USER MANUAL PC40 - EAGLE Technology
Contents
1. FEATURES LOINTRODUCTION 1 1 Software 1 2 Applications 1 3 Ordering information 2 0HARDWARE 2 1 Architecture 2 2 Addressing Requirements 2 3 Interconnections 2 3 1 Output Connector 2 3 2 Pin Definitions 2 4 Timing Requirements 3 0 SOFTWARE 3 1 Programming the PC40 3 1 1 Address Allocation 3 1 2 Register Functions 3 1 3 Data Format 3 2 Software Drivers and Demonstration Software 3 2 1 Operation 3 2 2 Software Drivers 3 2 3 Sample Programs 4 0 SINGLE AND DUAL SPEED SYSTEM SETUP BIBLIOGRAPHY APPENDICES APPENDIXA SPECIFICATIONS APPENDIXB LOAD TUNING APPENDIXC APPLICATIONS NPP ODA A UW W m HH Hm mp UW bk kb m PREFACE This manual is written for users of the PC40 series 1 cards It provides all the necessary information required to successfully operate and program the PC40 series This manual assumes a That you have a detailed knowledge of synchro and resolver operation b That you are familiar with the PC environment C That you are capable of writing your own programs or modifying the demonstration software for your own use LOINTRODUCTION The PC40 is a versatile full size IBM PC card designed for 1 to 4 channels of Digital to Synchro or Digital to Resolver conversion Options with output voltages of 90V or 1L8V are available Frequency options available are 60Hz or 400Hz High power outputs of up to 5VA are provided The outp2. 3 1 1 Address Allocation The PC40 uses 8 consecutive address locations in the I space ADDRESS ALLOCATION TABLE ADDRESS OFFSET FROM BASE FUNCTION OFFSET 0 STROBE CHANNEL 1 OFFSET 1 STROBE CHANNEL 2 OFFSET 2 STROBE CHANNEL 3 OFFSET 3 STROBE CHANNEL 4 OFFSET 4 LOW BYTE LATCH OFFSET 5 HIGH BYTE LATCH OFFSET 6 PSU RELAY ON OFFSET 7 PSU RELAY OFF OFFSET 8 PSU STATUS 3 12 Register Functions OFFSET OTO 3 CHANNEL STROBE WRITE ONLY STROBESTHE DATA INTO THE SECOND BUFFER WRITE A 0 TO THE RELEVANT OFFSET LOCATION OFFSET 4 LOW BYTE LATCH WRITE ONLY WRITES LOW BYTE INTO FIRST BUFFER OFFSET 5 HIGH BYTE LATCH WRITE ONLY WRITES HIGH BYTE INTO FIRST BUFFER Note that the data is left justified and hence the upper 8 bits are stored in the HIGH BYTE LATCH whilst the lower 6 bits are stored in the LOW BYTE LATCH See bit weights in the latter bit weight table OFFSET 6 PSU RELAY ON WRITE ONLY STROBES THE PSU RELAY ON WRITE A 0 TO THE RELEVANT OFFSET LOCATION OFFSET 7 PSU RELAY OFF WRITE ONLY STROBESTHE PSU RELAY OFF WRITE A 0 TO THE RELEVANT OFFSET LOCATION OFFSET 8 PSU STATUS READ ONLY BIT D7 06 D5 D4 D3 D2 DL DO X X X X X X X X DOCLEAR ERROR DOSET OK 3 1 3 D ata format high byte 5 2 1 0 0 0 0 0 0 NOTE FOR 12 BI
3. none procedure PSU on parameters none procedure PSU off se parameters none When using the drivers the unit PC40 TPU must be incorporated in the source file Note The channel parameters 0 to for channels 1 to 4 21 3 2 3 Sample Programs Sample programs are provided in Turbo Pascal and Borland C These versions of C and Pascal can be easily modified to other versions of C and Pascal by merely modifying the and delay functions to the equivalents The exe files are also provided Thefollowing programs are for single speed systems PC40eg1 c and PC40eg1 pas PC40eg2 c and PC 40eg2 pas The following programs are for two speed systems PC40eg3 c and PC40eg3 pas PC40eg4 c and PC 40eg4 pas Program D escriptions PC40eg1 X prompts the user for a channel number and an angle and loads the received data into the system PC40eg2 X prompts the user for a channel number and then steps through from 0 degrees to 360 degrees in steps of 20 degrees The delay between steps is 1 second PC40eg3 X prompts the user for two channel numbers the speed ratio and an angle and loads the received data into the system PC40eg4 X prompts the user for two channel numbers the speed ratio and then steps through from 0 degrees to 360 degrees in steps of 20 degrees The delay between steps is 1 second 22 Note that the channel numbers in the software are 0 to 3 for channels 1 to 4 23 4 0 SING
