Phase iet eerie uie usa t te ence S ES trium een si asss 21 F
11. ERES104 2 Channel Syncro Resolver Interface User s Manual RTD Embedded Technologies Inc Real Time Devices Accessing the Analog World amp ISO9001 and AS9100 Certified BDM 610020065 Rev B ERES104 2 Channel PC 104 Syncro Resolver Interface User s Manual RTD Embedded Technologies Inc 103 Innovation Blvd State College PA 16803 0906 Phone 1 814 234 8087 FAX 1 814 234 5218 E mail sales rtd com techsupport rtd com Web site http www rtd com Revision History Rev A Converted to RTD format fixed jumper settings Rev B Mar 9 2011 Corrected Table 2 3 added 2V resistor part number Fixed IDAN pin out Published by RTD Embedded Technologies Inc 103 Innovation Blvd State College PA 16803 0906 Copyright 1999 2002 2011 RTD Embedded Technologies Inc All rights reserved Printed in U S A The RTD Logo is a registered trademark of RTD Embedded Technologies cpuModule and dataModule are trademarks of RTD Embedded Technologies MS DOS Windows Windows 95 Windows 98 and Windows NT are trademarks of Microsoft Corp PC 104 is a registered trademark of PC 104 Consortium All other trademarks appearing in this document are the property of their respective owners TABLE OF CONTENTS CHAPTER 1 INTRODUCTION aa en arae eo Yan EY Pe VER ES Fe PE EROS DS PE eS RESO ee IN abeo ep En 1 SYNCRO RESOEVER INPUTS 2
12. IRQ 2 5 7 10 11 15 The selection of these interrupts is performed by closing one position on the jumper header connector marks IRQI for channel 1 or alternatively IRQ2 for channel 2 The interrupt header is illustrated below in the following figure RQ Figure 2 3 Interrupt Selection Jumpers The interrupt is caused by an external trigger event that has transferred the storage latch data to the output latch of the isolated digital output stage Sensor 1 and Sensor 2 Configuration Factory setting Differential Resolver The sensor configuration jumper blocks consist of 3 parts A B and C The jumper blocks are identical for channels 1 and 2 and are located on top of each other on the board Table 2 3 Jumper configuration for the Sensor configuration terminal blocks Sensor Type J10 Connections Jumper Picture Sensor 1 Sensor 2 A B C Differential Resolver 1 2 Use DDC 49530 11 8V 20 Sin 28 Or 19 Sin 27 Sin 3 4 DDC 49590 90 23 31 Cos or 22 Cos 30 Cos DDC 76037 2V Default setting OFF ERES104 2 channel Syncro Resolver 5 RTD Embedded Technologies Inc Configuring the ERES104 Jumper Sensor Type J10 Connections Picture Sensor 1 Sensor 2 A B C 1 2 Inductosyn Special case of resolver requires 20 Sin 28 Sin 1 2 external preamplifier 19 Si
13. YOU SPECIFIC LEGAL RIGHTS AND YOU MAY ALSO HAVE OTHER RIGHTS WHICH VARY FROM STATE TO STATE RTD Embedded Technologies Inc 103 Innovation Blvd State College PA 16803 0906 USA Our website www rtd com Technical support techsupport rtd com 814 234 8087 ERES104 2 channel Syncro Resolver 29 RTD Embedded Technologies Inc
14. able sine wave oscillators are programmed from the host computer Defining the I O Map The I O map of the ERES104 is shown in Table 6 1 below As shown the module occupies 8 addresses In the table BA stands for Base Address The following sections describe the register contents of each address used in the I O map Table 6 1 ERES104 I O Map Address Function Direction BASE 0 INHIBIT CHANNEL 1 WR BASE 2 INHIBIT CHANEL 2 WR BASE 4 IRQ CONF WR RD BASE 6 BOARD_CNTRL WR RD BASE 8 RD_RESOLUTION WR BASE A INCREMENT WR RD BASE ENABLE CHANNEL 1 RD BASE ENABLE CHANNEL 2 RD BASE 10 IRQ CLEAR CHANNEL 1 WR RD BASE 12 IRQ CLEAR CHANNEL 2 WR RD BASE 400h RTD ID Data RD BASE 401h RTD ID Data RD BASE 402h RTD ID Data RD BASE 0h INHIBIT CHANNEL 1 1b AFTER RESET The RD converter 1 Inhibit signal is controlled by this address If this signal is set low 0 the RD converter stored the current reading in the internal counter into a latch from where the angle data can then be read DO 1 conversion being updated continuously DO 0 freeze counter to latch for reading BASE 2h INHIBIT CHANNEL 2 1b AFTER RESET The RD converter 2 Inhibit signal is controlled by this address If this signal is set low 0 the RD converter stored the current reading in the internal counter into a latch from where the angle data can then be read DO 1 conversion being up
