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VMIC VMIVME-4941 Instruction Manual

Quad-channel resolver-to-digital converter board
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VMIC VMIVME-4941 Instruction Manual

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  • Page 2 VMIVME-4941 QUAD-CHANNEL RESOLVER-TO-DIGITAL CONVERTER BOARD INSTRUCTION MANUAL DOCUMENT NO. 500-004941-000 N Revised December 18, 1995 VME MICROSYSTEMS INTERNATIONAL CORPORATION 12090 SOUTH MEMORIAL PARKWAY HUNTSVILLE, AL 35803-3308 (205) 880-0444 1-800-322-3616 FAX NO.: (205) 882-0859 Artisan Scientific - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisan-scientific.com...
  • Page 3 VMIC does not assume any liability arising out of the application or use of any product or circuit described herein; nor does VMIC convey any license under its patent rights or the rights of others. For warranty and repair policies, refer to VMIC’s Standard Conditions of Sale.
  • Page 4 RECORD OF REVISIONS REVISION PAGES INVOLVED CHANGE NUMBER DATE LETTER 06/01/88 Release with Appendix A 88-0026 06/06/88 Table of Contents, Sections 2, 3, 5, and 6 88-0124 06/16/88 Table of Contents, Sections 2, 3, 4, and 5 88-0134 09/14/88 Appendix A 88-0189 09/21/89 Convert Manual to Microsoft...
  • Page 5 VMIC SAFETY SUMMARY THE FOLLOWING GENERAL SAFETY PRECAUTIONS MUST BE OBSERVED DURING ALL PHASES OF THE OPERATION, SERVICE, AND REPAIR OF THIS PRODUCT. FAILURE TO COMPLY WITH THESE PRECAUTIONS OR WITH SPECIFIC WARNINGS ELSEWHERE IN THIS MANUAL VIOLATES SAFETY STANDARDS OF DESIGN, MANUFACTURE, AND INTENDED USE OF THIS PRODUCT.
  • Page 6 SAFETY SYMBOLS GENERAL DEFINITIONS OF SAFETY SYMBOLS USED IN THIS MANUAL Instruction manual symbol: the product is marked with this symbol when it is necessary for the user to refer to the instruction manual in order to protect against damage to the system. Indicates dangerous voltage (terminals fed from the interior by voltage exceeding 1000 volts are so marked).

  • Page 7: Table Of Contents

    500-004941-000 VMIVME-4941 QUAD-CHANNEL RESOLVER TO DIGITAL CONVERTER BOARD TABLE OF CONTENTS Page SECTION 1. INTRODUCTION INTRODUCTION ................1-1 FUNCTIONAL DESCRIPTION ............1-1 REFERENCE MATERIAL..............1-2 SECTION 2. PHYSICAL DESCRIPTION AND SPECIFICATIONS SECTION 3. THEORY OF OPERATION BLOCK DIAGRAMS ................3-1 GENERAL DESCRIPTION ..............3-1 VMEbus FOUNDATION LOGIC ............3-1 RESOLVER CONVERTER MODULES ..........3-4...
  • Page 8 500-004941-000 TABLE OF CONTENTS (Continued) Page SECTION 5. CONFIGURATION AND INSTALLATION UNPACKING PROCEDURES ............5-1 PHYSICAL INSTALLATION ..............5-1 JUMPER AND SWITCH LOCATIONS..........5-1 ADDRESS MODIFIERS ..............5-3 ADDRESS SELECTION SWITCHES ..........5-3 EXTERNAL POWER SELECTION ............5-3 REFERENCE VOLTAGE INPUTS.............5-4 COUNTER DIRECTION JUMPERS ..........5-6 JUMPERING FOR DIRECT vs DIFFERENTIAL SIGNAL INPUTS..5-6 5.9.1 Direct Input Option................5-6 5.9.2...
  • Page 9 500-004941-000 TABLE OF CONTENTS (Concluded) LIST OF FIGURES (Concluded) Figure Page 5.7-2 Jumper Installation to Select a Single Reference Voltage Signal from P2 (Pins C29 and C27) for All Four Channels ......5-5 5.7-3 Jumper Installation to Select a Separate Reference Voltage Signal for each Channel via the P2 Connector........5-6 5.9.1-1 Jumper Configuration for the Direct Signal Input Option (2 Volt),...

  • Page 10: Introduction

    500-004941-000 SECTION 1 INTRODUCTION INTRODUCTION The VMIVME-4941 is a VMEbus compatible Quad Channel Resolver-to- Digital Converter Board. Its features include: a. Quad R/D converters b. Tracking rates up to 800 rps minimum (48,000 RPM) c. Software programmable resolution (10-, 12-, 14- or 16-bit) d.

