RDIM16 ACPM750E User Manual
Contents
1. EE eim mE M ES els MEMORY PAGE 0 FLASH origin 0 length 0x4000 on chip Flash PM F origin 0x8000 length 0x3500 ext PM free BOPM origin Oxfe00 length 0x100 BO PM free PAGE 1 REGS origin 0 length 0x60 memory mapped regs INTVEC origin 0x60 length 0x20 DM B2 with int vect BMCK1 origin 0200h length 0x80 DARAM M VARS origin 0x280 length 0x100 monitor used DM SPS origin 0x380 length 0x80 monitor stack AP VAR origin 0xB500 length 0x1000 appl vars in ext DM LOG origin 0xC500 1ength 0x2000 ext DM for logging REF origin OxE500 length 0x200 ext DM free SPS1 origin OxE700 length 0x300 ext DM free SECTIONS text gt PM F PAGE 0 cinit gt PM F PAGE 0 switch 0 gt PM F PAGE 0 const gt PM F PAGE 0 data gt PM PAGE 0 sysmem gt M_VARS PAGE 1 bss gt AP_VAR PAGE 1 mvar gt AP_VAR PAGE 1 MCK 1 gt BMCK1 PAGE 1 LOGGER gt LOG PAGE 1 REFER gt REF PAGE 1 stack gt SPS1 PAGE 1 Technosoft 2001 32 RDIM16 v4 0 User Manual Appendix C Test Program of the RDIM16 module C 5 TSRDIMO7 asm source file for TMS320F2407 based DSP modules File Name TsRDIMO7 asm Project MSK2407 Originator I Stefan Description ASM file for RDIM demo Copyright 9 2000 Technosoft System Control Register SCSR12. 1 START rts2xx lib origin origin o tsrdim07 out m tsrdim07 map MEMORY ALLOCATION MEMORY PAGE 0 FLASH PM F BOPM F PAGE 1 REGS INTVEC BMCR1 M VARS SPS AP VAR LOG REF SPS1 SECTIONS Technosoft 2001 cinit Switch const data Sysmem bss mvar MCK 1 LOGGER REFER stack were origin origin origin origin origin origin origin Define Start Point RUN TIME SUPPORT STACK MODEL 0 0x8000 Oxfe00 lengt 0 Oo ct ct 0 4000 on chip Flash 0x3500 external PM free 0x100 BO PM free 0 length 0x60 memory mapped regs 0x60 length 0x20 DM B2 with int vectors 0200h length 0x80 DARAM 0x280 length 0x100 DM used by monitor 0x380 length 0x80 stack assigned by 0 500 lengt 5 origin 0xC500 length origin origin monitor 0x1000 appl vars in external DM 0x2000 external DM for logging results OxE500 length 0x200 external DM free OxE700 length 0x300 external DM free gt gt PM gt PM gt PM gt PM gt VARS gt AP VAR PAGE AP VAR PAGE BMCK1 LOG R
3. RDIM16 TECHNOSOFT CC Resolver to digital DSP Motion Solutions Interface Module Technosoft 2001 TECHNOSOFT DSP Motion Solutions RDIM16 User Manual P091 080 UM 1001 October 2001 Technosoft S A Rue des Courtils 8A CH 2035 Corcelles Switzerland Tel 41 32 732 5500 FAX 41 32 732 5504 e mail contact Q technosoft ch http www technosoft ch RDIM16 v4 0 User Manual Contents Chapter 1 Introduction 2 Hardware overview 3 Installing and customizing RDIM16 4 Verifying RDIM16 Appendices A RDIM16 connectors and jumpers B RDIM16 technical specifications C Test program of the RDIM16 module D RDIM16 compatible DSP modules E RDIM16 mechanical drawings Technosoft 2001 1 RDIM16 v4 0 User Manual This page is empty Technosoft 2001 2 RDIM16 v4 0 User Manual Chapter 1 Introduction 1 Introduction The RDIM16 v4 0 is a resolver to digital interface module It provides the resolver excitation and translates the returned angular analogue information into a digital form The RDIM16 v4 0 is a plug in module which can be connected via the standard MC BUS motion control bus with all the Technosoft products using the 5V MC BUS or 3 3VMC BUS Hence the RDIM16 module can be used together with the MCK24xx Motion Control Kit the IMMC24x Intelligent Modular Motion Controllers the MSK24xx Motion Starter Kit MCSK module etc thus offering an effective solution for motion control applications u
4. SACL DMA endm SETBIT macro DMA MASK Set bit Macro LACL DMA OR SACL DMA endm global START global _RDIM Value _RDIM Value usect 1 1 text START LDP HDP PF1 LACC SCSR1 OR 20h Technosoft 2001 34 RDIM16 v4 0 User Manual Appendix C Test Program of the RDIM16 module SACL SCSR1 enable SPI clk reset SPI LDP DP_PF1 RESBIT SPICCR RSTB7 software reset SPI init SPI LDP DP PF2 Output Control Register Data Page LACL MCRB OR SPISEL pin functions SACL Output Control Register LDP PF1 SPI Control Registers Data Page SPLK HSPI CCR SPICCR SPI Comunication Control Register SPI SPICTL SPI Operation Control Register SPLK HSPIBAUD SPIBRR SPI Baud Register Wake up SPI from reset SETBIT SPICCR SETB7 loop call monitor CALL MON2407 CALL ReadRDIM B loop ReadRDIM RSXM reset sign extension LDP 0E0Oh load data page SPLK 0h SPIDAT SPI_DAT FFFFh WaitToReadValue LDP DP_PF1 read the word recceived via SPI BIT SPISTS BIT6 test SPI INT FLAG BCND WaitToReadValue NTC if FLAG NEQ 1 loop back on output LACC SPIRXBUF 12 else load ACCL with received word and thus reset SPI flag LDP RDIM Value SACH _RDIM Value Save the read value RET Technosoft 2001 35 RDIM16 v4 0 User Manual Appendix C Test Program of the RDIM16 module CG TSRDIM43 cmd linker command file
