SET COMPACTRIO RDK9316 User Manual
  1. Manuals
  2. Brands
  3. SET Manuals
  4. Control Unit
  5. COMPACTRIO RDK9316
  6. User manual

SET COMPACTRIO RDK9316 User Manual

Resolver to digital conversion module
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
SET9010MAN0100
Issue: 01
R
ESOLVER
SET GmbH
August-Braun-Str. 1
88239 Wangen/Allgäu
Germany
Tel.: +49 (0)7522 91687-600
Fax: +49 (0)7522 91687-899
Copyrights:
SET GmbH
All rights reserved.
Information contained herein is the property of SET GmbH and shall not be duplicated,
copied, used or disclosed in whole or in part of any purpose. The right of duplication, use or
disclosure is permitted only by written agreement of SET GmbH, August Braun Str. 1, 88239
Wangen/Germany.
LabVIEW, CompactRIO, TestStand are Trademarks of National Instruments
U
M
SER
ANUAL
RDK9316
U S E R M A N U A L
C
OMPACT
T
D
C
O
IGITAL
ONVERSION
RDK9316
Art.Nr. 86257
Page 1 of 42
RIO
M
ODULE

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the COMPACTRIO RDK9316 and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Summary of Contents for SET COMPACTRIO RDK9316

  • Page 1 Information contained herein is the property of SET GmbH and shall not be duplicated, copied, used or disclosed in whole or in part of any purpose. The right of duplication, use or disclosure is permitted only by written agreement of SET GmbH, August Braun Str. 1, 88239 Wangen/Germany.

  • Page 2: Table Of Contents

    SET9010MAN0100 ANUAL Issue: 01 RDK9316 Table Of Contents Important Instructions ........................4 Initial Inspection ..........................4 Safety Instructions ..........................4 1.2.1 Module Failure ........................... 4 1.2.2 Impermissible Applications ........................ 4 1.2.3 Module Installation And Removal ...................... 4 1.2.4 Electrical Connections ........................4 Module Overview ..........................
  • Page 3 SET9010MAN0100 ANUAL Issue: 01 RDK9316 Module Identification Under LabVIEW ..................... 39 Saving The Setup ..........................39 Auto Ratio ............................39 Technical Specification ........................40 Housing ............................40 External Power Supply ........................40 Excitation Output ..........................40 Sinus And Cosine Signal Inputs ......................41 Position Processing ...........................

  • Page 4: Important Instructions

    SET GmbH service contact to facilitate the repair or replacement immediately, and notify the SET GmbH service contact to facilitate the repair or replacement immediately, and notify the SET GmbH service contact to facilitate the repair or replacement of the module.

  • Page 5: Module Overview

    SET9010MAN0100 ANUAL Issue: 01 RDK9316 ODULE VERVIEW RDK 9316 is a compact, reliable and highly versatile Resolver-to-digital conversion module. All commonly used Resolvers can be easily connected to the module without any additional signal adaption. The module has a built-in excitation oscillator inclusive power stage which can drive most Resolvers directly without the necessity of an external power booster.

  • Page 6: Getting Started

    To use the RDK FPGA-Driver the following NI Software Components must be installed first: • LabVIEW • LabVIEW FPGA Module • SET RDK-9316 C-Series Module („Setup.exe“ included on the SET RDK Driver-CD) RIVER NSTALLATION After Installation of the NI Software Components, the RDK driver software itself must be installed.

  • Page 7: Rdk9316 Compact Rio Labview Drivers

    SET9010MAN0100 ANUAL Issue: 01 RDK9316 RDK9316 C RIO L VIEW D OMPACT RIVERS The driver application is demonstrated within a LabVIEW example project. To copy the driver components into a new project, use the drag & drop function. LabVIEW driver components The LabVIEW FPGA software driver for the RDK9316 module comprises eight driver VI’s which control the serial data transfer between the modules and the FPGA via SPI interfaces.
  • Page 8 SET9010MAN0100 ANUAL Issue: 01 RDK9316 Each slot applies a specific functions-VI The folder „TypeDefs“ gives data type definitions used within the drivers: error codes and module commands. LabVIEW driver data type definitions • USRCMD.ctl Defines the applicable RDK9316 commands • RDKERROR.ctl Defines the driver error codes •...
  • Page 9 SET9010MAN0100 ANUAL Issue: 01 RDK9316 The example project includes all module slots The example project also defines all required data signals: Example project data signal definitions The example project modules can be copied to a new project. Alternatively, when the automatic LabVIEW module detection mechanism “Discover C-Series Modules”...
  • Page 10 SET9010MAN0100 ANUAL Issue: 01 RDK9316 Program example which demonstrates the application of a single RDK9316 module connected to slot 1 of a (PCI) FPGA R-Series Expansion-Chassis or a cRIO-Chassis. • SET_RDK_9316_Example_Slot_1-4.vi Program example which demonstrates the application of four RDK9316 modules connected to a (PCI) FPGA R-Series Expansion-Chassis or a cRIO-Chassis.

