P/N 64PW3 TWO PWM SERVO AMPLIFIERS
Contents
1. Reg Value Definition Description 0000h RS 422 ADC input is transmitted on RS 422 SDLC interface 5555h PWM Ch 1 ADC input is summed into PWM Ch 1 Loop Controller AAAAh PWM Ch 2 ADC input is summed into PWM Ch 2 Loop Controller NOTES 1 Only the above three valid values are allowed If any value other than the above three values is used the PWM module shall act as the ADC input word is not enabled and will not send the digitized data to any of the three available locations defined above 1 2 45 Address 5Ah Description VME Activity Monitor Watchdog Timer Enable Type Boolean Range 0000h or FFFFh Read Write R W Initialized Value 0000h North Atlantic Industries Inc Apex Signal Division 631 567 1100 631 567 1823 fax 4 12 2002 64_PW3_2A001_Rev_3 doc 110 Wilbur Place Bohemia NY 11716 www naii com e mail sales naii com Cage Code OVGU1 Page 16 of 22 This register provides enable or disable control of the VME activity watchdog timer defined in VME register 5Ah Reg Value Definition Description 0000h Disabled VME activity watchdog timer disabled FFFFh Enabled VME activity watchdog timer enabled 1 2 46 Address 5Ch Description RS 422 SDLC Activity Monitor Watchdog Timer Enable Type Boolean Range 0000h or FFFFh Read Write R W Initialized Value 0000h This register provides enable or disable control of the RS 422 SDLC activity watchdog timer defined in VME register 5Ch2. Reg Value Definition Description 0000h Disabled RS 422 SDLC activity watchdog timer disabled FFFFh Enabled RS 422 SDLC activity watchdog timer enabled 1 2 47 Address 5Eh Description VME Activity Monitor Watchdog Timeout Interval Type Unsigned Integer Range 0000h FFFFh Read Write R W Initialized Value 0000h This register provides the capability to define the watchdog timeout interval for a VME activity monitor If the watchdog timer is enabled via VME register 5Ah the PWM module shall monitor accesses to the PWM module status register at VME register 4Eh If the status register is not accessed within the interval defined below the PWM module shall disable both PWM output channels even if the battlefield override command is enabled per VME register 4Ch The watchdog timeout status will also be updated within VME register 4Eh Reg Value Definition Description 0000h Min Value Zero equates to 0 milliseconds FFFFh Max Value 65535 equates to 250 milliseconds 1 2 48 Address 60h Description RS 422 SDLC Activity Monitor Watchdog Timeout Interval Type Unsigned Integer Range 0000h FFFFh Read Write R W Initialized Value 0000h This register provides the capability to define the watchdog timeout interval for a RS 422 SDLC activity monitor If the watchdog timer is enabled via VME register 5Ch the PWM module shall monitor valid RS 422 SDLC receive data frames If a valid SDLC receive data f
3. North A Hlantic P N 64PW3 Apex Signal Division TWO PWM SERVO AMPLIFIERS VMEbus TWO PWM SERVO AMPLIFIERS with optional RS 422 serial data link A D D A or dual R D FEATURES e 5 0 A max continuous 8 5 A peak per channel e Continuous background bit testing SAFETY FEATURES Interrupt will be set and Status registers will indicate Drive fail bias loss etc Over current condition Supply over voltage condition Supply under voltage condition Over temperature condition for PWM card Over temperature condition for Power Supply card Master Drive Enable DESCRIPTION This conduction cooled card incorporates two four quadrant bi directional PWM amplifiers that drive brush type Optional brushless DC motors and optional RS 422 A D D A or dual Resolver to Digital converters The required 65 VDC power other voltages are available is supplied by a separate power supply module that is controlled by this card by means of a pulse train Contact factory for Optional programmable encoder A amp B equivalent Hall Effect commutation outputs The amplifiers can be set for either current or voltage control via the bus Actual motor control using the selected voltage or current mode can be done with the RS 422 link Both output drives can be shut down via a single discrete opto isolated logic input A thermal shutdown will prevent damage to the system caused by excessive temperature conditions Motor drive po
4. Description Pulse width Duty Cycle Limit PW 2 Type Integer Read Write R W Initialized Value 950 Range 0 950 Max duty cycle 1 2 61 Address 7Ah Description Disable PS temp shut down Type Integer Read Write R W Initialized Value 0 Range 0 1 1 disables power supply temperature shutdown North Atlantic Industries Inc Apex Signal Division 631 567 1100 631 567 1823 fax 4 12 2002 64_PW3_2A001_Rev_3 doc 110 Wilbur Place Bohemia NY 11716 www naii com e mail sales naii com Cage Code OVGU1 Page 19 of 22 Upper Drive Command Short Circuit Fault lt 80A Lower Drive Command BLOCK DIAGRAM TWO PWM SERVO AMPLIFIERS gt Power to Sec Half Bridge Optically Coupled FET Driver w N7 Upper FET Optically Coupled FET Driver Shunt Local Decoupling Hi Freq EMI Filter North Atlantic Industries Inc Apex Signal Division 110 Wilbur Place Bohemia NY 11716 Lower FET DUAL SERVO AMP 1 2 OF BRIDGE DRIVE Sec Half Bridge Motor Current gt 631 567 1100 631 567 1823 fax www naii com e mail sales naii com Optically Coupled Sensor e Motor Current Over Current Fault gt 128 A n MUX A D Shared by Drive Test Signals _ gt Module 65V Input Power 4 12 2002 Cage Cod
5. 0000h or FFFFh Read Write R W Initialized Value 0000h This register is used to enable or disable the ADC input test word for either transmission over the RS 422 SDLC interface or injection into the PWM module channel control loop summing junctions This register is only used to determine if the word is enabled or not the actual destination is determined by VME register 58h below Reg Value Definition Description 0000h Disabled ADC input word is not enabled FFFFh Enable ADC input word is enabled 1 2 44 Address 58h Description ADC Test Word Input Destination Select Type Special Range 0000h 5555h or AAAAh Read Write R W Initialized Value 0000h This register is used to select the destination for the ADC Test Input Word The available destinations are either the RS 422 SDLC interface or the summing junctions of the PWM Channel Loop Controllers If the PWM module is operating in a voltage mode then the ADC input word will be added to the command voltage up to the allowable saturation limits If the PWM module is operating in a current mode then the ADC input word is injected into the feed back summing junction of the loop controller The purpose of this register is to allow Lab analysis of the PWM loop controller for verification purposes of the loop characteristics When the ADC input word is injected into the feedback summary junction the scaling is O7FFh 8 5A 10V input to ADC 8 5A