15. ame J10 1 9 REF OSC2 6 SIN2 S on RDC2 11 7 COS2 C on RDC2 13 8 External Reference Input 2 15 Must have B2 open EXT REF2 9 VELI VEL output of RDC1 17 10 51 1 51 DRI 19 11 Channel 1 Analog Ground 21 12 52 23 13 Same as Pin J10 7 EXT REFI 25 14 51 2 591 DR2 27 15 Channel 2 Analog Ground 29 16 52 DR2 31 17 Digital Ground 33 18 RESERVED 19 RESERVED 20 Digital Ground 2 21 Channel 1 Analog Ground 4 22 Channel 1 Analog Ground 6 23 Channel 1 Analog Ground 8 24 Digital Ground 10 25 Channel 2 Analog Ground 12 26 Channel 2 Analog Ground 14 27 Channel 2 Analog Ground 16 28 VEL2 VEL output of RDC2 18 29 53 1 53 20 30 54 22 31 52 24 32 Same as J10 15 EXT REF2 26 33 53 2 53 DR2 28 34 54 DR2 30 35 52 DR2 32 36 Digital Ground 34 37 RESERVED ERES104 2 channel Syncro Resolver 27 RTD Embedded Technologies Inc RETURN POLICY AND WARRENTY Chapter RETURN POLICY AND WARRENTY Return Policy If you wish to return a product to the factory for service please follow this procedure Read the Limited Warranty to familiarize yourself with our warranty policy Contact the factory for a Return Merchandise Authorization RMA number Please have the following available Complete board name Board serial number A detailed description of the board s behavior List the name of a contact person familiar with technical details of the problem or situation along with their phone and fax number
16. as use of incorrect input voltages improper or insufficient ventilation failure to follow the operating instructions that are provided by RTD Embedded Technologies acts of God or other contingencies beyond the control of RTD Embedded Technologies OR AS A RESULT OF SERVICE OR MODIFICATION BY ANYONE OTHER THAN RTD Embedded Technologies EXCEPT AS EXPRESSLY SET FORTH ABOVE NO OTHER WARRANTIES ARE EXPRESSED OR IMPLIED INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE AND RTD Embedded Technologies EXPRESSLY DISCLAIMS ALL WARRANTIES NOT STATED HEREIN ALL IMPLIED WARRANTIES INCLUDING IMPLIED WARRANTIES FOR MECHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE LIMITED TO THE DURATION OF THIS WARRANTY IN THE EVENT THE PRODUCT IS NOT FREE FROM DEFECTS AS WARRANTED ABOVE THE PURCHASER S SOLE REMEDY SHALL BE REPAIR OR REPLACEMENT AS PROVIDED ABOVE UNDER NO CIRCUMSTANCES WILL RTD Embedded Technologies BE LIABLE TO THE PURCHASER OR ANY USER FOR ANY DAMAGES INCLUDING ANY INCIDENTAL OR CONSEQUENTIAL DAMAGES EXPENSES LOST PROFITS LOST SAVINGS OR OTHER DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE PRODUCT SOME STATES DO NOT ALLOW THE EXCLUSION OR LIMITATION OF INCIDENTAL OR CONSEQUENTIAL DAMAGES FOR CONSUMER PRODUCTS AND SOME STATES DO NOT ALLOW LIMITATIONS ON HOW LONG AN IMPLIED WARRANTY LASTS SO THE ABOVE LIMITATIONS OR EXCLUSIONS MAY NOT APPLY TO YOU THIS WARRANTY GIVES
17. connection is often too cumbersome to use The ERES104 module uses the internal operational amplifiers of the Resolver to Digital converters and precision resistors to implement the Solid State Scott T circuit seen below The most important design criteria in this connection is the perfect matching of the resistors Precision is maintained by using a special trimmed resistor network together with the internal Opamps These resistor networks are available for the three standard voltage levels 2V 11 8V and 90V syncros The resistor network value ratios are pre trimmed to produce the 2V rms input signal required by the converters Jumper fields A B and C as discussed previously will select the right resistor configuration for the circuit You may separately purchase resistor networks for both standard voltages from RTD They may be easily configured channel by channel by inserting the correct resistor network into the onboard sockets The resistor networks are used as follows DDC 49530 are used with 11 8V inputs DDC 49590 are used with 90V inputs DDC 76037 are used with 2V inputs ERES104 2 channel Syncro Resolver 17 RTD Embedded Technologies Inc Hardware Description S2O Os3 cose OS SYNCHRO RESOLVER 5 Os4 810 Os2 Figure 1 10f Scott T Transformer SIN COS WHERE SIN S3 1 cos 51 53 2 3 Figure 1 10g Solid State Scott T Transformer Figure 5 8 Solid State Scott T converter circuit