5. B0 PM free PAGE 1 REGS origin 0 length 0x60 mem mapped regs INTVEC origin 0x60 length 0x20 DMB2 with int vect BMCK1 origin 0200h length 0x80 DARAM M VARS origin 0x280 1ength 0 100 monitor used DM SPS origin 0x380 length 0x80 monitor stack AP VAR origin 0 500 length 0x1000 appl vars LOG origin 0xC500 length 0x2000 logger DM REF origin OxE500 length 0x200 free ext DM SPS1 origin 0 700 length 0x300 free ext DM SECTIONS text 2 gt PM 0 gt PM F PAGE 0 switch 0 PM F PAGE 0 const 0 gt PM F PAGE 0 data gt PM PAGE 0 sysmem gt M VARS PAGE 1 bss gt AP_VAR PAGE 1 mvar gt AP_VAR PAGE 1 MCK_1 Tos gt BMCK1 PAGE 1 LOGGER gt LOG PAGE 1 REFER gt REF PAGE 1 stack gt SPS1 PAGE 1 Technosoft 2001 28 RDIM16 v4 0 User Manual Appendix C Test Program of the RDIM16 module TSRDIM43 asm source file for TMS320F243 based DSP modules File Name TSRDIM43 asm Project MCK243 Originator I Stefan Description ASM file for RDIM demo Copyright 9 1999 Technosoft SPI CNTL1 Set 07040h SPI Config Control Register 1 SPI CNTL2 set 07041h SPI Operation Control Register 2 SPI STATUS Set 07042h SPI Status Register SPI BAUD 07044h SPI Baud Rate Control Register SPI RX BUF 07047h SPI Serial receive buffer reg
6. Connectors an Jumpers Pin MC BUS Signal RDIMi6Signal Pin WC BUS Signal XINTI ou Technosoft 2001 18 RDIM16 v4 0 User Manual Appendix A RDIM16 Connectors an Jumpers J3 MC BUS 3 3V Connector signals for F2407 boards Pin Signal RDIMT6 Signal Fins MCBUSSigna _ RDINI6 Signal ett 7 a 6 PwwiPBi ne s Pwwe ioPBS ne T1PWM T1CMP n c 10 T2PWM T2CMP IOPB4 IOPB5 TDIRA IOPEG TCLKINA IOPB7 13 CAP1 QEP1 encoder A Dig O 14 CAP2 QEP2 encoder B Dig O IOPA3 IOPA4 CAP3 IOPA5 encoder Z Dig O PDPINTA 17 XINT2 ADCSOC n c 18 amp BIO IOPC1 n c OPDO J5 RDIM16 Output Connector Pint soa Description 12181 22 mweeneEmenSignaReum 2 sup Ce a RewreexietonSgnd J6 RDIM16 Input Connector Pin amp Signa Description wj em n COSLO Differential Input 2 COS Differential Input 3 SHIELD Cable Shield he Aes d SIN Differential Input 5 s SINLO Differential Input Technosoft 2001 19 RDIM16 v4 0 User Manual Appendix A RDIM16 Connectors an Jumpers A 2 Jumpers JP1 Jumper located on component side use 0 Ohm link soldering Configuration emulated Z is 90 wide and starts on positive transition of A signal when angle is increasing factory default emulated Z is 180 wide and s
7. SPI DAT 07049h SPI Serial Data Register OCRB 07092h I O Mux Control Register DP PF1 Set OEOh Data Page for Peripheral File 1 7000h 7080h DP_PF2 Set 0 1 Data Page for Peripheral File 2 7080h 7100h MON243 set 0e3h monitor s command interpreter SPICCR set 004Fh SPI Configuration Control Register Clk polarity high 16 bits character length SPICTL set 0006h SPI Operation Control Register disable receive error interrupt disable SPI interrupt enable transmitter normal clocking SPI master SPISEL set 003Ch configure the shared I O pins as SPI pins SPISIMO OCRB 2 SPISOMI OCRB 3 SPICLK OCRB 4 and SPISTE OCRB 5 SPISIMO output pin SPISOMI input pin SPIBAUD 0009h SPI Baud Register 1MHz with CLKOUT 20 MHz Technosoft 2001 29 RDIM16 v4 0 User Manual Appendix C Test Program of the RDIM16 module RESBIT macro DMA MASK LACL AND SACL endm SETBIT macro DMA MASK LACL OR SACL endm Global Variables global START global _RDIM Value usect MCK 1 1 MAIN CODE starts here text START reset SPI LDP PF1 RESBIT SPI CNTL1 RSTB7 init SPI LDP DP_PF2 LACL OCRB OR SPISEL SACL OCRB LDP PF1 SPLK SPICCR SPI CNTL1 SPLK SPICTL SPI CNTL2 SPLK SPIBAUD SPI BAUD wake up SPI from reset SETBIT SPI CNTL1 SETB7 1 loop call monitor CALL MON243 CALL ReadRDIM loop ReadRDIM Technosof