  • Page 11: Reference Material

    500-004941-000 REFERENCE MATERIAL The reader should refer to "The VMEbus Specification" for a detailed explanation of VMEbus. "The VMEbus Specification" is available from the following source: VITA VMEbus International Trade Association 10229 N. Scottsdale Road Scottsdale, AZ 85253 (602) 951-8866 Artisan Scientific - Quality Instrumentation ...

  • Page 12: Physical Description And Specifications

    500-004941-000 SECTION 2 PHYSICAL DESCRIPTION AND SPECIFICATIONS REFER TO 800-004941-000 SPECIFICATION Artisan Scientific - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisan-scientific.com...

  • Page 13: Theory Of Operation

    Resolver converters e. Pitch counters and control logic GENERAL DESCRIPTION The VMIVME-4941 is designed for use in modern high performance commercial and industrial control systems. Applications include motor control, radar antenna position information, CNC machine tooling, robot axis control, and process control.
  • Page 14 DC REFERENCE VOLTAGE (+5.5 V) CONTROL SINGLE CHANNEL LOGIC RESOLVER INPUT FROM P2 BACKPLANE 4 CHANNELSQUAD RESOLVER INPUTS FROM FIELD (ONLY) M4941/F3.1-1 *VMIC SRTbus“ or VMEbus backplane. Figure 3.1-1. Functional Block Diagram Artisan Scientific - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisan-scientific.com...
  • Page 15 500-004941-000 BACKPLANE FRONT PANEL TEST CONFIGURATION INPUT TEST MODE* (+5.5 VDC) CH 0 CONNECT CH0 CH 1 CONNECT CH1 CH 2 CONNECT CH2 CH 3 CONNECT CH3 *One Control and Status Register bit controls all connections to P2. M4941/F3.2-1 Figure 3.2-1. Input Configuration Software Control Artisan Scientific - Quality Instrumentation ...

  • Page 16: Resolver Converter Modules

    The 2 V option eliminates the need for an input scaling network and allows operation with a lower reference voltage. Figure 3.4.1-1 shows a typical DDC- 19200 used on the VMIVME-4941. In a resolver, shaft angle data is transmitted as the ratio of carrier amplitudes across the terminals.
  • Page 17 500-004941-000 DDC NO. 19200 CH____ SIG LOS H CH____ ERR65 L CH ___ S1 CH ___ S2 COS S2 + C CH ___S3 SIN S3 + S CH ___ S4 CH ___ REF CH ___ CONV BUSY H CH ___ SEL RES AH CNT UP H CH ___ SEL RES BH CH ___ SEL HI BANDWIDTH H...

  • Page 18: Digital Interface

    500-004941-000 dΩ/dt without lag. The output data will always be fresh and available as long as the maximum tracking rate of the converter is not exceeded. The converter automatically zero-sets all of the internal op amps twice per carrier cycle near the zero crossings of the reference. This contributes to the converter’s superior dynamic performance.

  • Page 19: Dynamic Performance

    Built-in-Test is performed under software control in which the D/R output board is used as a resolver input for the VMIVME-4941. The VMIVME-4941's CSR is programmed to connect all four R/D modules to the P2 resolver input channel. Thus, a digital word is transferred to the D/R board and can...

  • Page 20: Pitch Counter Operation

    500-004941-000 be read back on all channels and a software compare performed on the digital data. Using this scheme all R/D converters can be tested in the same software test loop. The reader should refer to Section 4 for additional programming details. A front panel Fail LED is initialized on during power-up reset and may be extinguished via program control upon successful completion of diagnostics.
  • Page 21 500-004941-000 Artisan Scientific - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisan-scientific.com...