18. dated continuously DO 0 freeze counter to latch for reading ERES 104 2 channel Syncro Resolver 23 RTD Embedded Technologies Inc Board Operation and programming BASE 4h IRQ CONF 0000b AFTER RESET This register controls the host interrupts The source of the interrupt can be either BIT built in test error or alternatively CB Controller busy code has changed 1 LSB DO IRQ enable bit Channel 1 0 disable 1 enable IRQ enable bit Channel 2 0 disable 1 enable IRQ source selection bit Channel 1 0 BIT 1 CB D3 IRQ source selection bit Channel 2 0 BIT 1 CB Ne ol BASE 6h BOARD CNTRL 0111b AFTER RESET This register controls reset control as well as control of the digital trim pots DO Chip select of frequency control trim pot active when 0 Chip select of amplitude control trim pot active when 0 UP DN control of digital trim pots 1 up 0 down D3 Enable reset 0 enables host reset to reset resolution register disables host reset to reset resolution register Ne H I BASE 8h RD RESOLUTION 00h AFTER RESET This register controls the resolution of the RD converters Table 6 2 Base 8 in Resolver Mode Mode Bit 7 6 Bit 5 4 Bit 3 2 Bit 1 0 Channel 1 10 bit X X 0 0 X X 0 0 Channel 1 12 bit X X 0 0 X X 0 1 Channel 1 14 bit X X 0 0 X X 1 0 Channel 1 16 bit X X 0 0 X X 1 1 Channel 2 10 bit 0 0 X X 0 0 X X Channel 2 12 bit 0 0 X X 0 1 X X Channel 2 14 bit
19. echnologies Scope of this Manual This manual expects the user to be familiar with syncros and resolvers The theory and operation or these sensors is not within the scope of this manual Using this manual This manual is intended to help you install your new ERES104 card and get it running quickly while also providing enough detail about the board and its functions so that you can enjoy maximum use of its features even in the most demanding applications When you need help This manual and all the example programs will provide you with enough information to fully utilize all the features on this board If you have any problems installing or using this board contact our Technical Support Department 814 234 8087 during EST business hours or send an Email to techsupport rtd com When sending an Email request please include your company s name and address your name your telephone number and a detailed description of the problem ERES104 2 channel Syncro Resolver 2 RTD Embedded Technologies Inc User s Manual Chapter 2 CONFIGURING THE ERES104 The ERES104 board has jumper settings to configure the operation of the board Special care must be taken to make correct connections since high voltage input signals may be used Factory Configured Jumper Settings The figure below illustrates the factory jumper setting for the ERES104 The figure below shows the board layout and the locations of the jumpers The factory setting is resolver
20. em 2 independent Differential Syncro Resolver LVDT channels Connection to 2 11 8V or 90V Syncros with onboard solid State Scott T circuitry External Reference or programmable Sine wave excitation from 400 Hz to 1 6 KHz Programmable resolution 10 12 14 or 16 bits Accuracy 2 1 LSB Repeatability 1 LSB Fully PC 104 compliant 5 only operation The following paragraphs briefly describe the major features of the ERES104 A more detailed discussion is included in Chapter 5 Hardware description The board setup is described in Chapter 2 Configuring the ERES104 Syncro Resolver Inputs The ERES104 provides two independently configurable input channels Both channels support Syncro Resolver or LVDT interface The voltage of the Syncro inputs can be selected to 2V 11 8V or 90V standard devices You may use the onboard excitation oscillator or an external reference source The external reference signal is scalable with an onboard voltage divider Reference phase shift can be adjusted with a resistor capacitor pair for each channel Special design procedures have been followed to ensure error free stable operation even up to 16 bit resolution Both input channels have independent grounds for reference and sensors Syncro signals are converted to sine cosine resolver signals with a laser trimmed precision solid state Scott T converter The resolver signal is then digitized by the onboard resolver to digital converters Excitation Circ