4. since the power is drawn from the reference MODEL REF VOLTAGE L L VOLTAGE FREQUENCY TYPE EN 115V 90V 60Hz SYNCH go NOR LISV 90V 400Hz SYNCH This 60Hz version requires external transformers Only available 4 5VA 14 bit Only available in 15 14 bit eg PC40 SC M is 12 bit 90V 400Hz SVA resolver output converter 20 HARDWARE 2 lArchitecture The PC40 is a full size IBM PC card which can accept up to four channels of digital to synchro or resolver conversion channels The maximum resolution is 14 bits however the resolution can be much improved if a two speed system is set up with two single speed systems and the appropriate software drivers The digital angle information is converted to synchro or resolver format when a channel is strobed The data for each channel is arranged in two 8 bit bytes Once the high byte and low bytes have been latched in the channel strobe must be activated to load the data into the channel latch A power supply PSU protection circuit has been incorporated which provides overvoltage protection and reverse power supply protection from the external PSU The power supply status can be read in and in addition the user has full control over the enabling of the power supply If the PSU protection circuitry is activated then the PC40 will not allowed to be activated under software cont
5. LE AND DUAL SPEED SYSTEM SETUP Dual speed system DSC A DSC B PC40 gt CONTROL gt 24 2 Channel Single Speed System gt SHAFT SHAFT B AREF REFGND AS1 AS2 AS3 BS1 BS2 BS3 PC40 gt CONTROL gt gt i c V COMPUTER 25 BIBLIOGRAPHY 1 SYNCHRO CONVERSION ILC DATA DEVICE CORPORATION 1990 2 SYNCHRO AND RESOLVER CONVERSION ANALOG DEVICES 1980 APPENDIX A SPECIFICATIONS 26 APPENDIX B LOAD TUNING 27 28 APPENDIX C APPLICATIONS From Synchro amp Resolver Conversion Analog D evices
6. PSU error get PSU status PSU on switch PSU on PSU off switch PSU off set base set card base address For C the function prototypes are void set base unsigned int base add input parameters base add void write angle int chan num float angle input parameters chan num channel number angle in degrees void write 2speed angle int ratio int chan numl int chan num2 float angle input parameters ratio gearing ratio chan numl fine channel chan num2 coarse channel angle in degrees int PSU error parameters none This function returns true if there is an overvoltage condition at the PSU void PSU on parameters none void PSU off parameters none When using the drivers the include file PC40 h must be incorporated in the source file Please remember to create project files for Borland or make files for QuichC etc files also provided For Pascal the function prototypes are procedure set base base add word input parameters base add 20 procedure write angle chan num integer angle real input parameters chan num channel number angle in degrees procedure write 2speed angle ratio integer chan numl chan num2 integer angle real input parameters ratio gearing ratio chan numl fine channel chan num2 coarse channel angle in degrees function PSU error boolean parameters