  • Page 11: Copying The Driver Files Into New Projects

    SET9010MAN0100 ANUAL Issue: 01 RDK9316 3.3.1 OPYING RIVER ILES ROJECTS The example below provides all software components to get started with a new project. To copy the files into the new project, simply use the drag&drop function. The example project demonstrates the driver operation on two different target platforms.
  • Page 12 SET9010MAN0100 ANUAL Issue: 01 RDK9316 are not modified during the copy process as the correct function of the drivers will be affected thereby. All files must be copied into the new project folder Page 12 of 42...

  • Page 13: Ni Pci/Pxi Fpga-Card Driver Application

    SET9010MAN0100 ANUAL Issue: 01 RDK9316 3.3.2 NI PCI/PXI FPGA-C RIVER PPLICATION The example below demonstrates the driver integration for a NI PCI-FPGA card together with an R-Series Expansion Chassis. 3.3.2.1 REATION OF A NEW ROJECT When all driver files are copied into the new project folder, the example project is opened within the new project folder.

  • Page 14: Creating A New Fpga-Target

    SET9010MAN0100 ANUAL Issue: 01 RDK9316 3.3.2.2 FPGA-T REATING A ARGET Both project windows can be aligned as shown below. The driver components can be copied into a new project via drag-and-drop function Note that the STRG-key must be pressed during drag-and-drop to copy the element. Otherwise the element will be removed from the example project.
  • Page 15 SET9010MAN0100 ANUAL Issue: 01 RDK9316 To add a new FPGA-Target use the mouse and click (right button) onto the computer symbol and select: „New Targets and Devices“. Select an existing FPGA-Target or define a new device. Page 15 of 42...

  • Page 16: Adding An R-Series Expansion Chassis

    SET9010MAN0100 ANUAL Issue: 01 RDK9316 The new FGPA-Target is now added to the project-structure. 3.3.2.3 DDING ERIES XPANSION HASSIS To use an RDK9316 module together with a FPGA chassis, an „R-Series Expansion Chassis“ must be appended to the actual project structure. Use the mouse and click with the right button onto the newly added FPGA-Target and select „New R Series Expansion Chassis“.

  • Page 17: Adding The Rdk9316 Driver Components To A Project

    SET9010MAN0100 ANUAL Issue: 01 RDK9316 The newly added R-Series Expansion Chassis is now included in the project structure: 3.3.2.4 RDK9316 D DDING RIVER OMPONENTS ROJECT To adopt the driver components to the new project the files must be copied before the RDK9316 modules are integrated.

  • Page 18: Adding Rdk9316 Modules To The Project Via Drag-And-Drop Function

    SET9010MAN0100 ANUAL Issue: 01 RDK9316 3.3.2.5 RDK9316 M DDING ODULES ROJECT UNCTION As all driver components for all slots are already defined within the example project they will be copied with the drag-and-drop function. Components which are not used in the new application should be removed from the new project.

  • Page 19: Adding Rdk9316 Modules To The Project Via The Discovery-Function

    SET9010MAN0100 ANUAL Issue: 01 RDK9316 Caution: Do not erase the contents of the libraries “SET_RDK_9316_Drivers.lvlib“ and “SET_RDK_9316_Functions.lvlib“. 3.3.2.6 RDK9316 M DDING ODULES ROJECT ISCOVERY UNCTION The LabVIEW function “Discover C-Series Modules” automatically detects and integrates cRIO modules which are plugged into an R-Series Expansion Chassis or a cRIO-Chassis. It is important that the I/O names of the Module match the names expected by the driver.
  • Page 20 SET9010MAN0100 ANUAL Issue: 01 RDK9316 When the search procedure is complete, LabVIEW visualizes the detected cRIO modules within the project structure as shown below. Additionally, for every detected module a virtual folder is automatically installed. Now, the virtual folder „Driver Components“ must be copied from the example project to the new FPGA target within the LabVIEW project.
  • Page 21 SET9010MAN0100 ANUAL Issue: 01 RDK9316 cRIO-Chassis (with FPGA-Target): When the cRIO chassis and FPGA target does not exist in the new application, yet it must be installed as shown in chapter 3.3.2.2: select „New Targets and Devices“ device type „cRIO Realtime“...
  • Page 22 SET9010MAN0100 ANUAL Issue: 01 RDK9316 LabVIEW now detects newly installed cRIO modules. The external supply is not required for module detection. On completion of the detection process, LabVIEW adds the detected modules to the project structure as illustrated below. Additionally, a virtual I/O-folder for every new module is automatically installed within the project.