21. er The next figure shows a real connection that is used on the ERES104 The dashed line describes the onboard precision resistor pack that is used to precondition the voltage range of the sensors to a suitable level of 2V SIN Ry S b S Note The five external BW components as R shown in FIGURE 1 and 2 are necessary f A GND S1 2 53 for the to function cos Ri u Ri iis ANY R 2 C S2 o VV HS CONVERTER x 2 Vrms Synchro L L rms voltage Rf gt 6 kQ S1 S2 and S3 should be triple twisted shielded RH and RL should be twisted shielded In both cases the shield should be tied to GND at the converter Figure 5 5 Syncro Input ERES 104 2 channel Syncro Resolver 15 RTD Embedded Technologies Inc Hardware Description BO Sakata aad aS SIN 3 R ZR S1 1 1 S oO A a 2 6 Ri S S3 v z R Note The five external BW components as 2 shown in FIGURE 1 and 2 are necessary AGND V 4 for the R D to function COS 16 Ri 14 SR V3 7 Ne 8 4 151222215 62 9 bn uw UM US SENS C T R V EN it CONVERTER S1 S2 and S3 should be triple twisted shielded RH and RL should be twisted shielded In both cases the shield should be tied to GND at the converter 90 V input DDC 49590 Ri 270 kQ 90 V input synchro or resolver 11 8 V input DDC 49530 or DDC 57470 Ri 70 8 kQ 11 8 V input synchr
22. ide the dashed lines are in the DDC 49530 11 8V DDC 49590 90V or DDC 76037 2V e Connect A jumper 3 4 and C jumper 1 2 Connecting Inductosyn to ERES104 The ERES104 can be used to interface to Inductosyn type scales The Inductosyn scale output is very low in the range of 2 10mV pp The signal is identical to that of a resolver From the point of view of the RD converter the Inductosyn signal must be preamplified to the level of 2V rms that is required by the chips This must be performed by an external balanced preamplifier pair external to the ERES104 Please consult the factory for extra assistance on Inductosyn interfacing The onboard sine wave oscillator output current drive is limited This means that it will not in many cases be sufficient to drive a low impedance Inductosyn slide that may have a resistance in the magnitude of Ohms ERES 104 2 channel Syncro Resolver 14 RTD Embedded Technologies Inc User s Manual 1 INDUCTOSYN INDUCTOSYN SLIDER SCALE DUAL MATCHED INDUCTOSYN 2ww RESOLVER PREAMPS TO DIGITAL i CONVERTER i DIGITAL T OUTPUT QUADRATURE POWER OSCILLATOR RDC 19220 OSC 15801 SERIES RH RL CHASSIS GROUND l N7 CIRCUIT GROUND QUADRATURE output L 90 PHASE SHIFT Figure 11 15 Inductosyn to Digital Converter Figure 5 4 Inductosyn Connections Connecting Syncros to ERES104 The figure below illustrates a generic syncro connection scheme to the convert
23. igure 5 12 Board layout showing reference components 21 Figure 5 13 Block diagram of ERES 104 board nennen nenne emen E entente 22 Figure 7 1 IDAN Mechanical Drawing tritt citet puskaspa aniaya spere r ea e hereto ee rhe besten ta 26 Figure 7 2 connector location e tritt rii EET TE E ESSE EEES rE 26 TABLES Table 2 1 Factory Default Jumper Settings n nn nennen trennen een 3 Table 2 2 Base Address Jumper 5 4 Table 2 3 Jumper configuration for the Sensor configuration terminal blocks esse 5 Table 2 4 Solder jumper 7 Table 4 1 Sensor Interface connector J10 pin out 10 Table 5 1 RD converter external component values nn nennen nennen eene emet tene nenne 12 Table 6 1 104 ette ee em eese eee he retreat tele e ee etae sss 23 Table 6 2 Base 8 m Resolver Mode eee hee e aeri dde ree neret tette dete den ttes treten 24 Table 6 3 Base 4 8 1in LVDT MoOQde totem teet te tre tette erede ettet betreten id 24 User s Manual Chapter 1 INTRODUCTION This user s manual describes the operation of the ERES104 2 Channel PC 104 Syncro Resolver subsyst