6. 2 If no test word is transmitted or if an error is detected in the SDLC data frame the last valid Test Word 2 value will be output on DAC 4 1 2 42 Address 54h Description ADC Test Word Input Type 2 s Complement Integer Range F800h 07FFh North Atlantic Industries Inc Apex Signal Division 631 567 1100 631 567 1823 fax 4 12 2002 64_PW3_2A001_Rev_3 doc 110 Wilbur Place Bohemia NY 11716 www naii com e mail sales naii com Cage Code OVGU1 Page 15 of 22 Read Write R Initialized Value 0000h This register provides VME read access to the RS 422 SDLC transmit data for the ADC test word an Analog to Digital test word used to provide general purpose analog input thru the RS 422 SDLC interface Since the SDLC data frames contain 12 bit words the data is mapped into the Isb s of the VME register with sign bit preservation Reg Value Definition Description F800h Max Neg Value 2048 equates to 10V on the ADC input channel O7FFh Max Pos Value 2047 equates to 9 995V on the ADC input channel NOTES 1 The PWM module will only transmit this data when VME register 54h contains a valid transmit enable value 2 If the SDLC transmit is not enabled it is acceptable to latch the last transmitted value in this VME register and does not need to be cleared upon a disable command in the VME register 54h 1 2 43 Address 56h Description ADC Test Word Input Enable Type Boolean Range
7. O7FFh Max Pos Value 2047 equates to 79 960V NOTES 1 Voltage values in excess of 80 000V or 79 960V shall be clamped to 2048 or 2047 respectively within the VME register 1 2 16 Address 1Eh Description Drive Reset Channel 2 Type Boolean Range 0000h or FFFFh North Atlantic Industries Inc Apex Signal Division 631 567 1100 631 567 1823 fax 4 12 2002 64_PW3_2A001_Rev_3 doc 110 Wilbur Place Bohemia NY 11716 www naii com e mail sales naii com Cage Code OVGU1 Page 8 of 22 Read Write R W Initialized Value 0000h This register is used to clear any fail conditions related to PWM channel 2 in VME status register at address 4Eh Reg Value Definition Description 0000h No Action Inactive State FFFFh Clear Fails Attempt to clear the PWM channel 2 fail status NOTES 1 This is implemented as a non latched register value i e upon writing a FFFFh do not need to write a 0000h to return the register to an inactive state 2 Drive Reset In the event of a shut down fault condition the drive will be disabled The specific fault condition is shown in the status register To restore normal operation write a 1 to the Drive Reset Register This attempts to clear any fault conditions If fault conditions are cleared by checking status bits the drive can be re enabled via the Drive enable register 1 2 17 Address 20h Description VME Interrupt Level Type Integer Range 0
8. 7 Read Write Initialized Value 0000h 1 2 18 Address 22h Description VME Interrupt Vector Type Range Read Write Initialized Value 0000h Interrupt Vector Write 8 bit word 0 255 1 2 19 Address 24h Description VME Interrupt Enable Type Range Read Write Initialized Value 0000h The bit fields in this register correspond to the bit fields in the Status Register Writing a 1 to a bit will enable an interrupt This allows any status register condition to cause an interrupt with the exception of the Master Enable Switch 1 2 20 Address 26h Description Kc Channel 1 Input Command Scaling for PWM Channel 1 Type 2 s Complement Integer Range 8000h 7FFFh Read Write R W Initialized Value 0000h This register is used to set the input voltage or current command scaling for input into the PWM channel 1 motor loop controller Reg Value Definition Description 8000h Max Neg Value 32768 equates to 80V or 8 5A 7FFFh Max Pos Value 32767 equates to 79 960V or 8 5A NOTES 1 A negative scale factor effectively indicates a polarity reversal of the command and should be handled as such North Atlantic Industries Inc Apex Signal Division 631 567 1100 631 567 1823 fax 4 12 2002 64_PW3_2A001_Rev_3 doc 110 Wilbur Place Bohemia NY 11716 www naii com e mail sales naii com Cage Code OVGU1 Page 9 of 22 1 2 21 Address 28h Description Kg Channel 1 Global Gain fo
9. O CONFIGURATION The VMEbus interface will respond to A32 D16 A24 D16 and A16 D16 DTB cycles A32 mode Unit responds to address modifiers OA OD OE and 09 Base address can be set anywhere in the 4 Gigabyte address space on 256 byte boundaries A24 mode Responds to address modifiers 3A 3D 3E and 39 Base address can be set anywhere in the 16 Megabyte address space on 256 byte boundaries A16 mode Responds to address modifiers 2A 2D 2E and 29 Base address can be set anywhere in the 64 K byte address space on 256 byte boundaries Enable Geographical Addressing by removing jumper from JP2 Disable Geographical Addressing by adding jumper to JP2 When Geographical Addressing is enabled the card will respond to address modifier 2Fh for A24 Address mode where the 5 Msb s of the A24 address are the 5 bits defined by the slot in VME back plane The Card can optionally be interrogated at 2Fh to determine resource requirements and available functionally Using the address modifier 2Fh the following need to be written to the card 1 The base address the card should respond to 2 The address modifier A16 A24 A32 3 Then enable the card For example If the card is in slot 10 the 5 Msb s are 01010 so the address of the CSR registers are 01010111 1111 1111 xxxx xxxx or 57FFxx h xx is CSR register offset Write to address 57FF63 h the A31 A24 base address bits for example 01h Write to address 57FF67 h the A23 A16 base