8. set 7018h System Control 8 Status register 1 Serial Peripheral Interface SPI Registers SPICCR Set 07040h SPI Config Control Register SPICTL Set 07041h SPI Operation Control Register SPISTS Set 07042h SPI Status Register SPIBRR Set 07044h SPI Baud Rate Control Register SPIRXEMU Set 07046h SPI Emulation Buffer Register SPIRXBUF Set 07047h SPI Serial receive buffer reg SPITXBUF Set 07048h SPI Serial transmit buffer reg SPIDAT eet 07049h SPI Serial Data Register SPIPRI Set 0704Fh SPI Priority Control Register MCRB Set 07092h I O Mux Control Register B DP PF1 Set OEOh Data Page for Peripheral File 1 7000h 7080h DP PF2 Set 0 Data Page for Peripheral File 2 7080h 7100h MON2407 set 019Ch monitor s command interpreter Technosoft 2001 33 RDIM16 v4 0 User Manual Appendix C Test Program of the RDIM16 module SPI CCR 004Fh SPI Configuration Control Register Clk polarity high 16 bits character length SPI CTL 0006h SPI Operation Control Register disable receive error interrupt disable SPI interrupt enable transmitter normal clocking SPI master SPISEL Set 003Ch configure the shared I O pins as SPIpins SPISIMO MCRB 2 SPISOMI MCRB 3 SPICLK MCRB 4 and SPISTE MCRB 5 SPISIMO output pin SPISOMI input pin SPIBAUD 29 SPI Baud Register 1MHz with CLKOUT 30 MHz RESBIT macro DMA MASK Clear bit Macro LACL DMA AND
9. 2001 22 RDIM16 v4 0 User Manual Appendix B RDIM16 Technical Specifications This page is empty Technosoft 2001 23 RDIM16 v4 0 User Manual Appendix C Test Program of the RDIM16 module Appendix C Test program of the RDIM16 module The following programs may be used to perform a test of the RDIM16 module The programs initialize the SPI interface of the 5320 24 DSP controller and read the resolver output via the SPI interface The read value is stored into a data memory location and may be used consequently The program continuously reads this value and communicates via the RS 232 interface SCI through the communication monitor with the PC computer Thus the user may visualize on line the value read from the resolver The listings of two types of files are presented asm and cmd 1 the TSRDIM40 asm file for the TMS320F240 based DSP boards containing the assembler source file of this example C2 the TSRDIM40 cmd file for the TMS320F240 based DSP boards containing the command file for the linker program C3 the TSRDIM43 asm file for the TMS320F243 based DSP boards containing the assembler source file of this example 4 the TSRDIM43 cmd file for the TMS320F243 based DSP boards containing the command file for the linker program 5 the TSRDIMO7 asm file for the TMS320F2407 based DSP boards containing the assembler source file of this example the TSRDI
10. Baud Register 500kBaud with 10 MHz SYSCLK RSTB7 OFF7Fh Bit Mask for 7 RSTB6 OFFBFh Bit Mask for 6 RESBIT macro DMA MASK Clear bit Macro LACL DMA AND HMASK SACL DMA Technosoft 2001 25 RDIM16 v4 0 User Manual Appendix C Test Program of the RDIM16 module SETBIT macro DMA MASK Set bit Macro LACL DMA OR HMASR SACL DMA endm global read char global pos global START rdim pos usect 1 1 read char usect MCK 1 1 aux usect MCK 1 1 global InitSPI global ReadSPIbuf global ReadRDIM global Delay text START CALL _InitSPI Loop CALL _ReadRDIM CALL MON240 B Loop LDP 0E0Oh SPICCR SPI CNTL1 SPI Configuration Control Register SPICTL SPI CNTL2 SPI Operation Control Register SPLK SPIBAUD SPI BAUD SPI Baud Register SPLK SPIPC1 SPI PORT CL SPI Port Control Register 1 SPLK SPIPC2 SPI PORT C2 SPI Port Control Register 2 RESBIT SPI CNTL1 RSTB7 wake up SPI from reset RET Technosoft 2001 26 RDIM16 v4 0 User Manual Appendix C Test Program of the RDIM16 module BIT SPI STATUS BIT6 test SPI INT FLAG BCND Wait NTC wait to finish transmitting receiving data SPI BUF load ACCL with received character AND HOOFFh mask unsignificant bits in ACC LDP read char SACL read char Store SPI received character in memory RET ReadRDIM LDP 0E0h RESBIT SPI_PORT_C1 RSTB6 transmit 0