24. n 27 Sin 5 6 23 Cos 31 Cos 7 8 2 Vrms input with 22 Cos 30 Cos any R pack OFF 3 4 5 6 Syncro Use DDC 49530 11 8V 19 SI 27 51 5 6 24 52 32 52 DDC 49590 90V 20 53 28 53 or DDC 76037 2V 1 2 3 4 OFF LVDT RVDT 2 Vrms input with any R Pack 1 2 7 8 Open and or B2 9 10 i J1l or J13 B OFF Em dos ERES104 2 channel Syncro Resolver 6 RTD Embedded Technologies Inc Solder Jumpers User s Manual 3507 R45448 2 6 rm 9 c lt Fr Figure 2 4 Board layout showing solder jumper locations Table 2 4 Solder jumper configuration Solder Open Short Factory Jumper Function Function Default Bl Use external excitation for sensor 1 Use internal excitation for sensor 1 Short B2 Use external excitation for sensor 2 Use internal excitation for sensor 1 Short B3 Unused Unused Unused B4 Isolated analog ground for sensor 1 Analog ground connected to digital ground for sensor 1 Short B5 Isolated analog ground for sensor 2 Analog ground connected to digital ground for sensor 2 Short ERES104 2 channel Syncro Resolver 7 RTD Embedded Technologies Inc installing the ERES104 Chapter 3 INSTALLING THE ERES104 Keep your board in its antistatic bag until you are ready to install it to your system When you are ready to install your board remove it from the bag and hold the board at
25. nalog Ground Must have B2 open EXT REF2 17 VELI VEL output of RDC1 18 VEL2 VEL output of RDC2 19 51 1 51 DRI 20 53 1 53 DRI 21 Channel 1 Analog Ground 22 54 DRI 23 52 DRI 24 52 25 Same as Pin J10 7 26 Same as J10 15 EXT REFI EXT REF2 27 51 2 51 DR2 28 53 2 53 DR2 29 Channel 2 Analog Ground 30 S4 DR2 31 52 DR2 32 52 DR2 33 Digital Ground 34 Digital Ground REF OSCI and REF OSC2 are derived from the same source and physically connected together ERES104 2 channel Syncro Resolver RTD Embedded Technologies Inc User s Manual BIT LED A LED on the 5 104 indicated that either Channel 1 or Channel 2 Built in test error is active If no error exists on either channel the LED is off Note that if you have only one sensor connected the LED is always lit since the other channel indicated loss of signal error through it s built in test signal Note Two locations on the bus have mechanical keying pins to help prevent misconnection of the PC 104 bus These keying pins are a part of the PC 104 standard and we strongly recommend you leave them in place If you have other modules without keying pins we suggest you modify them to include keying ERES104 2 channel Syncro Resolver 11 RTD Embedded Technologies Inc Hardware Description Chapter 5 HARDWARE DESCRIPTION This section describes the functionality of the vital subsections of the ERES104 board These include the Resolver to Digital con
26. ns and try again ERES104 2 channel Syncro Resolver 8 RTD Embedded Technologies Inc User s Manual HPWRIO4 34 PIN EXPANSION CONNECTOR 9104 Figure 3 1 Example of 104 in a stack ERES 104 2 channel Syncro Resolver 9 RTD Embedded Technologies Inc Connecting the ERES104 Chapter 4 CONNECTING THE ERES104 The following sections describe connectors of the ERES104 Finding Pin 1 of Connectors Syncro Resolver Connector A white area silk screened on the PC board indicates the pin 1 end of connectors A square solder pad visible on the bottom of the PC board indicates pin 1 Please make certain you have correctly identified pin 1 of a connector before you connect to it and attempt to use the ERES104 The two sensor inputs are located in header connector J10 to the right side of the board Signals are connected as described below Table 4 1 Sensor Interface connector J10 pin out ERES104 Functi ERES104 Functi J10 Pin unction J10 Pin m uncuon 1 Excitation Output 2 Digital Ground REF OSCI 3 SIN1 S on RDC1 4 Channel 1 Analog Ground 5 COSI C on RDC1 6 Channel 1 Analog Ground 7 External Reference Input 1 8 Channel 1 Analog Ground Must have B1 open EXT REFI 9 Excitation Output 10 Digital Ground REF OSC2 11 SIN2 S on RDC2 12 Channel 2 Analog Ground 13 COS2 C on RDC2 14 Channel 2 Analog Ground 15 External Reference Input 2 16 Channel 2 A