10. PI controller Reg Value Definition Description 0000h Minimum Value 0 of output signal contribution FFFFh Maximum Value 100 of output signal contribution 1 2 24 Address 2Eh Description Kp Channel 1 Proportional Gain for PWM Channel 1 Motor Loop PI Controller Type 2 s Complement Integer Range 8000h 7FFFh Read Write R W Initialized Value 0000h This register is used to define the PWM channel 1 proportional gain constant used within the current mode motor loop PI controller Reg Value Definition Description Scaling 8000h Max Neg Value 32768 2 7FFFh Max Pos Value 32767 2 1 2 25 Address 30h Description Kc Channel 2 Input Command Scaling for PWM Channel 2 Type 2 s Complement Integer Range 8000h 7FFFh North Atlantic Industries Inc Apex Signal Division 110 Wilbur Place Bohemia NY 11716 631 567 1100 631 567 1823 fax www naii com e mail sales naii com 64_PW3_2A001_Rev_3 doc Page 10 of 22 4 12 2002 Cage Code OVGU1 Read Write R W Initialized Value 0000h This register is used to set the input voltage or current command scaling for input into the PWM channel 2 motor loop controller Reg Value Definition Description 8000h Max Neg Value 32768 equates to 80V or 8 5A 7FFFh Max Pos Value _ 32767 equates to 79 960V or 8 5A NOTES 1 A negative scale factor effectively relates to a polar
11. R Initialized Value 0000h This register is used to indicate the positive voltage rail of the PWM h bridge output Reg Value Definition Description 0000h Min Value OV observed on PWM power supply O7FFh Max Value 79 96V observed on PWM power supply North Atlantic Industries Inc Apex Signal Division 110 Wilbur Place Bohemia NY 11716 4 12 2002 Cage Code OVGU1 64_PW3_2A001_Rev_3 doc Page 13 of 22 631 567 1100 631 567 1823 fax www naii com e mail sales naii com 1 2 37 Address 48h Description RS422 Test Bits Type Integer Range 0000 000Fh Read Write R W Initialized Value 0000h The least significant 4 bits of this register D3 DO are transmitted by the RS422 interface whenever the ADC reading is enabled to be transmitted via registers 56h amp 58h 1 2 38 Address 4Ah Description RS422 Transmit Enable Type Boolean Range 0000h or FFFFh Read Write R W Initialized Value 0000h This register enables SDLC transmission of a frame after receipt of a valid frame A value of 0000h disables transmission a value of FFFFh enables transmission 1 2 39 Address 4Ch Description Battlefield Override Command Type Boolean Range 0000h or FFFFh Read Write R W Initialized Value 0000h This register is used to lockout all fail safes within the PWM module and or PS module When active no intervention of the protection circuitry to shut drive off to either PWM channel is all
12. address bits for example 02h Write to address 57FF6B h the A15 A8 base address bits for example 04h Write to address 57FF6F h the address modifier you wish to respond to shifted up 2 bits for example 28h 0A lt lt 2 Then Write to address 57FFFBh 10h to enable the card The card will now respond to the base address 010204 in the example and address modifier OA in example programmed The base address and address modifier can be changed at any time North Atlantic Industries Inc Apex Signal Division 631 567 1100 631 567 1823 fax 4 12 2002 64_PW3_2A001_Rev_3 doc 110 Wilbur Place Bohemia NY 11716 www naii com e mail sales naii com Cage Code OVGU1 Page 3 of 22 1 1 Memory Map 00 Current Voltage select Ch 1 amp 2 W R 2A Ki Ch 1 W R 54 ADC Input from Test connector R 02 Command Source select Ch 1 amp 2 W R 2C Not used 56 ADC Input Enable W R 04 Drive Enable Ch 1 WIR 2E Kp Ch 1 W R 58 ADC Input Loop Select W R 06 Current command Ch 1 WIR 30 Ke Ch 2 WIR 5A Watchdog timer VME W R 08 Voltage command Ch 1 WIR 32 Kg Ch 2 WIR 5C Watchdog timer R8422 W R OA Current limit Ch 1 WIR 34 Ki Ch 2 W R 5E Time out period VME Watchdog timer W R OC Current measured Ch 1 R 36 Not used 60 Time out period RS422 W R OE Voltage measured Ch 1 R 38 Kp Ch 2 WIR 62 Soft reset W R 10 Drive Reset Ch 1 W R 3A Rising Fa
13. analog output thru the RS 422 SDLC interface Since the SDLC data frames contain 12 bit words the data is mapped into the Isb s of the VME register with sign bit preservation Reg Value Definition Description F800h Max Neg Value 2048 equates to 10V on the DAC 3 output channel O7FFh Max Pos Value 2047 equates to 9 995V on the DAC 3 output channel NOTES 1 The PWM module receive data frame does not always necessarily contain the test word channels to be valid 2 lf no test word is transmitted or if an error is detected in the SDLC data frame the last valid Test Word 1 value will be output on DAC 3 1 2 41 Address 52h Description Test Word Output 2 On DAC Channel 4 Type 2 s Complement Integer Range F800h 07FFh Read Write R Initialized Value 0000h This register provides VME read access to the RS 422 SDLC receive data for DAC test word 2 the second of two Digital to Analog test words used to provide general purpose analog output thru the RS 422 SDLC interface Since the SDLC data frames contain 12 bit words the data is mapped into the Isb s of the VME register with sign bit preservation Reg Value Definition Description F800h Max Neg Value 2048 equates to 10V on the DAC 4 output channel O7FFh Max Pos Value 2047 equates to 9 995V on the DAC 4 output channel NOTES 1 The PWM module receive data frame does not always necessarily contain the test word channels to be valid
14. the Drive enable register 1 2 10 Address 12h Description Drive Enable Channel 2 Type Boolean Range 0000h or FFFFh Read Write R W Initialized Value 0000h This register is used for PWM channel 2 drive enable control Definitions are as follows Reg Value Definition Description 0000h Drive Disabled _ Motor drive is disabled for PWM channel 2 FFFFh Drive Enabled _ Motor drive is enabled for PWM channel 2 NOTES 1 When drive is disabled also set voltage and current drive values to zero in registers 14h and 16h 1 2 11 Address 14h Description Current Command Channel 2 Type 2 s Complement Integer Range F800h 07FFh Read Write Special Initialized Value 0000h This register latches the PWM channel 2 current drive command when the module is operating in current mode as defined by VME register 00h The command is a 12 bit signed integer and is mapped into the LSB s of the VME 16 bit registers with sign bit extension Reg Value Definition Description F800h Max Neg Value Value of 2048 equates to 8 5 A 07FFh Max Pos Value Value of 2047 equates to 8 496 A NOTES 1 When VME register 02h is set to FFFFh this register is R W because it is the source of the command word 2 When VME register 02h is set to 0000h this register is R only because the source of command is the RS 422 SDLC interface 1 2 12 Address 16h Description Voltage Command Channel 2 Type 2 s Complement