11. EF gt SPS1 PAGE 36 Ooooo eHO PAGE 1 PAGE 1 PAGE 1 RDIM16 v4 0 User Manual Appendix C Test Program of the RDIM16 module This page is empty Technosoft 2001 37 RDIM16 v4 0 User Manual Appendix D RDIM16 compatible DSP Modules Appendix D RDIM16 compatible DSP Modules The following of the Technosoft DSP boards based on the TMS320F24x family are compatible with the RDIM16v40 module e 240 Motion Control Kit based on the TMS320F240 trough J1 J2 MSK243 Motion Starter Kit based on the TMS320F243 trough J1 J2 240 Intelligent Modular Motion Controller based on the TMS320F240 trough J1 J2 e 243 Intelligent Modular Motion Controller based on the TMS320F243 trough J1 J2 MotionChip Starter Kit based on Technosoft MotionChip DSP trough J1 J2 MSK2407 Motion Starter Kit based on the TMS320LF2407 trough J3 Technosoft 2001 38 RDIM16 v4 0 User Manual Appendix D RDIM16 compatible DSP Modules This page is empty Technosoft 2001 39 RDIM16 v4 0 User Manual Appendix E RDIM16 mechanical drawings Appendix E RDIM16 mechanical drawings 0 15 3 81mm 0 30 7 62mm 2 50 63 50mm Off sw1 87654321 On 4 10 104 14mm lt 0 10 2 54mm LN7L71BIN 3 80 96 52mm e Hi 6x 00 13 SN74CBTD3384 50 III TEC
12. HNOSOF T Copyright 2000 RDIM16v4 0 This dravving is not to scale Technosoft 2001 40 RDIM16 v4 0 User Manual Appendix E RDIM16 mechanical drawings This page is empty Technosoft 2001 41 RDIM16 v4 0 User Manual Y Kane Computing Ltd 1 Verdin Street Northwich Cheshire CW9 7BX Tel 444 0 1606 351006 Email sales kanecomputing com Web www kanecomputing co uk
13. MO7 cmd file for the TMS320F2407 based DSP boards containing the command file for the linker program Technosoft 2001 24 RDIM16 v4 0 User Manual Appendix C Test Program of the RDIM16 module C 1 TSRDIM40 asm source file for TMS320F240 based DSP modules File Name rdim asm Project MCK240 Originator I Stefan Description ASM file for RDIM demo Copyright 9 1998 Technosoft Serial Peripheral Interface SPI Registers SPI CNTL1 set 0704 oh SPI Config Control Register 1 SPI CNTL2 set 07041h SPI Operation Control Register 2 SPI STATUS 07042h SPI Status Register SPI BAUD 07044h SPI Baud Rate Control Register SPI BUF set 07047h SPI Serial Input buffer reg SPI DAT 07049h SPI Serial Data Register SPI PORT Set 0704Dh SPI Port Control Register 1 SPI PORT C2 0704Eh SPI Port control Register 2 MON240 Se SPICCR Se 0109h monitor s command interpreter 8007h SPI Configuration Control Register Clk polarity low 8 bits character length SPI software reset SPICTL set 0006h SPI Operation Control Register disable receive error interrupt disable SPI interr enable transmitter normal clocking SPI master SPIPC1 set 0052h SPI Port Control Register 1 SPISTE configured as output pin SPICLK pin contains SPI clock SPIPC2 set 0022h SPI Port Control Register 2 SPISIMO and SPISOMI contains SPI data SPIBAUD 0013h SPI
14. RDIM16v4 0 provides a 6 65 kHz sinusoidal excitation signal with constant amplitude The excitation can be selected between 0 5 and 7 5Vams The 6 65 kHz excitation frequency is fixed and can not be adjusted The excitation current can be up to 40mA The resolver feedback voltage should be in the range 0 5 to 8 3 2 1 Computing the equivalent resolver input voltage at 6 65 kHz If your resolver input current is provided at 6 65 kHz go to next paragraph If the frequency differs you must estimate which is the equivalent input voltage at 6 65 kHz Uwe you need in order to supply the resolver with the same current IN This can be computed based on the resolver resistance Rr and inductance Lg If the inductance is not given it can be computed with formula Un RR Ty I2 Where liy input current is in Amps Uy input voltage in Volts fiy input frequency is in Hz RR resolver resistance is in ohms and the resolver inductance Lg results in Henry L Now you can estimate the equivalent input voltage for 6 65 kHz with formula 2 2 2 Un aR tL RDM Une Ka 12 OA Where ON 2 m ECH Un input voltage in Volts fiy input frequency is in Hz Rr resolver resistance is in ohms La resolver inductance is in Henry and the equivalent input voltage Uwe results in Volts Technosoft 2001 10 RDIM16 v4 0 User Manual Chapter 3 Installing and customizing RDIM16 3 2 2 Adjusting RDIM16 output stage amplificat