  • Page 23: Adding Fpga Example-Applications

    SET9010MAN0100 ANUAL Issue: 01 RDK9316 3.3.2.7 FPGA E DDING XAMPLE PPLICATIONS To illustrate the driver use three small example programs are shipped. The files demonstrate the driver application together with a single RDK9316 module installed on slot 1 the driver application together with four RDK9316 modules driver application together...

  • Page 24: Saving The Project

    SET9010MAN0100 ANUAL Issue: 01 RDK9316 All driver components and the example application are now added to the new project. 3.3.2.8 AVING ROJECT Prior to the project compilation it must be saved. To do this, „File Save All“ must be clicked. When a new project is saved, a file name must be entered. Page 24 of 42...

  • Page 25: Compiling And Running The Example Application

    SET9010MAN0100 ANUAL Issue: 01 RDK9316 3.3.2.9 OMPILING UNNING XAMPLE PPLICATION Open the „SET_RDK_9316_Example_Slot_1.vi“ file within the project structure to start the slot 1 single module application example. Then click the run button. Now the compilation process starts and may take up to 60 minutes. Note that the number of modules used in the application has an impact on the compilation time as every module uses separate driver-VIs, function-VIs and FIFOs.

  • Page 26: Using The Driver Together With A Ni Realtime Compactrio

    SET9010MAN0100 ANUAL Issue: 01 RDK9316 On completion of the compilation process LabVIEW visualizes the compilation results: 3.3.3 A NI R SING RIVER OGETHER OMPACT Though the procedure illustrated before refers to a PCI-/PXI FPGA-Target, all driver components are fully compatible with a cRIO target. The only exception is the eight-slot example application which is only operable on an eight-slot cRIO chassis.

  • Page 27: Connecting The Resolver

    SET9010MAN0100 ANUAL Issue: 01 RDK9316 ONNECTING ESOLVER To make the RDK9316 ready for use plug the module into the correct slot of the cRIO Chassis. Make sure, to select the correct slot according to the LabVIEW project definition. Then connect the modules external power supply (9V –...

  • Page 28: Application Development

    SET9010MAN0100 ANUAL Issue: 01 RDK9316 PPLICATION EVELOPMENT 4.1.1 RDK9316 D RIVER OMMUNICATION The RDK driver package includes eight driver-VIs, eight functions-VIs and 16 communication- FIFOs which are used internally. The driver- and function-VIs are located in two different libraries, „SET_RDK_9316_Drivers.lvlib“ and „SET_RDK_9316_Functions.lvlib”. All driver components are located in the project structure of the shipped example projects (folder “Driver Components”).

  • Page 29: Triggering Rdk9316 Functions Via Functions-Vis

    SET9010MAN0100 ANUAL Issue: 01 RDK9316 4.1.1.2 RDK9316 F RIGGERING UNCTIONS UNCTIONS The functions-VI’s are located in the „SET_RDK_9316_Functions.lvlib“. Note that every chassis slot requires a specific functions-VI. Calling a RDK9316 function via the Functions-VI When a Function-VI is executed, instructions and data are transferred to the applicable FIFOs „SlotN_CommandIN“.
  • Page 30 SET9010MAN0100 ANUAL Issue: 01 RDK9316 The example below illustrates the FIFO buffer clearing of an application which uses eight modules: Clearing all (used) communication FIFOs during program start Page 30 of 42...