15. E registers NOTES 1 This register affects the R W functionality of VME registers 06h 08h 14h 16h See the notes for those specific registers 1 2 3 Address 04h Description Drive Enable Channel 1 Type Boolean Range 0000h or FFFFh Read Write R W Initialized Value 0000h This register is used for PWM channel 1 drive enable control Definitions are as follows Reg Value Definition Description 0000h Drive Disabled Motor drive is disabled for PWM channel 1 FFFFh Drive Enabled Motor drive is enabled for PWM channel 1 NOTES 1 When drive is disabled also set voltage and current drive values to zero in registers 06h and 08h 1 2 4 Address 06h Description Current Command Channel 1 Type 2 s Complement Integer Range F800h 07FFh Read Write Special Initialized Value 0000h This register latches the PWM channel 1 current drive command when the module is operating in current mode as defined by VME register 00h The command is a 12 bit signed integer and is mapped into the LSB s of the VME 16 bit registers with sign bit extension Reg Value Definition Description F800h Max Neg Value Value of 2048 equates to 8 5A O7FFh Max Pos Value Value of 2047 equates to 8 496 A NOTES 1 When VME register 02h is set to FFFFh this register is R W as this register is the source of the command word 2 When VME register 02h is set to 0000h this register is R only as the sour
16. FFh or in the case of a register field which is a subset of the total register value the preferred value for NOT Oh shall be the maximum unsigned integer value for the field As an example and 8 bit NOT 00h shall be FFh Write Only registers shall not be used The value of any VME accessible register shall be readable via the VME bus 1 2 1 Address 00h Description PWM Module Current Mode Voltage Mode Select Type Boolean Range 0000h or FFFFh Read Write R W Initialized Value 0000h This register is used to select the motor drive topology used for both PWM channels either current mode or voltage mode Definitions are as follows Reg Value Definition Description 0000h Current Mode Current feedback loop wrapped around the motors FFFFh Voltage Mode Voltage drive only no current feedback 1 2 2 Address 02h Description Command Source Select Type Boolean Range 0000h or FFFFh Read Write R W Initialized Value 0000h This register is used for selecting the source of the motor current or voltage commands for both PWM channels Reg Value Definition Description North Atlantic Industries Inc Apex Signal Division 631 567 1100 631 567 1823 fax 4 12 2002 64_PW3_2A001_Rev_3 doc 110 Wilbur Place Bohemia NY 11716 www naii com e mail sales naii com Cage Code OVGU1 Page 4 of 22 0000h RS 422 SDLC Commands come from the RS 422 SDLC interface FFFFh VME Commands come from the VM
17. Integer Range F800h 07FFh Read Write Special Initialized Value 0000h This register latches the PWM channel 2 voltage drive command when the module is operating in voltage mode as defined by VME register 00h The command is a 12 bit signed integer and is mapped into the LSB s of the VME 16 bit registers with sign bit extension Reg Value Definition Description F800h Max Neg Value __ Value of 2048 North Atlantic Industries Inc Apex Signal Division 631 567 1100 631 567 1823 fax 4 12 2002 64_PW3_2A001_Rev_3 doc 110 Wilbur Place Bohemia NY 11716 www naii com e mail sales naii com Cage Code OVGU1 Page 7 of 22 O07FFh Max Pos Value __ Value of 2047 NOTES 1 When VME register 02h is set to FFFFh this register is R W because it is the source of the command word 2 When VME register 02h is set to 0000h this register is R only as the source of the command is the RS 422 SDLC interface 1 2 13 Address 18h Description Current Limit Channel 2 Type 2 s Complement Integer Range 0000h 7FFF Read Write R W Initialized Value 0000h This register controls the maximum allowable current sourced by PWM channel 2 Since the register value is defining the maximum allowable positive or negative current only positive 16 bit numbers are used Negative numbers will be latched as a value of zero Reg Value Definition Description 0000h M
18. ce of the command is the RS 422 SDLC interface 1 2 5 Address 08h Description Voltage Command Channel 1 Type 2 s Complement Integer Range F800h 07FFh Read Write Special Initialized Value 0000h This register latches the PWM channel 1 voltage drive command when the module is operating in voltage mode as defined by VME register 00h The command is a 12 bit signed integer and is mapped into the LSB s of the VME 16 bit registers with sign bit extension Reg Value Definition Description F800h Max Neg Value Value of 2048 O7FFh Max Pos Value _ Value of 2047 NOTES 1 When VME register 02h is set to FFFFh this register is R W because it is the source of the command word 2 When VME register 02h is set to 0000h this register is R only as the source of the command is the RS 422 SDLC interface North Atlantic Industries Inc Apex Signal Division 631 567 1100 631 567 1823 fax 4 12 2002 64_PW3_2A001_Rev_3 doc 110 Wilbur Place Bohemia NY 11716 www naii com e mail sales naii com Cage Code OVGU1 Page 5 of 22 1 2 6 Address 0Ah Description Current Limit Channel 1 Type 2 s Complement Integer Range 0000h 7FFFh Read Write R W Initialized Value 0000h This register controls the maximum allowable current sourced by PWM channel 1 Since the register value is defining the maximum allowable positive or negative current only positive 16 bit numbers are used Negat
19. e OVGU1 gt Data to Control 64 _PW3_2A001_Rev_3 doc Page 20 of 22 P2 Special for PWM card AirBorn Inc WG80PR7SY Pin Pin Pin Pin Pin Pin 1_ Sensor Bias 30 Chassis 58 Motor Low 2 8 Motor Low 1 37 65 V return 65 65 VDC 2 Temp Sensor 56 Chassis 6 Chassis 35 Motor Low 1 63 65 V return 13 65 VDC 28 Pulse train 4 Motor Hi 2 33 Chassis 61 Motor Low 1 11 65 V return 40 65 VDC 29 Ground 31 Motor Hi 2 59 Chassis 9 Chassis 38 65 V return 66 65 VDC 54 Not used 57 Motor Hi 2 7 Motor Hi 1 36 Chassis 64 65 V return 14 Chassis 55 Not used 5 Motor Low 2 34 Motor Hi 1 62 Chassis 12 65 VDC 42 Chassis 3 Chassis 32 Motor Low 2 60 Motor Hi 1 10 65 V return 39 65 VDC 67 Chassis PO Connector Pin Pin Pin Pin E1 RXD E5 CLKAI E9 Master Drive Enable 5 VDC E13 PWM command Ch 1 E2 RXD E6 CLKAI E10 Ground E14 PWM command Ch 2 E3 TXD E7 _ A D Input E11 Test word out from turret Ch 1 E15 Not used E4 TXD E8 _ Ground E12 Test word out from turret Ch 2 E16 Not used Test Connector AMP 104069 1 Pin Pin Pin Pin 1 Test word output from turret Ch 1 5 Not used 9 RXD 13 A D Input 2 Test word output from turret Ch 2 6 Not used 10 RXD 14 Ground 3 PWM com