7. T UNITSD1AND D2ARE NOT USED eg Anangle of 224 degrees would be 10100000000000 binary or 2800 ex 3 2 Software D rivers and Demonstration Software 32 1 O peration Thefollowing algorithm is provided STEP 1 GET PSU STATUS STEP 2 IF NO PSU ERROR THEN SWITCH RELAY ON AND CONTINUE ELSE SWITCH RELAY OFF AND EXIT STEP 3 WRITE HIGH BYTE TO HIGH BYTE LATCH OFFSET 5 STEP 4 WRITE LOW BYTE TO HIGH BYTE LATCH OFFSET 4 STEP 5 STROBE THE RELEVANT CHANNEL STROBE STEP 6 DELAY 100us FOR SETTLING TIME The following formula can be used to convert the shaft angle to two digital bytes ANGLE HIGH BYTE rue UNS cO DIV 256 360 ANGLE LOW BYTE Bae 2522252 MOD 256 360 shaft angle in degrees NOTE The high byte and low byte can be written to in any order Full software drivers for single and dual speed systems are provided They are written in C and Pascal Fortran and Basic drivers will be available shortly Also induded is full demonstration software which can be used in real applications 3 2 2 Software D rivers A number of driver routines are provided in the PC40 X file in turbo Pascal and Borland C on the accompanying disc They can be set up as units indude files or simply inserted in a single program file if desired They are write angle load a channel with an angle write 2speed angle load 2 channels with an angle and a speed ratio for a two Speed system
8. USER MANUAL PC40 4 Channel D igital to Synchro or Digital to Resolver Converter Card LOW COST BOARDS FOR IBM PC XT AT PS 2AND COMPATIBLE COMPUTER SYSTEMS Copyright Boston Technology 1992 All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form by any means electronic mechanical by photocopying recording or otherwise without prior written permission First edition August 1992 August 1992 printing Information supplied in this manual is believed to be accurate and reliable however no responsibility is assumed for its use nor any infringements of patents or other rights of third parties which may result from its use IBM PC XT AT and IBM PS 2 are trademarks of International Business Machine Corporation Microsoft is a trademark of Microsoft Corporation FEATURES LOW COST SYNCHRO OR RESOLVER OPTIONSAVAILABLE 12 OR 14 BIT RESOLUTION OPTION ACCURACY OF 4ARC MINUTE FOR 14 BIT 6ARC MINUTE FOR 12 BIT INPUT DATA RATE OF 4000 DEGS PER SEC MAX FOR 14 BIT 8000 DEGS PER SEC MAX FOR 12 BIT 1TO 4CHANNELS EXCITATION FREQUENCIES OF 60 Hz OR 400 Hz DRIVES UP TO SVA LOADS TRANSFORMER ISOLATED OUTPUTS LOCKED ROTOR PROTECTION SHORT CIRCUIT AND OVERLOAD PROTECTION SOFTWARE SUPPLIED FOR DRIVING 1AND 2 SPEED SYSTEMS POWER SUPPLY PROTECTION CIRCUITRY SOFTWARE CONTROLLABLE PSU 4 TABLE OF CONTENTS PREFACE
9. le The HEX Address is therefore calculated as follows SW3 4 5 amp 7 are ON 20 200 100 80 2 3A0 Not Used or the Prototype Board therefore NOT be used In all probability this card would not function Select any of the Not Assigned Address Ranges ONLY with the standard Binary Communications device and should correctly lt After studying the top table you will notice that this CONFLICTS swi 542 sw3 sw Sw7 SW8 SWITCH OFF OFF ON OFF ON OFF ON OFF 128016 64 x16 32 16 8 16 4 x16 2x16 6 DEC 80 40 1200 100 80 40 20 10 HEX hip SWITCH SETTINGS FOR SELECTING PC 40 41 58 59 CARD ADDRESSES 2 3 Interconnections 2 3 1 Output Connector The output connector on the PC40 card is a DB37 male connector The connections are shown below 1 15V 20 2 15V 21 3 OV 22 4 OV 23 5 15V 24 6 15V 25 7 26 054 8 CS4 27 053 9 CS3 28 DS2 10 Cg 29 DSI 11 CSI 30 DREFLO 12 31 DREFHI 13 CREFHI 32 BS4 14 AS 33 BS3 15 53 34 52 16 AS2 35 BS1 17 51 36 BREFLO 18 AREFLO 37 BREFHI 19 AREFHI 2 32 Pin D efinitions Note that the prefix A B C or D refers to the channel numbers 1 2 3 or 4 respectively a 15V 15V and OV are provided from an external power supply Therequirements are as follows PC40 models F and G do not require external 15V power supplie