15. S320F243 MotionChip first upper Using board RDIM16v4 0 MSK2407 J3 MSK2407 J3 MSK2407 J3 and DSP boards with TMS320F2407 RDIM16v4 0 J3 LF2407 Adapter Note1 PM50v20 J1 J2 RDIM16v4 0 J3 LF2407 Adapter Note2 ACPM750 J1 J2 RDIM16v4 0 J3 PM50v30 J3 Note 1 For use LF2407 adapter with PM50v20 all jumpers on LF2407 Adapter must be on 1 2 position Note 2 For use LF2407 adapter with ACPM750 all jumpers on LF2407 Adapter must be on 2 3 position Note 3 Always J1and J2 are used for 5V level signals and J3 for 3 3V level signals Technosoft 2001 RDIM16 v4 0 User Manual Chapter 3 Installing and customizing RDIM16 3 2 Customizing RDIM16 for your resolver In order to connect your resolver to the RDIM16 resolver to digital interface you first need to configure the board to match with your resolver basic data CAUTION Do not connect your resolver without reading this information If RDIM16 interface module is not properly configured your resolver will be damaged In most of the cases the resolver basic data mean e lin resolver input current for a given UN input voltage RMS and a given fn frequency Uour output voltage RMS or transformation ratio Uiy Uour e Rp resolver resistance Normally the UN input voltage at which the liy input current is given represents the optimum value at which the excitation should be provided The
16. al sine and cosine signals generated by the resolver Technosoft 2001 7 RDIM16 v4 0 User Manual Chapter 3 Hardware Overview This page is empty Technosoft 2001 8 RDIM16 v4 0 User Manual Chapter 3 Installing and customizing RDIM16 3 Installing and customizing RDIM16 3 1 Installing RDIM16 module The RDIM16 v4 0 resolver to digital interface was designed as a module which can be plugged in Technosoft DSP boards for the TMS320F24xx family see Appendix D for the list of these modules using the MC BUS connectors for data exchange In order to allow an easy mounting and at the same time to leave open the possibility to add further modules on the MC BUS the RDIM16 board is delivered with standard 2 x 18 0 1 PC 104 connectors already mounted Hence the board installation simply resumes to plug the RDIM16 module in the mother device MSK240 MSK243 MSK2407 IMMC24x MCSK etc with J1 J2 connectors aligned RDIM s J1 to mother device s J1 and RDIM s J2 to mother device s J2 If the mother device is not equipped with connectors Technosoft will deliver them on request Position Boards assembly order in stack ACPM750E e v3 2 amp v3 3 DSP board PM50v3 0 first upper Using RDIM16v4 0 1 Any order Interconnection only through J1 and J2 connectors Any order Interconnection only through J1 and J2 connectors RDIM16v4 0 J1 J2 MCK240 J1 J2 PM50v30 J1 J2 and DSP boards with TMS320F240 TM
17. ect memory location Ox200 with monitor command i 200 The value displayed represents the absolute position in the range O to 4096 read from the resolver through the SPI interface If you turn manually the resolver you should see how the displayed position value is changing A second test can be done using the Processor Evaluation program PROCEV also included in the software packages accompanying Technosoft DSP boards for the TMS320F24xx family Open the QEP Quadrature Encoder Pulse test This test computes and displays graphically the relative position provided by the 2 quadrature signals A and B of an encoder When the RDIM16 board is connected to the system A and B signals are generated by the RDIM16 emulating an incremental encoder Run the test and start turning manually the resolver You should see how the relative position read through the quadrature encoder interface is changing Technosoft 2001 13 RDIM16 v4 0 User Manual Chapter 4 Verifying RDIM16 This page is empty Technosoft 2001 14 RDIM16 v4 0 User Manual Appendix A RDIM16 Connectors an Jumpers Appendix A RDIM16 Connectors A 1 Connectors J1 MC BUS 5V Connector signals on F240 based DSP boards Pin MC BUS Signal RDIM16 Signal MC BUS Signal RDIM16 Signal s cwez iBo ne 1 ceorr ne Technosoft 2001 15 RDIM16 v4 0 User Manual Appendix A RDIM16 Connectors an Jumpers J2 MC BUS 5V Connector signals on F240 ba