20. g edge Rx falling edge 1 2 31 Address 3Ch Description Total RS 422 SDLC CRC Errors Observed Type Unsigned Integer Range 0000h FFFFh Read Write R Initialized Value 0000h This register is used to capture RS 422 SDLC Receive Data Frame CRC errors Whenever a CRC error is detected within a received data frame this register will increment its value unless VME register is 42h is commanding a clear reset state If the maximum count value is received the register will stop counting and retain the max count value until cleared i e it will not roll the count value back to 0000h and continue counting Reg Value Definition Description 0000h Min Count Value No RS 422 SDLC errors observed FFFFh Max Count Value At least 65535 RS 422 SDLC errors observed NOTES 1 When VME register 42h is commanding a clear this register will reset to value 0000h and will not increment its count until VME register 42h has stopped commanding a clear 1 2 32 Address 3Eh Description Total RS 422 SDLC Data Frames Received Type Unsigned Integer Range 0000h FFFFH Read Write R Initialized Value 0000h This register is used to capture the number of RS 422 SDLC Data Frames received valid or invalid If the maximum count value is received the register will stop counting and retain the max count value until cleared i e it will not roll the count value back to 0000h and continue counting Reg Value Defin
21. inimum Value Zero equates to zero drive current 7FFFh Maximum Value 32767 equates to 9 995A maximum drive current NOTES 1 Negative values will be treated as zero and the VME readback shall indicated a register value of zero 1 2 14 Address 1Ah Description Current Feedback Channel 2 Type 2 s Complement Integer Range F800h 07FFh Read Write R W Initialized Value 0000h This register contains the measured motor current value in PWM channel 2 Overflow or underflow values shall be clamped at the maximum positive or negative values This value is sent to the Ch2 test point DAC with a scaling 1A V Reg Value Definition Description F800h Max Neg Value 2048 equates to 10 0A O7FFh Max Pos Value 2047 equates to 9 995A NOTES 1 Current values in excess of 10 0A or 9 995A shall be clamped to 2048 or 2047 respectively within the VME register 1 2 15 Address 1Ch Description Voltage Feedback Channel 2 Type 2 s Complement Integer Range F800h 07FFh Read Write R W Initialized Value 0000h This register contains the actual motor voltage value including applied potential to overcome motor back emf when operating in current mode in PWM channel 2 and is scaled according to the maximum potential of 65V Overflow and underflow values shall be clamped at the maximum positive or negative values Reg Value Definition Description F800h Max Neg Value 2048 equates to 80 000V
22. ition Description 0000h Min Count Value No RS 422 SDLC data frames received FFFFh Max Count Value At least 65535 RS 422 SDLC data frames received NOTES 1 When VME register 40h is commanding a clear this register will reset to value 0000h and will not increment its count until VME register 40h has stopped commanding a clear 1 2 33 Address 40h Description Clear RS 422 SDLC Errors Observed North Atlantic Industries Inc Apex Signal Division 631 567 1100 631 567 1823 fax 4 12 2002 64_PW3_2A001_Rev_3 doc 110 Wilbur Place Bohemia NY 11716 www naii com e mail sales naii com Cage Code OVGU1 Page 12 of 22 Type Boolean Range 0000h or FFFFh Read Write R W Initialized Value 0000h This register is used to clear the RS 422 SDLC CRC error counter in VME register 3Eh While is register value is in the inactive no clear state the status register is allowed to increment its count value When the active clear state is commanded the status register shall clear its count value to 0000h and retain that count value without incrementing until this register value has returned to the inactive state Reg Value Definition Description 0000h Inactive No Clear VME register 3Ch enabled to count FFFFh Active Clear VME register 3Ch cleared 1 2 34 Address 42h Description Clear RS 422 SDLC Data Frames Received Type Boolean Range 0000h or FFFFh Read Write R W Initialized Value 0000h This
23. ity reversal of the command and should be handled as such 1 2 26 Address 32h Description Kg Channel 2 Global Gain for PWM Channel 2 Motor Loop PI Controller Type 2 s Complement Integer Range 8000h 7FFFh Read Write R W Initialized Value 0000h This register is used to define the PWM channel 2 motor loop controller global gain constant used when the module is configured as a current mode driver Reg Value Definition Description Scaling 8000h Max Neg Value _ 32768 10 7FFFh Max Pos Value 32767 10 1 2 27 Address 34h Description Ki Channel 2 Integral Gain for PWM Channel 2 Motor Loop PI Controller Type 2 s Complement Integer Range 8000h 7FFFh Read Write R W Initialized Value 0000h This register is used to define the PWM channel 2 integral gain constant used within the current mode motor loop PI controller Reg Value Definition Description Scaling 8000h Max Neg Value 32768 25000 Driven by sampling rate 7FFFh Max Pos Value 32767 25000 1 2 28 Address 36h NOT IMPLEMENTED Description Channel 2 Current Mode PI Controller Integral Term Limit Type Unsigned Integer Range 0000h FFFFh Read Write R W Initialized Value 0000h This register is used to limit the PWM channel 2 PI controller integral term contribution to the motor drive output The value is used to relate the percentage of the output signal to the PWM drive bridge that
24. ive numbers will be latched as a value of zero Reg Value Definition Description 0000h Minimum Value_ Zero equates to zero drive current 7FFFh Maximum Value 32767 equates to 9 995A maximum drive current NOTES 1 Negative values will be treated as zero and the VME readback shall indicated a register value of zero 1 2 7 Address 0Ch Description Current Feedback Channel 1 Type 2 s Complement Integer Range F800h 07FFh Read Write R W Initialized Value 0000h This register contains the measured motor current value in PWM channel 1 Overflow or underflow values shall be clamped at the maximum positive or negative values This value is sent to the Ch1 test point DAC with a scaling 1A V Reg Value Definition Description F800h Max Neg Value 2048 equates to 10 0A O7FFh Max Pos Value 2047 equates to 9 995A NOTES 1 Current values in excess of 10A or 9 995A shall be clamped to 2048 or 2047 respectively within the VME register 1 2 8 Address OEh Description Voltage Feedback Channel 1 Type 2 s Complement Integer Range F800h 07FFh Read Write R W Initialized Value 0000h This register contains the actual motor voltage value including applied potential to overcome motor back emf when operating in current mode in PWM channel 1 and is scaled according to the maximum potential of 79 96V Overflow and underflow values shall be clamped at the maximum posit