10. rol 51 52 5354 51 52 5354 51 52 5354 51 S2 53 54 REFHI L REFHI REFHI REFHI REFLO REFLO REFLO REFLO eee I POWER 15 SUPPLY ov PROTECT 15V ADDRESS FROM DECODING FROM COMPUTER 10 JOHARDWARE REQUIREMENTS COMPUTER HARDWARE REQUIREMENTS IBM PC XT AT or compatible with 512K RAM PARAMETER VALUE POWER SUPPLY 5V from computer 0 3A with 4 chan TEMPERATURE RANGE Operating Temp Oto 70 C Storage 55 to 125 C PHYSICAL ATTRIBUTES 13 1x4 1x0 9in Fullsize IBM PC card 33 4 x 10 5 x 2 2cm 2 2 Addressing Requirements ADDRESS STANDARD RANGE DEVICE IN HEX USAGE 000 1FF Internal System Board 200 20F Games Port 210 217 Expansion Port 220 24F Reserved 250 257 Not Assigned Bore c RIBUS 258 25F INTEL Above Board 260 277 Not Assigned 278 26F Reserved 280 2EF 1 2F0 2F7 2F8 2FF 300 31F 320 32F 330 377 ed 378 37F Printer Port 380 38F SDLC Communications 390 39F Not Assigned 3A0 3AE Binary Communications 3B0 3BF Mono Display Adaptor 3C0 3CF Reserved Su 3D0 3DF Colour Graphics Adaptor 4 3E0 3E7 Reserved ee 3ES 3EF Not Assigned 3P0 3F7 Floppy Disk Drives 3FS 3FF COMI Serial Port 400 FFF Not Used Available ADDRESSES FOR STANDARD VO DEVICES Examp
11. s since the power is drawn from the reference 1 5 VA PC40 models require 150mA average per channel 450mA peak per channel without current limiting 5 VA PC40 models require 700mA average per channel 2A peak per channel without current limiting Note The loads be tuned so that more devices can be driven See appendix B for details All the PC40 models except the F and the G models must have a power supply accuracy of 15V 8 If the voltage exceeds 16 2 V 0 2 V then the power supply protection circuitry will be activated REFHI and REFLO arethe reference input to the digital to synchro resolver converter The reference voltage and frequency must be accurate to within 10 of voltage and frequency NOTE If required a solid state reference oscillator can be used Theordering code is PC42 61 S2 53 and 54 are the outputs from the converter These pins are connected to the torque receiver or control transformer For a resolver type S1 and S2 are connected to the first stator coil whilst S3 and S4 are connected to the second stator coil For a synchro type S1 S2 and S3 are connected to S1 S2 and S3 of the synchro motor Note that these outputs are transformer isolated 24 Timing Requirements A delay of 100us for settling timeis required for a stepped input The PC40 uses high speed components thereby allowing it to be addressed with zero wait states 3 0 SOFTWARE 3 1 Programming the PC 40
12. uts are transformer isolated and provide maximum protection to the computer The card is double buffered and the 12 or 14 bit angle information is provided two 8 bit bytes from the computer The 1 addressing space is switch selectable with a DIP switch The modules are protected by a power supply protection circuit whose status can be read The power supply can be switched on and off under computer control 1 1 Software Complete Pascal and C software drivers and demonstration programs are provided In addition to the normal single speed software two speed driver software is provided to allow two speed systems to be set up In the future Fortran and Basic software will be provided 1 2Applications The multi channel PC40 is designed for use in high performance control and simulation systems With the high power output the PC40 is an excellent choice for applications induding motor control antenna positioning machine tooling robot axis control and process control 1 3 Ordering Information Numerous models are provided PC40 XY P where Xis S for 12 bits T for 14 bits Y is A B C or G P is M for5VA for 45 VA O for L5VA MODEL REF VOLTAGE L L VOLTAGE FREQUENCY TYPE A 115V 90V 400Hz SYNCH B 26 1L8V 400Hz SYNCH C 115V 90V 400Hz RSVR D 26 1L8V 400Hz RSVR E 115V 90V 60Hz SYNC The following models do not require 15V power supplies
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