18. hnosoft DSP boards for the TMS320F240 and TMS320F243 family 3 3V MC BUS connectors allowing direct connection with Technosoft DSP boards for the TMS320LF2407 e Do norequest external power supply Is powered via the MC BUS connector Technosoft 2001 3 RDIM16 v4 0 User Manual Chapter 1 Introduction This page is empty Technosoft 2001 4 RDIM16 v4 0 User Manual Chapter 3 Hardware Overview 2 Hardware Overview Figure 2 1 presents the RDIM16 v4 0 block diagram The interface module uses a step up DC DC converter to supply the reference generator unit which provides a constant amplitude sinusoidal excitation for a resolver The differential sine and cosine signals generated by the resolver pass through a signal conditioning unit and then are applied to a 12 bit resolver to digital converter which translates them into a digital information provided on the MC BUS PRODUCT FAMILY WITH MC BUS J58J6 MC Bus Connectors Reference generator Connectors RDIM16 Figure 2 1 The block diagram of the RDIM16 v4 0 interface board The resolver shall be connected to the RDIM16 v4 0 as following Please read Chapter 3 to see how to adjust and set RDIM16 to match with your resolver Resolver i 999 87654321 J6 Input connector OOOOOOOOO 7 59 AD2S90 produced by Analog Devices Technosoft 2001 5 RDIM16 v4 0 User Man
19. ion OOOOOOOOOOOOOOO0O0C SN74CBTD33B4 S0 TECHNOSOFT Copyright 2000 RDIM16v4 0 Figure 2 3 The RDIM16 v4 0 board layout Jumpers Once the equivalent input voltage is determined you need to tune the RDIM16 output stage amplification to provide an excitation signal with RMS value equal with the UNE computed above The excitation voltage level can be modified from potentiometer VR1 and jumper JP2 see Figure 2 9 Do the following steps 1 2 o Remove jumper JP2 and turn to the end potentiometer VR1 in the CCW direction In this configuration the excitation amplitude will be minimal with the resolver connected Mount the RDIM module into the mother device and connect the resolver excitation input to RDIM s J5 connector with REF on pin 3 REF pin 1 and cable shield on pin 2 see Appendix A Turn on the power supply Use a true RMS voltmeter to measure the excitation RMS value between pins 1 and 3 Turn CW the potentiometer VR1 until the UNE value is reached If the potentiometer reaches the CW limit and excitation voltage is still under the desired value turn back the potentiometer until the CCW limit is reached and put jumper JP2 Then turn once again CW the potentiometer VR1 until the UNE value is reached 3 2 3 Adjusting RDIM16 input stage amplification Finally y
20. logic to select RDIM CALL _Delay SPLK 0ffh SPI DAT CALL _ReadSPIbuf read first character received via SPI SFL LDP _aux SACL _aux 7 store rec character shifted by 8 bits LDP 0E0h SPLK HOffh SPI DAT CALL ReadSPIbuf read second character received via SPI LDP aux OR aux compose the word AND 47FFFh mask the first bit CLRC SXM RPT 2h SFR shift right with 3 bits to get position on 12bits LDP rdim pos SACL rdim pos Store position LDP 0EOh SETBIT SPI PORT C1 SETB6 transmit 1 logic to disable RDIM CALL Delay necessary in case of continuously read from RDIM RET Delay RPT 10h NOP RET Technosoft 2001 27 RDIM16 v4 0 User Manual Appendix C Test Program of the RDIM16 module C 2 TSRDIMAO cmd linker command file EE De m nume e E SG EE ES MA LIBE eM DES m SE LINKER COMMAND FILE MEMORY SPECIFICATION for C240 ES E mim S M E eM II E TEE e ue Ru US E EE mm mds pe EE LINKER DIRECTIVES uu Ee tede esu ES S t oe Oren EC EE e START Define Start Point l rts2xx lib RUN TIME SUPPORT STACK MODEL o testrdim out m testrdim map EE M m MEMORY ALLOCATION Ell ee a EM e EE mM Le LA MEMORY PAGE 0 FLASH origin O0 length 0x4000 on chip Flash PM F origin 0x8000 length 0x3500 ext PM free BOPM F origin Oxfe00 length 0x100
21. ou need to adjust the RDIM16 input stage in order to translate the resolver output voltage into the voltage range accepted by the resolver to digital converter which is 2Vgys 0 1V First compute your resolver estimated output voltage Uoure that results when the equivalent input voltage UNE is applied with the formula Uoute Une transformation ratio Uwe Uiy Uour Technosoft 2001 11 RDIM16 v4 0 User Manual Chapter 3 Installing and customizing RDIM16 Then configure SW1 see Figure 2 3 according to Table 3 1 For intermediate values always choose the SW1 combination corresponding to the nearest lower voltage Vser For example if Uoure 1 8 select the