25. ive or negative values Reg Value Definition Description F800h Max Neg Value 2048 equates to 80 000V O7FFh Max Pos Value 2047 equates to 79 960V NOTES 1 Voltage values in excess of 80 000V or 79 960V shall be clamped to 2048 or 2047 respectively within the VME register 1 2 9 Address 10h Description Drive Reset Channel 1 Type Boolean North Atlantic Industries Inc Apex Signal Division 631 567 1100 631 567 1823 fax 4 12 2002 64_PW3_2A001_Rev_3 doc 110 Wilbur Place Bohemia NY 11716 www naii com e mail sales naii com Cage Code OVGU1 Page 6 of 22 Range 0000h or FFFFh Read Write R W Initialized Value 0000h This register is used to clear all fail conditions related to PWM channel 1 in the VME status register address 4Eh Reg Value Definition Description 0000h No Action Inactive State FFFFh Clear Fails Attempt to clear the PWM channel 1 fail status NOTES 1 This is implemented as a non latched register value i e upon writing a FFFFh do not need to write a 0000h to return the register to an inactive state 2 Drive Reset In the event of a shut down fault condition the drive will be disabled The specific fault condition is shown in the status register To restore normal operation write a 1 to the Drive Reset Register This attempts to clear any fault conditions If fault conditions are cleared by checking status bits the drive can be re enabled via
26. lling clock edge W R 64 Part number R 12 Drive Enable Ch 2 W R 3C Total CRC errors observed R 66 Serial number R 14 Current command Ch 2 WIR 3E Total CRC Data Frames received R 68 Date Code R 16 Voltage command Ch 2 W R 40 Clear CRC errors WIR 6A Rev Level PCB R 18 Current limit Ch 2 WIR 42 Clear CRC Data Frames W R 6C Rev Level Processor R 1A Current measured Ch 2 R 44 Status last Data Frame R 6E Rev Level FPGA R 1C Voltage measured Ch 2 R 46 Measured Supply voltage R 70 Temperature PWM 1 R 1E Drive Reset Ch 2 WIR 48 RS422 Test Bits W R 72 Temperature PWM 2 R 20 Interrupt Level WIR 4A RS422 Transmit Enable WIR 74 Temperature PS R 22 Interrupt Vector WIR 4C Battlefield override W R 76 PWM 1 duty cycle limit W R 24 Interrupt Enable WIR 4E Status R 78 PWM 2 duty cycle limit W R 26 Kc Ch 1 W R 50 DAC Test Word 1 R 7A Disable PS temp shut down W R 28 Kg Ch 1 WIR 52 DAC Test Word 2 R 1 2 Register Definitions All registers shall be defined as 16 bit in width If no value is specified for a particular register or field within a register the register or field shall be initialized to 0 s In the use of a boolean value for a two value register or register field valid values are 0000h or NOT 0000h i e any other value other than 0000h and the module shall respond correctly for any value of NOT 0000h The preferred value for NOT 0000h shall be FF
27. mand Ch 1 7 TXD 11 CLKAI 15 Not used 4 PWM command Ch 2 8 TXD 12 CLKAI PART NUMBER DESCRIPTION 64PW3 XXXX Contact factory for applicable part number North Atlantic Industries Inc Apex Signal Division 631 567 1100 631 567 1823 fax 4 12 2002 64_PW3_2A001_Rev_3 doc 110 Wilbur Place Bohemia NY 11716 www naii com e mail sales naii com Cage Code OVGU1 Page 21 of 22 Revision Page Revision Description of Change Engineer Date P Rer maneas OOO y O m o Added memory map and detailed descriptions H O 07 26 06 New Address 2D 05 0907 North Atlantic Industries Inc Apex Signal Division 631 567 1100 631 567 1823 fax 4 12 2002 64_PW3_2A001_Rev_3 doc 110 Wilbur Place Bohemia NY 11716 www naii com e mail sales naii com Cage Code OVGU1 Page 22 of 22
28. nc Apex Signal Division 110 Wilbur Place Bohemia NY 11716 631 567 1100 631 567 1823 fax www naii com e mail sales naii com 4 12 2002 64 _PW3_2A001_Rev_3 doc Cage Code OVGU1 Page 14 of 22 D11 Not used Not used D12 Not used Not used D13 Drive Shut Down PWM 1 O normal 1 Shutdown clear with reset command D14 Drive Shut Down PWM 2 O0 normal 1 Shutdown clear with reset command D15 Master Drive Enable 0 enabled sw closed 1 disabled sw open NOTES Over voltage Under voltage is defined as lt 10 gt lt 10 gt percent of nominal power supply voltage of 65V PWM over temp is defined as a sensed temperature in excess of 110 deg C at heat sink PS over temp is defined as a sensed temperature in excess of 100 deg C at base plate Master Drive enable is an external mechanical SPST switch closure used to indicate that it is acceptable to enable motor drive Refer to VME register 5Ch information for description of RS 422 SDLC access timeout Refer to VME register 5Ah information for description of VME access timeout APUN oo 1 2 40 Address 50h Description Test Word Output 1 On DAC Channel 3 Type 2 s Complement Integer Range F800h 07FFh Read Write R Initialized Value 0000h This register provides VME read access to the RS 422 SDLC receive data for DAC test word 1 the first of two Digital to Analog test words used to provide general purpose
29. on and cannot be overridden Shut down conditions RS 422 time out PWM card time out Drive fail Ch 1 bias loss etc Drive fail Ch 2 bias loss etc Supply over voltage condition 71 5 VDC Supply under voltage condition 58 5 VDC Over temperature condition 110 C at heat sink North Atlantic Industries Inc Apex Signal Division 631 567 1100 631 567 1823 fax 4 12 2002 64_PW3_2A001_Rev_3 110 Wilbur Place Bohemia NY 11716 www naii com e mail sales naii com Cage Code OVGU1 Page 1 of 22 An H bridge short will trigger an immediate shut down Motor Output Ch 1 shorted to ground Motor Output Ch 1 shorted to VDC Motor Output Ch 2 shorted to ground Motor Output Ch 2 shorted to VDC A channel that is turned OFF by any Shut down condition except for Drive fail and H bridge short can be returned to active status when Shut down condition becomes normal by writing 1 to appropriate Drive Reset register Control of ext Power A pulse train signal between the Power Supply Module and the Motor Drive PWM Module is used for ON OFF and failure monitoring SPECIFICATIONS RS 422 Full Duplex Serial Data link Optional Definition iS non inverted is inverted and internally terminated with 1200 One side is pulled up 1000 Q to 5 VDC and the other is pulled down 1000 Q to ground When Logic is being transmitted the High output will be 5 V and the Low output will be zero Clock rate 2 Mhz SLDC mode User