27. o or resolver Maximum additional error is 1 LSB when using recommended thin film packages Figure 5 6 Syncro Input using DDC 49530 11 8V DDC 49590 90V or DDC 76037 2V Notes e Slis pin 19 S2 is in pin 24 and S3 is pin 20 of J10 as an example for channel 1 Slis pin 27 S2 is pin 32 S3 is pin 28 of J10 as an example for channel 2 The resistors inside the dashed lines are in the DDC 49530 11 8V DDC 49590 90V or DDC 76037 2V e Connect A jumper 5 6 B jumper 1 2 3 4 and C jumper 3 4 5 6 ERES104 2 channel Syncro Resolver 16 RTD Embedded Technologies Inc User s Manual Connecting LVDT s to ERES104 Standard 2 wire LVDT s interface to the Resover to Digital converters as illustrated below Please consult the factory in applications involving LVDT interfacing REF IN REF C4 set for phase lag phase lead through the LVDT Figure 5 7 A generic 2 wire LVDT connection to a converter The precision amplifier circuitry presented above is external to the ERES104 Such LVDT preamplifier modules are available from RTD as standard products or they may be designed by RTD to suit customer specific requirements Please contact RTD for more information on different solutions for LVDT interfacing Solid State Scott T Converter Syncro signals must be converted to SIN and COS resolver signals that can be directly be interfaced by the Resolver to Digital converters The classical transformer coupled
28. s address and e mail address if available List your shipping address Indicate the shipping method you would like used to return the product to you We will not ship by next day service without your pre approval Carefully package the product using proper anti static packaging Write the RMA number in large 1 letters on the outside of the package Return the package to RTD Embedded Technologies Inc 103 Innovation Blvd State College PA 16803 0906 USA ERES104 2 channel Syncro Resolver 28 RTD Embedded Technologies Inc User s Manual LiMITED WARRANTY RTD Embedded Technologies Inc warrants the hardware and software products it manufactures and produces to be free from defects in materials and workmanship for one year following the date of shipment from RTD Embedded Technologies INC This warranty is limited to the original pur chaser of product and is not transferable During the one year warranty period RTD Embedded Technologies will repair or replace at its option any defective products or parts at no additional charge provided that the product is returned shipping prepaid to RTD Embedded Technologies All replaced parts and products become the property of RTD Embedded Technologies Before returning any product for repair customers are required to contact the factory for an RMA number THIS LIMITED WARRANTY DOES NOT EXTEND TO ANY PRODUCTS WHICH HAVE BEEN DAMAGED AS A RESULT OF ACCIDENT MISUSE ABUSE such
29. sed on the ERES104 The dashed line describes the onboard precision resistor pack that is used to precondition the voltage range of the sensors to a suitable level If non differentially connected resolvers are used they connect directly to the sin and cos inputs of the appropriate channels Examples of Component Calculations pumapa asss SIN Component Formula l R x 2 Vrms Resolver L L rms voltage f 51 M i S 4 i i s Rf 26 89 5 A 1 2V in need gain of 1 use 10k for Rf and Ri R i Gain Rf Ri MEN RE 2 4V in need gain of 0 5 Rf 10k Ri 20k or To calculate Ri Select 10k for Rf Ri Rf x 0 5 x input L L volt Ri 10k x 0 5 x input L L volt CONVERTER Notes 1 S1 and S3 S2 and S4 and RH and RL should be ideally twisted shielded with the shield tied to GND at the converter 2 For 2V direct input use 10k Q matched resistors for Ri amp Rf Figure 5 2 Differential Resolver connection to a ERES104 ERES104 2 channel Syncro Resolver 13 RTD Embedded Technologies Inc Hardware Description 51 S3 RESOLVER INPUT S4 CONVERTER 1 S1 and S3 S2 and S4 and RH and RL should be ideally twisted shielded with the shield tied to GND at the converter 2 For DDC 49530 or DDC 57470 Ri 70 8 kQ 11 8 V input synchro or resolver For DDC 49590 Ri 270 kQ 90 V input synchro or resolver 3 Maximum additional error is