  • Page 31: Application To Module Communication Diagram

    SET9010MAN0100 ANUAL Issue: 01 RDK9316 RDK9316 4.1.1.4 PPLICATION ODULE ODULE OMMUNICATION IAGRAM Communication with a single RDK931 Communication with a single RDK9316 module: The diagram below illustrates the communication scheme between application, Function The diagram below illustrates the communication scheme between application, Function The diagram below illustrates the communication scheme between application, Function-VI, Driver-VI and RDK9316 module (slot 1 module (slot 1).
  • Page 32 SET9010MAN0100 ANUAL Issue: 01 RDK9316 RDK9316 Communication between application and multiple RDK931 Communication between application and multiple RDK9316 module modules Page 32 of 42...

  • Page 33: Rdk9316 Driver-Instructions

    SET9010MAN0100 ANUAL Issue: 01 RDK9316 RDK9316 D RIVER NSTRUCTIONS The RDK9316 driver instructions are defined within the type definition file „USRCMD.ctl“. Refer to this file to note the ring type structure. The instruction names thus correlate with an identification number which is given in brackets (), below. Command execution requires a specific execution time and varies due to asynchronous processing principles.
  • Page 34 SET9010MAN0100 ANUAL Issue: 01 RDK9316 Instruction [U8]: Tx-Data [U8]: Receive-Data [U16]: Data Sink: Read Amplitude (3) no data Excit. Amplitude. [mV RDK9316 Controller This instruction reads the programmed amplitude of the excitation voltage. The return data format is a 16bit engineering value in [mV Instruction [U8]: Tx-Data [U8]: Receive-Data [U16]:...
  • Page 35 Position calculation and updated only 9 times per Second Instruction [U8]: Tx-Data [U8]: Receive-Data [U16]: Data Sink: Set Amplitude (9) Excit. Amp.[mV Excit. Amp.[mV RDK9316 Controller This instruction programs the excitation amplitude. The data format is a 16bit engineering value with dimension [mV...
  • Page 36 It is important to program the correct resolver ratio to get the full RDK9316 precision. Instruction [U8]: Tx-Data [U8]: Receive-Data [U16]: Data Sink: Set Resolution Mode (8) Res.Mode Res.Mode RDK9316 Controller This instruction programs the position resolution. The data format is enumeration according to the following table.

  • Page 37: Rdk9316 Driver Error Codes

    SET9010MAN0100 ANUAL Issue: 01 RDK9316 Example: 100 [ equal transformation ratio = 0,1 1000 [ equal to transformation ratio = 1,0 Instruction [U8]: Tx-Data [U8]: Receive-Data [U16]: Data Sink: Reset Device (15) No Data No Data RDK9316 Controller This instruction resets the RDK9316 module. Note that a module reset requires appr. 100ms processing time.
  • Page 38 SET9010MAN0100 ANUAL Issue: 01 RDK9316 Error Error Code Error Type Description Detection [U8] Excitation RDK9316 This error occurs if the Excitation is in Short Circuit ShortCircuit module and deactivated due to thermal limits. The Excitation will be disabled for 5 seconds and the Error will remain 10 more seconds.

  • Page 39: Module Identification Under Labview

    ETUP The RDK9316 automatically saves the setup in a non-volatile memory. After a power interruption the last set Parameters are active when the Module is switched on. ATIO The Auto Ratio function (Do Auto-Ratio) automatically adjusts the RDK9316 to the transfer ratio of the connected Resolver.

  • Page 40: Technical Specification

    SET9010MAN0100 ANUAL Issue: 01 RDK9316 ECHNICAL PECIFICATION OUSING • NI CompactRIO 9952 Standard Housing • Dimensions: appr. 71mm x 72mm x 23mm XTERNAL OWER UPPLY • Supply Voltage: – 36V • Power Consumption: max. 1.5 Watt without Resolver Caution: The external power supply input is isolated from the cRIO chassis signals with a maximum isolation voltage of 50V .

  • Page 41: Sinus And Cosine Signal Inputs

    SET9010MAN0100 ANUAL Issue: 01 RDK9316 INUS OSINE IGNAL NPUTS • Voltage Range: – 7 V • Zin (differential): 54kOhm • Zin (single-ended): 27kOhm Caution: The signal inputs can be damaged, when the input voltage exceeds a limit of 40V peak OSITION ROCESSING •...

  • Page 42: Connector Pinout

    +EXC -EXC 12 - 25 n.c. ODULE ALIBRATION The RDK9316 is calibrated when shipped. A recalibration can be done by SET GmbH. ODULE AINTENANCE No maintenance is required for the RDK9316 module. ERVICE DDRESS For technical support contact the SET service address: SET GmbH August-Braun-Str.

This manual is also suitable for:

86257

Table of Contents