30. owed except for Watchdog timer 5Eh or 60h however the status of any protection logic shall be updated within the VME register 4Eh to indicate a failure exists Reg Value Definition Description 0000h Inactive Normal operation protection circuitry enabled FFFFh Active Failsafe lockout protection circuitry disabled 1 2 39 Address 4Eh Description PWM Module Status Register Type Discrete Range See Below for Bit Definitions Read Write R Initialized Value 0000h This register is used to indicate hardware status for the PWM and PS modules MSB Status Register Bit Field Identifiers LSB D15 D14 D14 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO Reg Field Identifier Status Definition DO Power Supply Over voltage O normal 1 fail D1 Power Supply Under voltage O normal 1 fail D2 PWM 1 Module Over temp O normal 1 PWM module over temp D3 PWM 2 Module Over temp O normal 1 PWM module over temp D4 PS Module Over temp O0 normal 1 PS module over temp D5 Drive Fault PWM 1 O normal 1 fault D6 Drive Fault PWM 2 O normal 1 fault D7 RS 422 SDLC access timeout O normal 1 watchdog timeout VME register 5Ah D8 VME access timeout O normal 1 watchdog timeout VME register 5Ch D9 Not implemented O normal 1 PWM 1 over current D10 Not implemented O normal 1 PWM 2 over current North Atlantic Industries I
31. r PWM Channel 1 Motor Loop PI Controller Type 2 s Complement Integer Range 8000h 7FFFh Read Write R W Initialized Value 0000h This register is used to define the PWM channel 1 motor loop controller global gain constant used when the module is configured as a current mode driver Reg Value Definition Description Scaling 8000h Max Neg Value 32768 10 7FFFh Max Pos Value 32767 10 1 2 22 Address 2Ah Description Ki Channel 1 Integral Gain for PWM Channel 1 Motor Loop PI Controller Type 2 s Complement Integer Range 8000h 7FFFh Read Write R W Initialized Value 0000h This register is used to define the PWM channel 1 integral gain constant used within the current mode motor loop PI controller Reg Value Definition Description Scaling 8000h Max Neg Value 32768 25000 Driven by sample rate 7FFFh Max Pos Value 32767 25000 1 2 23 Address 2Ch NOT IMPLEMENTED Description Channel 1 Current Mode PI Controller Integral Term Limit Type Unsigned Integer Range 0000h FFFFh Read Write R W Initialized Value 0000h This register is used to limit the PWM channel 1 PI controller integral term contribution to the motor drive output The value is used to relate the percentage of the output signal to the PWM drive bridge that the integral term of the PI controller can grow to This register in no way shall be used to limit the proportional term of the
32. r Resolver programmable Input voltage 2 28 VL Autoranging Input Impedance 40 kQ min Reference Reference Input 2 28 Vrms Autoranging Reference Zin 100 KQ min Frequency 400 Hz to 10 kHz Phase shift The synthetic reference circuit automatically compensates for phase shifts between the transducer excitation and output up to 60 Velocity Digital 16 bit resolution Linearity 0 1 Scalable to 0 1 sec resolution BW is same as Signal BW Wrap around Self Test The three different powerful test methods are available North Atlantic Industries Inc Apex Signal Division 631 567 1100 631 567 1823 fax 4 12 2002 64_PW3_2A001_Rev_3 doc 110 Wilbur Place Bohemia NY 11716 www naii com e mail sales naii com Cage Code OVGU1 Page 2 of 22 SPECIFICATIONS General Watchdog timer VME With selectable time out period When code is not received drive power is shut down Temperature operating 40 C to 85 C card edge temperature Storage temperature 55 C to 95 C Stress screening All boards are temperature cycled from 40 C to 85 C for 24 hours The baseplate temperature will be controlled to 40 C to 85 C Altitude 60 000 feet VME Data transfer Data transfers within 200 ns MTBF A reliability prediction will be performed utilizing Mil Hdbk 217 revision F notice 2 in an airborne rotary wing environment at a constant temperature of 55 C Size 6U 9 2 height 8HP 0 8 width Weight TBD oz 1
33. rame is not received within the interval defined below the PWM module shall disable both PWM output channels even if the battlefield override command is enabled per VME register 4Ch The watchdog timeout status will also be updated within VME register 4Eh Reg Value Definition Description 0000h Min Value Zero equates to 0 milliseconds FFFFh Max Value 65535 equates to 250 milliseconds 1 2 49 Address 62h Description Module Soft Reset Type Boolean Range 0 or 1 Read Write W Initialized Value 0 North Atlantic Industries Inc Apex Signal Division 631 567 1100 631 567 1823 fax 4 12 2002 64_PW3_2A001_Rev_3 doc 110 Wilbur Place Bohemia NY 11716 www naii com e mail sales naii com Cage Code OVGU1 Page 17 of 22 This register is used to command a power on reset for the PWM and PS modules Upon receiving a valid soft reset command sequence both modules shall re initialize to the power on state as quickly as possible Soft Reset is Level sensitive Writing a 1 initiates and holds software in reset state then writing 0 initiates reboot depending upon configuration takes up to 3 seconds This function is equivalent to a power on reset where all parameters are reset to their default condition 1 2 50 Address 64h Description Module Part Number Type Integer Read Write R Initialized Value N A Part Number 15025 1 2 51 Address 66h Description Module Serial Number Type Integer Read W