30. t should be in the range of 2 5V p p You can measure the feedback reference signal of the RD converter after voltage scaling from pin 10 in header A Closing solder blobs B1 and B2 on the board will automatically connect the onboard excitation source to the voltage divider for the reference feedback B1 and B2 are located on the solder side of the board and are closed in the factory default condition In cases that you use external sensor excitation you must remove these solder jumpers ERES104 2 channel Syncro Resolver 25 RTD Embedded Technologies Inc IDAN Dimensions and Pinout Chapter 7 IDAN DIMENSIONS AND PINOUT IDAN ERES104 62S Synchro Resolver Interface Module 000 5 117 000 dataModule fF IO O IO 37 pin D female Module Part Adam Tech DC37SD Mating Part 4 Adam Tech DC37PD Figure 7 1 IDAN Mechanical Drawing Drawings not to scale Figure 7 2 IDAN connector location ERES 104 2 channel Syncro Resolver 26 RTD Embedded Technologies Inc Table 7 1 IDAN pin out User s Manual IDAN Pin out Syncro Resolver 37 pin D Connector Female IDAN Functi ERES104 Pin J10 Pin 4 1 Excitation Output 1 REF OSCI 2 5 S on RDC1 3 3 COSI on RDCI 5 4 External Reference Input 1 7 Must have B1 open EXT REFI 5 Excitation Output s
31. the edges try to avoid contact with the components or connectors Please handle the board in an antistatic environment and use a grounded workbench for testing and handling of your hardware Before installing the board in your computer check the jumper settings Chapter 1 reviews the factory settings and how to change them If you need to change any settings refer to the appropriate instructions in Chapter 1 Note that incompatible jumper settings can result in unpredictable board operation and erratic response Recommended Procedure We recommend you follow the procedure below to ensure that stacking of the modules does not damage connectors or electronics e Turn off power to the PC 104 system or stack e Select and install standoffs to properly position the ERES104 on the PC 104 stack e Touch a grounded metal part of the stack to discharge any buildup of static electricity e Remove the ERES104 from its anti static bag e Verify the jumper settings of ERESI04 e Check that keying pins in the PC 104 bus connector are properly positioned Hold the ERES104 by its edges and orient it so the bus connector pins line up with the matching connector on the stack e Gently and evenly press the ERES104 onto the PC 104 stack CAUTION Do not force the board onto the stack Wiggling the board or applying too much force may damage it If the board does not readily press into place remove it check for bent pins or out of place keying pi
32. uitry A programmable reference oscillator is available onboard to drive sensors The frequency and amplitude of the sine wave are programmable Digital potentiometers are used to give stable operation and flexible 32 step adjustment of excitation characteristics The reference source is common to both channels The onboard DC DC converter can be used to drive total loads of 1 5W The excitation frequency is factory set to 400 Hz to 1 6K Hz range This range can easily be increased to 2 6K Hz to work with common resolver types with a small adjustment Please consult the factory for more details Mechanical description The ERES104 is designed on a PC 104 form factor An easy mechanical interface to both PC 104 and EUROCARD systems can be achieved Stack your ERES104 directly on a PC 104 compatible computer using the onboard mounting holes Care must be taken to ensure good quality cabling to ensure high quality noise free operation Connector description The connections are made by header type terminals The PC 104 bus connector is 16 bit wide stack through type ERES 104 2 channel PC 104 Syncro Resolver 1 RTD Embedded Technologies Inc Introduction What comes with your board You receive the following items in your ERES104 package ERESIOA PC 104 resolver to digital converter board Companion CD Notes Latest software and drivers can be downloaded from our website If any item is missing or damaged please contact RTD Embedded T