SW1 combination corresponding to 1 5V Then do the following steps 1 Turn off the power supply 2 Connect the resolver differential outputs to RDIM16 s JP6 connector with COS on pin 2 COS on pin 1 SIN pin 4 SIN on pin 5 and cable shield pin 3 see Appendix A 3 Turn on the power supply 4 Usea true RMS voltmeter to measure the resolver output value between J6 connector pins 1 and 2 or between pins 4 and 5 5 Manually rotate your resolver or the motor on which it is fixed until you get the maximum voltage 6 Turn slightly the VR1 potentiometer in the CCW CW direction to decrease increase the resolver output voltage until it becomes equal with the value corresponding to the selected SW1 combination Table 3 1 SVV1 configura
22. sed DSP boards Pin MC BUS ged ADIMT6 Signal Pin MC BUS Signal_ Pos Signal 5 ne 6 we ne 7 veo ne er vem ne s Pen Analog ground 10 DGND Analog ground ne o Lm supp eve S Sunt ss ne J ne e Notes a P input output Dig Digital Anlg Analog not connected b Encoder emulated signals A B Z are always active C DATA OUT is in HighZ if SPI ENABLE is set high 1 logic Technosoft 2001 16 RDIM16 v4 0 User Manual Appendix A RDIM16 Connectors an Jumpers J1 MC BUS Connector signals on F243 based DSP boards Pin 5 ged RDIMT6 Signal Pin MC BUS Signal RDIMIG Signal 6 wu ne s ewe e s ne J2 MC BUS Connector signals on F243 based DSP boards Pin MC BUS Signal RDIMi6Signa Pin MC BUS Signal RDIM16 Signal 1 N C n c 2 n c 6 nc vem nc 9 Anaoggrund Analog ground 12 14 nc 16 Digital Ground 18 nc 20 2 CAN VCC 2 5V Supply 77 Supply input RESET EL ed cANLO ne CAN GND R n c SPISIMO IOPC2 nc SPISOMI IOPC DATA OUT Dig O IOPD7 nc CLKOUT IOPDO E DC 2 n c 3 SPI ENABLE Dig I DC Technosoft 2001 17 RDIM16 v4 0 User Manual Appendix A RDIM16
23. sing motors with resolver feedback The RDIM16 v4 0 module offers a complete solution for converting the analogue angular position provided by a resolver into a digital information without the need for other components The digital angular position output information is available on MC BUS in 2 forms asa serial binary output providing the absolute position This output is available on the serial peripheral interface SPI pins of the MC BUS The absolute position has 12 bits resolution providing 4096 values per rotation The RDIM16 serial output can be enabled or disabled using the SPI control signal SPISTE When disabled the serial output is placed in the high impedance state allowing the exchange of the data with other serial devices connected on the same SPI bus e as 2 quadrature signals A and B and a Z zero pulse emulating an incremental encoder These signals are available on the quadrature encoder interface pins of the MC BUS The encoder emulated outputs of the RDIM16 module continuously produce signals equivalent to a 1024 line encoder If these outputs are used with an encoder interface this multiplies by 4 the resolution providing 4096 pulses per rotation Key features 12 bit serial absolute position 4x1024 lines incremental encoder emulation Differential inputs for resolver signals Internal 6 65 kHz oscillator providing sinusoidal excitation up to 7 5Vams 40mA 5V MC BUS connectors allowing direct connection with Tec
24. t 2001 30 Clear bit Macro Set bit Macro software reset SPI Output Control Register Data Page pin functions Output Control Register SPI Control Registers Data Page SPI Comunication Control Register SPI Operation Control Register SPI Baud Register RDIM16 v4 0 User Manual Appendix C Test Program of the RDIM16 module LDP 0E0Oh load data page SPLK 0h SPI DAT SPI DAT FFFFh WaitToReadValue LDP HDP PF1 read the word recceived via SPI BIT SPI STATUS BIT6 test SPI INT FLAG BCND WaitToReadValue NTC if FLAG NEQ 1 loop back on output LACL SPI RX BUF else load ACCL with rcv word thus reset SPI flag CLRC SXM Clear sign extention mode RPT 3h repeat SFR Shift right with 4 bits to obtain position on 12bits LDP RDIM Value SACL RDIM Value Save the read value RET Technosoft 2001 31 RDIM16 v4 0 User Manual Appendix C Test Program of the RDIM16 module CA TSRDIM43 cmd linker command file DES Ane EE i eee mh e dau SE NS n E ee dd EE LINKER COMMAND FILE MEMORY SPECIFICATION for C243 mie ee eos ore cing mST LATA eeler EAS LS LINKER DIRECTIVES EES SE nord E e EE ee mutum ESE ES EE ESE SE EE e START Define Start Point l rts2xx lib RUN TIME SUPPORT STACK MODEL o tsrdim43 out m tsrdim43 map EE loea ee tin ri ce int e ES DE ETC E I m eism ME meri Els MEMORY ALLOCATION SE M entra