34. register is used to clear the RS 422 SDLC CRC data frame counter in VME register 40h While the register value is in the inactive no clear state the status register is allowed to increment its count value When the active clear state is commanded the status register shall clear its count value to 0000h and retain that count value without incrementing until this register value has returned to the inactive state Reg Value Definition Description 0000h Inactive No Clear VME register 3Eh enabled to count FFFFh Active Clear VME register 3Eh cleared 1 2 35 Address 44h Description Error Status of Last RS 422 SDLC Data Frame Type Boolean Range 0000h or FFFFh Read Write R W Initialized Value 0000h This register is used to indicate the status of the last RS 422 SDLC data frame received If a data frame is interrupted for any reason an error indication shall be indicated within this register This register shall retain the status of the last data frame received until another data frame transmission has completed and new status is available to update this register value Reg Value Definition Description 0000h Last Frame Valid The last RS 422 SDLC data frame received had no errors FFFFh Last Frame Error The last RS 422 SDLC data frame received had an error 1 2 36 Address 46h Description Measured PWM Positive Supply Voltage Type 2 s Complement Integer Range 8000 7FFFh Read Write
35. rite R Initialized Value N A 1 2 52 Address 68h Description Module Date Code Type Integer Range YYWW Ex 0224 indicates week 24 of year 2002 Read Write R Initialized Value N A 1 2 53 Address 6Ah Description Revision Level of PCB raw board Type Integer Read Write R Initialized Value N A 1 2 54 Address 6Ch Description Revision Level of Processor Type Integer Read Write R Initialized Value N A 1 2 55 Address 6Eh Description Revision Level of FPGA Type Integer Read Write R Initialized Value N A 1 2 56 Address 70h Description Temperature PW 1 Type Signed Integer Read Write R Initialized Value N A Range 32768 to 32767 Temperature in degrees C 1 2 57 Address 72h Description Temperature PW 2 Type Signed Integer Read Write R Initialized Value N A North Atlantic Industries Inc Apex Signal Division 631 567 1100 631 567 1823 fax 4 12 2002 64_PW3_2A001_Rev_3 doc 110 Wilbur Place Bohemia NY 11716 www naii com e mail sales naii com Cage Code OVGU1 Page 18 of 22 Range 32768 to 32767 Temperature in degrees C 1 2 58 Address 74h Description Temperature Power Supply Type Signed Integer Read Write R Initialized Value N A Range 32768 to 32767 Temperature in degrees C 1 2 59 Address 76h Description Pulse width Duty Cycle Limit PW 1 Type Integer Read Write R W Initialized Value 950 Range 0 950 Max duty cycle 1 2 60 Address 78h
36. the integral term of the PI controller can grow to This register in no way shall be used to limit the proportional term of the PI controller Reg Value Definition Description 0000h Minimum Value 0 of output signal contribution FFFFh Maximum Value 100 of output signal contribution 1 2 29 Address 38h Description Kp Channel 2 Proportional Gain for PWM Channel 2 Motor Loop PI Controller Type 2 s Complement Integer Range 8000h 7FFFh Read Write R W North Atlantic Industries Inc Apex Signal Division 110 Wilbur Place Bohemia NY 11716 631 567 1100 631 567 1823 fax www naii com e mail sales naii com 4 12 2002 Cage Code OVGU1 64_PW3_2A001_Rev_3 doc Page 11 of 22 Initialized Value 0000h This register is used to define the PWM channel 2 proportional gain constant used within the current mode motor loop PI controller Reg Value Definition Description Scaling 8000h Max Neg Value 32768 2 7FFFh Max Pos Value 32767 2 1 2 30 Address 3Ah Description RS 422 SDLC Rising Falling Clock Edge Select Type Boolean Range 0000h or FFFFh Read Write R W Initialized Value 0000h This register is used to select the clock edge used by the RS 422 SDLC serial port Transmit and receive functions will use opposite edges as defined in the following table Reg Value Definition Description 0000h Tx falling edge Rx rising edge FFFFh Tx risin
37. wer is opto isolated from VME power Major diagnostics are incorporated that offer substantial improvements to system reliability because user is immediately alerted to malfunctions The processor monitors every Safety characteristic and any failure triggers an Interrupt and shut down if applicable with the results available in status registers The testing is totally transparent to the user requires no external programming has no effect on the standard operation of this card and can be enabled or disabled via the bus To simplify logistics Part number S N Date code amp Rev are located in non volatile memory locations SPECIFICATIONS PWM amplifiers Apply after a 5 second warm up period Power 65 VDC 5 Motor rails will be within 35 volts of the chassis Resolution 12 bits Monotonic over temperature range Output per channel 5 0 A max continuous 8 5 A peak based on a card edge temperature of 85C Short circuit protected Thermal protection will determine duration of peak current drive Peak output voltage Supply voltage 2 4 V max at 8 5 A peak Frequency PWM 50 Khz Band width 800 Hz open loop minimum in current mode with user programmable loop controller variables Quiescent power TBD with no motors connected Efficiency At 65 VDC and 5 0 A 96 Heat to be dissipated 10 watts per amplifier Master Drive Enable A discrete input N O opto isolated from the motor supply must receive a 5 VDC level to permit operati
38. will generate the clock Clock edge Rising or Falling clock edge can be specified via VME bus Error status SDLC CRC checking is supported per IBM Specification GA27 3093 04 CRC error status is available thru the VME interface First status is a 16 bit word containing the total number of CRC errors observed on the RX line pair Second status is a 16 bit word containing the total number of data frames received thru the RX line pair The third is a status bit indicating the status of the last data frame received 0 no CRC error 1 CRC error on last frame The first and second status words will stop counting when a max count of FFFF is reached Clearing and restarting is thru the VME interface Watchdog timer RS485 With selectable time out period When code is not received drive power is shut down SPECIFICATIONS A D amp D A Number of A D channels TBD Resolution 12 bit no missing codes A D Input voltage 10 VDC A D Input impedance 10 K Ohms minimum A D Conversion Rate 100 kSPS minimum Number of D A channels TBD Resolution 12 bit guaranteed monotonic DA Output voltage 10 VDC D A Load 2 K Ohms minimum D A Conversion rate 100 kHz minimum Resolver to digital Resolution 16 bits Accuracy 1 arc minute Tracking Rate 150 RPS max is standard with normal band width Bandwidth Standard is 40 Hz at 400 Hz and 100 Hz above 1 kHz Can be programmed in field From 5 Hz to 1200 Hz per channel Input format Synchro o
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