33. ved for voltage divider resistors R24 for channel 1 and R41 for channel 2 The default ERES104 2 channel Syncro Resolver 18 RTD Embedded Technologies Inc User s Manual resistors are 5 11 K ohm and the input resistance is 2K so the input signal can be 9V 18V p p In case of reference signal phase lag or lead you can correct it by installing an external capacitor Phase shift correction will improve accuracy and quadrature rejection The size of the capacitor can be selected as follows Xc 1 2x PI x P where F excitation frequency and tan Phi Xc R and where Phi desired phase shift for more information please consult the component specific datasheet of the RD converter chips On the solder side of the board are locations for an additional resistor capacitor for phase correction for each channel The components for channel 1 are labeled R8 R7 for channel 2 R9 R10 The factory default setting for R7 and R9 is 0 Ohms R8 and R10 are do not populate DNP which is no phase adjustment Internal Reference J10 400 1600 Hz Excitation Out Sinewave Pins 1 amp 9 Ext Ref 1 Test Pins 7 amp 25 Poit J18 10 RDC Ref R7 amp R8 used for lead lag N 2 adjustments P Ref En Digital Analog Ground Ground Figure 5 9 Reference input for sensor 1 ERES 104 2 channel Syncro Resolver 19 RTD Embedded Technologies Inc Hardware Description Internal m Reference J10 400
34. verters Solid state Scott T converter and Sine wave excitation oscillator ERES104 Block Diagram Channel 1 Converter Sensor Signal Connector 4 pin 1 bit PC AT compatible PC 104 Bus i 2 Figure 5 1 ERES104 Block diagram BELOW ARE LISTED THE EXTERNAL COMPONENT VALUES OF THE RDC 19220 RESOLVER TO DIGITAL CONVERTER FOR MORE INFORMATION ON SELECTING THESE COMPONENTS PLEASE REFER TO THE APPLICATION NOT DOCUMENTATION ON THE WEBSITE WWW DDC WEB COM Table 5 1 RD converter external component values RC 30K RS 53K REF INPUT RESISTANCE 2K RV 39K WITH 20K TRIMPOT CENTERED EQ 49K CBW 4 7nF RB 100K CBW 10 470 pF ERES 104 2 channel Syncro Resolver 12 RTD Embedded Technologies Inc User s Manual Resolver to Digital Converters Two independent resolver to digital converters condition the sensor inputs These versatile chips have programmable resolution and internal diagnostic functions The control of these converters is performed by the host computer These converters support a variety of operational modes provided by the circuitry onboard these include Resolvers Inductosyns Syncros and LVDT s that can be converted with up to 16 bit resolution The following passage will illustrate these connections Connecting Resolvers to ERES104 The figure below illustrates a generic resolver connection scheme to the converter The next figure shows a real connection that is u
35. vice erratic performance may occur and data read from the board may be corrupted To avoid this problem make sure you set up the base address first using the five jumpers which let you choose from 32 different I O addresses in your computers I O map Should the factory installed setting of 300h be unusable for your system configuration you may change this setting to another using the options illustrated in Table 1 2 The table shows the switch settings and their corresponding values in hexadecimal values Make sure you verify the correct location of the base address jumpers When the jumper is removed it corresponds to a logical 0 connecting the jumper to a 1 Table 2 2 Base Address Jumper Settings Base Address Jumper Settings Base Address Jumper Settings Hex Decimal A5 8 Hex Decimal A5 A8 200 512 0000 300 768 0001 220 544 1000 320 800 1001 240 576 0100 340 832 0101 260 592 1100 360 848 1101 280 512 0010 380 768 0011 2A0 544 1010 3A0 800 1011 2C0 576 0110 3C0 832 0111 2E0 592 1110 3E0 848 1111 5578 5 Figure 2 2 Base Address jumper block 8 to top A5 to bottom ERES104 2 channel Syncro Resolver 4 RTD Embedded Technologies Inc User s Manual Interrupt channel Factory setting IRQ1 10 IRQ2 11 Each sensor connected to the ERES104 can assert a host interrupt using the hardware interrupts
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