  • Page 22: Programming

    500-004941-000 SECTION 4 PROGRAMMING REGISTER MAP The VMIVME-4941 contains four 16-bit registers corresponding to four R/D converters, four 16 bit pitch counters, and a 32-bit Control and Status Register (CSR). All the registers are byte, word, and longword addressable. Furthermore, the pitch counter register and the R/D data register for a single channel can be read as a single longword.
  • Page 23 500-004941-000 Table 4.1-1. Address Register Map RELATIVE MNEMONIC ACCESS NAME/FUNCTION ADDRESS MODE PC0U READ/WRITE PITCH COUNTER NO. 0 UPPER BYTE PC0L READ/WRITE PITCH COUNTER NO. 0 LOWER BYTE RD0U READ R/D NO. 0 UPPER BYTE RD0L READ R/D NO. 0 LOWER BYTE PC1U READ/WRITE PITCH COUNTER NO.
  • Page 24 500-004941-000 Table 4.1-2. Address and Register Bit Definitions HEX ADDRESS BINARY ADDRESS A7 A6 A5 A4 A3 A2 A1 PITCH COUNTER 0 UPPER BYTE IDB 15 IDB 14 IDB 13 IDB 12 IDB 11 IDB 10 IDB 09 IDB 08 BIT 15 BIT 14 BIT 13...
  • Page 25 500-004941-000 Table 4.1-2. Address and Register Bit Definitions (Concluded) HEX ADDRESS BINARY ADDRESS A7 A6 A5 A4 A3 A2 A1 PITCH COUNTER 2 UPPER BYTE IDB 15 IDB 14 IDB 13 IDB 12 IDB 11 IDB 10 IDB 09 IDB 08 BIT 15 BIT 14 BIT 13...
  • Page 26 500-004941-000 D8 D7 D8 D7 PC0U PC0L RD0U RD0L $XXX0 $XXX2 PC1U PC1L RD1U RD1L $XXX4 $XXX6 PC2U PC2L RD2U RD2L $XXX8 $XXXA PC3U PC3L RD3U RD3L $XXXC $XXXE CSRU CSRMU CSRML CSRL $XX10 $XX12 M4941/F4.1-1 Figure 4.1-1. Register Map for Word Addressing Artisan Scientific - Quality Instrumentation ...
  • Page 27 500-004941-000 $XXX0 PC0U PC0L RD0U RD0L $XXX4 PC1U PC1L RD1U RD1L $XXX8 PC2U PC2L RD3U RD3L $XXXC PC3U PC3L RD3U RD3L $XX10 CSRU CSRMU CSRML CSRL M4941/F4.1-2 Figure 4.1-2. Register Map for Longword Addressing Artisan Scientific - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisan-scientific.com...

  • Page 28: Control And Status Register (Csr)

    500-004941-000 Table 4.3-1. Resolver-to-Digital Converter Data Register and Bit-Weight Table D15 D14 D13 D12 D11 D10 BIT NO. BIT-WEIGHT TABLE BIT NO. DEG/BIT MIN/BIT 1 MSB 10,800 5.400 2.700 22.5 1,350 11.25 337.5 5.625 169.75 2.813 84.38 1.406 42.19 0.7031 21.09 0.3516 10.55...

  • Page 29: Built-In-Test Programming

    RELAY CONTROL BITS 24, 25, 26 AND 27 SHOULD NEVER BE SET WHEN THE TEST MODE BIT (BIT 28) IS SET. FAILURE TO HEED THIS PROGRAMMING NOTE MAY RESULT IN DAMAGE TO THE VMIVME-4941 BOARD. THE PROBLEM CAN BE CAUSED BY THE SIMULTANEOUS CONNECTION OF MORE THAN ONE VOLTAGE SOURCE TO THE CONVERTER INPUT.
  • Page 30 500-004941-000 Table 4.4-1. CSR HI Byte Bit Map ($XX10) IDB 31 IDB 30 IDB 29 IDB 28 IDB 27 IDB 26 IDB 25 IDB 24 RESERVED FAIL TEST MODE CONNECT CONNECT CONNECT CONNECT 0=ON 1=TEST 1=OFF 0=OPERATE M4941/T4.4-1 Table 4.4-2. CSR M-HI Byte Bit Map ($XX11) IDB 23 IDB 22 IDB 21...
  • Page 31 500-004941-000 Table 4.4.1-1. CSR Relay Control Functions CSR BIT RELAY CONTROL FUNCTION MNEMONIC CONNECT CH0 CONNECTS THE CH 0 INPUT FOR NORMAL OPERATION CONNECT CH1 CONNECTS THE CH 1 INPUT FOR NORMAL OPERATION CONNECT CH2 CONNECTS THE CH 2 INPUT FOR NORMAL OPERATION CONNECT CH3 CONNECTS THE CH 3 INPUT FOR NORMAL OPERATION TEST MODE...

  • Page 32: R/D Converter Bandwidth Control

    500-004941-000 4.4.4 R/D CONVERTER BANDWIDTH CONTROL The CSR also contains bits that provide the user with the capability of selecting HI or LO bandwidth options as shown in the following matrix: RESOLUTION (Values in RPS/volts) BW (XHB) 1.25 1.25 0.32 The format of the CSR is shown in Table 4.1-2.

  • Page 33: Configuration And Installation

    All claims arising from shipping damage should be filed with the carrier and a complete report sent to VMIC together with a request for advice concerning disposition of the damaged item(s).
  • Page 34 500-004941-000 Artisan Scientific - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisan-scientific.com...