25. tarts on positive transition of A signal when angle is increasing emulated Z is 360 wide and starts on positive transition of A signal when angle is increasing JP2 Jumper Configuration output excitation voltage is in lower half range output excitation voltage is in higher half range JP3 Jumper Configuration used to select the RDIM16 from 24x DSP modules that do have also E2ROM memory connected on the SPI interface used for MSK2407 with JP10 in position 2 8 share selection signals with E2ROM See MCK2407 User Manual used to select the RDIM from 24x DSP modules that do not have memory connected on the SPI interface used for MSK2407 with jumper between JP10 3 and JP11 2 without using on board 2 See MCK2407 User Manual Technosoft 2001 20 RDIM16 v4 0 User Manual Appendix A RDIM16 Connectors an Jumpers SW1 Dip Switch Resolver output RMS voltage measured SW1 fi ti between JP6 pins 1 and 2 or 4 and 5 2 12 8 1 151617 18 po tv on off off off on off off off off on off off off on off off on oft off on on off of Technosoft 2001 21 RDIM16 v4 0 User Manual Appendix B RDIM16 Technical Specifications Appendix B RDIM16 Hardware Technical Specifications Parameter Output current Output voltage Frequency Angular Resolution of the RDIM16 module is 12 Bits Technosoft
26. tion for different resolver output voltages Resolver output RMS voltage measured between JP6 pins 1 and 2 or 4 and 5 SX T configuration off off on off off on on off off Technosoft 2001 12 RDIM16 v4 0 User Manual Chapter 4 Verifying RDIM16 4 Verifying RDIM16 After you have customized the RDIM16 for your resolver you can verify how the interface module works There are two interfaces of the RDIM16 module which must be checked 1 The SPI communication channel allowing you to read the absolute position information from the RDIM16 module to the DSP one 2 The QEP quadrature encoder interface allowing you to read the encoder like signals generated by the RDIM16 module towards the DSP module The RDIM16 package includes a demo floppy disk with a ready to run example presenting how to read the absolute position using the serial SPI interface when RDIM16 is used together with one of the Technosoft DSP boards for the TMS320F24xx family Source code of the demo program is included too Use the communication monitor from your DSP board software package to download the RDIM16 test program TSRDIM40 OUT for TMS320F240 based DSP boards TSRDIM43 OUT for TMS320F243 based DSP boards TSRDIMO7 OUT for TMS320F243 based DSP boards with monitor command 1 tsrdim40 out respectively 1 tsrdim43 out or tsrdim07 out Then start its execution from the address 0x8000 with monitor command r 8000 and insp
27. ual Chapter 3 Hardware Overview RDIM16 v4 0 module connections Figure 2 2 presents a top view of the RDIM16 v4 0 which outlines the main components and the connectors A short description of the connectors follows Appendix A contains a complete description of all of the RDIM16 connectors J3 MC bus 3 3V connector J1 MC Bus 5V connector OOOOOOOOOOOOO00C C CH Faass connector J6 Input connector SN74CBTD3384 50 Fi VE Gei Copyright 2000 ee eee 0 C SH J2 MC Bus 5V connector Components side This drawing is not to scale Figure 2 2 The RDIM16 v4 0 board layout Connectors Technosoft 2001 6 RDIM16 v4 0 User Manual Chapter 3 Hardware Overview MC BUS connectors J1 J2 and J3 Through the MC BUS connectors the RDIM16 board gets the 5Vpc power supply and sends the digital angular information When connected with the Technosoft DSP boards for the TMS320F24xx family the digital angular information is passed to the MSK24xx DSP motion controller Output connector J5 Through J5 connector the RDIM16 sends a constant amplitude sinusoidal excitation to the resolver Input connector J6 Through J6 connector the RDIM16 gets the differenti
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