  • Page 35: Address Modifiers

    500-004941-000 ADDRESS MODIFIERS The VMIVME-4941 is designed to respond to short supervisory or non- privileged I/O access (switch selectable). Set the AM2 switch (refer to Figure 5.5-1) to OFF to select short supervisory access or to ON to select short non-privileged access.

  • Page 36: Reference Voltage Inputs

    500-004941-000 M4941/F5.6-1 Figure 5.6-1. Jumper Installation to Select ±15 V Inputs via the P3 Connector M4941/F5.6-2 Figure 5.6-2. Jumper Installation to Select ±15 V Inputs via the P2 (Backplane) Connector REFERENCE VOLTAGE INPUTS The reference voltage input to the four R/D (or S/D) converter modules may be applied via the front panel (see Figure 5.7-1) or via the P2 connector (see Figure 5.7-2).

  • Page 37: Jumper Installation To Select A Single Reference Voltage Signal From P2 (Pins C29 And C27) For All Four Channels

    500-004941-000 M4941/F5.7-1 Figure 5.7-1. Jumper Installation to Select the Reference Voltage Input at P3 for All Four Channels * * * * * * * * * * * * * CAUT ION * * * * * * * * * * * * * THE FIELD INPUT FOR RL MUST BE ISOLATED FROM THE POWER SOURCE IF THE JB5 A-B JUMPER IS INSTALLED.

  • Page 38: Counter Direction Jumpers

    5.9.2 Differential Input Option - Resolver All jumpers must be removed from the JA jumper field to configure the VMIVME-4941 for differential signal inputs. Jumpers JG, JH, JI, and JJ must be installed. If the differential (11.8 V) option was purchased and single-ended operation is desired, then all jumpers must be installed in the JA jumper field as shown in Figure 5.9.2-1.
  • Page 39 500-004941-000 Table 5.8-1. Jumper Installations for Counting Up When R/D Data is Increasing CHANNEL NUMBER JUMPER M4941/T5.8-1 Artisan Scientific - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisan-scientific.com...
  • Page 40 500-004941-000 Table 5.8-2. Jumper Installations for Counting Down When R/D Data is Increasing CHANNEL NUMBER JUMPER M4941/T5.8-2 Artisan Scientific - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisan-scientific.com...

  • Page 41: Cabling Requirements

    S4 Inputs for All Four Channels 5.10 CABLING REQUIREMENTS The resolver inputs to the VMIVME-4941 should be connected as shown in Figure 5.10-1. Connector pin numbers are listed in Table 5.10-1. See Section 2.3 for connectior information. Artisan Scientific - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisan-scientific.com...

  • Page 42: Recommended Connection Of Resolver Reference Voltage And Signals

    500-004941-000 CONNECT TO P3 CONNECTOR, RESOLVER ONE TO ONE, S1 TO S1 AND ETC. 4941 BOARD R1 R2 TO REFERENCE R2 (RL) VOLTAGE SOURCE CONNECT TO 4941 VIA R1 (RH) P2 OR P3 M4941/f5.7-1 Figure 5.10-1. Recommended Connection of Resolver Reference Voltage and Signals 5-10 Artisan Scientific - Quality Instrumentation ...
  • Page 43 500-004941-000 Table 5.10-1. P2 and P3 Connector Pinouts CONNECTOR SIGNAL C5, C6 P2 + 15 V C7, C8 P2 - 15 V TEST CHANNEL S2 COS RESOLVER INPUT S3 SIN FOR BUILT-IN-TEST FEATURE P2RH P2RL SEPARATE REF. V. P2RH1 INPUTS FOR P2RH2 CHANNELS 1, 2, 3 P2RH3...

  • Page 44: Maintenance Prints

    No components of adjacent boards are disturbed when inserting or removing the board from the chassis h. Quality of cables and I/O connections If the products must be returned, contact VMIC for a Return Material Authorization (RMA) Number. This RMA Number must be obtained prior to any return.
  • Page 45 APPENDIX A ASSEMBLY DRAWING, PARTS LIST, AND SCHEMATIC Artisan Scientific - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisan-scientific.com...
  • Page 46 ÒThe Next Generation PLCÓ Registered Trademarks of VME Microsystems International Corporation: UIOC ¨ (VMIC logo) ¨ (I/O man figure) Other registered trademarks are the property of their respective owners. Artisan Scientific - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisan-scientific.com...
  • Page 47 DOCUMENTATION EVALUATION FORM VMIC welcomes your comments and suggestions. Please return this form to: ICROSYSTEMS NTERNATIONAL ORPORATION 12090 outh emorial arkway Huntsville, labama 35803-3308 (205) 880-0444 1-800-322-3616 Evaluation: Please rate the following areas on a scale of 1 to 5 (1 = Poor; 5 = Excellent).

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