VMIVME-4941 Quad-Channel Synchro/Resolver-to-Digital Converter • Quad S/D or R/D converters (single channel option) • Tracking rates up to 800 rps minimum (48,000 rpm) for resolvers or 160 for synchros • Software-programmable resolution (10-, 12-, 14-, or 16-bit) • Software-programmable bandwidth (530 Hz, 130 Hz) • 16-bit pitch counter per channel • 8-, 16-, or 32-bit data transfer • Reference frequency from 360 Hz (low bandwidth) to 6 kHz for resolvers • Accuracy to ±2.3 arc minutes available (optional) • Double Eurocard form factor • Functional Built-in-Test capability for resolver input options • LEDs indicate signal present, error exceeds 65 bits, and board fail INTRODUCTION — The VMIVME-4941 is a quad-channel Synchro/Resolver-to-Digital Converter 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. FUNCTIONAL CHARACTERISTICS The VMIVME-4941 utilizes four versatile Compliance: This product complies with the VMEbus state-of-the-art Synchro or Resolver-to-Digital Converters speciŢcation Rev. C. 1 with the following mnemonics: featuring programmable resolution and bandwidth. Programming allows selection of 10-, 12-, 14-, or 16-bit A16: D32, D16, D08 (EO): 29, 2D: Slave resolution, and options are available with accuracy to two 6U form factor minutes +1 LSB (+4 LSB differential linearity). Resolution programming combines the high tracking rate of 10-bit VMEbus Access: Address modiŢer bits are decoded converters with the precision of 16-bit converters. to support nonprivileged short I/O and supervisory short I/O access (switch selectable). The Quad Resolver-to-Digital Converter Board is designed with functional test capability for operational veriŢcation of all resolver hybrid modules and the VMEbus control logic. The user may provide an input resolver test signal through the P2 VMEbus expansion connector for board Ordering Options testing. A front panel Fail LED is illuminated at powerup and Dec. 11, 1998 800-004941-000 E ABC – D E F may be extinguished via program control after diagnostics VMIVME-4941 – – are successfully executed. Front panel status indicators are A = Configuration* also provided to indicate a loss of signal and level of error 0 = 11 8 V, 2 Percent Linear (Differential 4-Wire Resolver Signal Inputs) 1 = Reserved faults. 2 = 2 V, 2 Percent Linear (Direct 2-Wire Resolver Inputs) 3 = Reserved 4 = 11 8 V, 2 Percent Linear (Synchro Inputs) FRONT PANEL FAIL LED — If an error condition 6 = 90 V, 2 Percent Linear (Synchro Inputs) occurs during a board diagnostic test, a software-controlled B = Accuracy 0 = Reserved LED may be used to visually indicate a failure. The LED is 1 = 8 min + 1 LSB (12 LSB Differential Linearity) illuminated upon powerup reset and can be extinguished 2 = 4 min + 1 LSB (8 LSB Differential Linearity) 3 = 3 min + 1 LSB (4 LSB Differential Linearity) under program control. 4 = 2 min + 1 LSB (4 LSB Differential Linearity) C = Number of Channels 1 = Single Channel BUILT-IN-TEST (RESOLVER OPTIONS ONLY) — 4 = Four Channels Requires a user-supplied resolver input on the P2 connector *Contact the factory for velocity output, voltage scaling, and control transformer mode for loopback testing. Loopback testing applies only for (refer to ILC Data Device Corporation's Synchro Conversion Handbook, p. 105). single-ended signal input operation. Note the 11.8 V signal Connector Data input option can be jumpered to operate in a direct input Compatible Cable Connector AMP 747322-2 mode. Status LEDs are also provided to indicate a loss of Strain Relief Kit Type D signal and level of error for each channel. The accuracy of PC Board Connectors AMP 206584-1 loopback testing is limited (20 LSB) since the internal DC For Ordering Information, Call: 1-800-322-3616 or 1-256-880-0444 • FAX (256) 882-0859 reference voltage from the channel zero resolver module is E-mail: info@vmic.com Web Address: www.vmic.com used for all four channels during Built-in-Test operation. Copyright © January 1986 by VMIC Specifications subject to change without notice. VMIC ¥ 12090 South Memorial Parkway ¥ Huntsville, Alabama 35803-3308 1 VMIVME-4941 Register Addressing: S/R data (16 bits) and pitch SYNCHRO INPUTS counter (16 bits) can be read as a single 32-bit doubleword. All registers can also be accessed as 16-bit Reference Voltage Input: 4 to 130 VRMS words or 8-bit bytes. Reference Input Impedance: 110 k nominal, 100 K BOARD CONFIGURATION minimum, single-ended Board Address: The physical address for the board is Reference Input Frequency: See Table 2 determined by the setting of an 11-bit DIP switch. VMEbus address lines A05 through A15 are decoded for PHYSICAL/ENVIRONMENTAL board selection. Temperature Range: 0 to +55 ˚C, operating A15 to A5: Selected with DIP switches -20 to +85 ˚C, storage A4 to A0: Used for register selection (refer to Table 5) Relative Humidity Range: 20 to 80 percent, noncondensing RESOLVER INPUTS Cooling: Forced air convection Reference Voltage Input: 4 to 50 VRMS Power Requirements: +5 V at 2 A 1 Reference Input Impedance: 100 K, single-ended ±15 V (5 percent tolerance) at 100 mA Reference Input Frequency: 0.36 to 6 kHz (see Table 1) TRADEMARKS Signal Voltage Input: 2.0 VRMS for direct 2-wire SRTbus is a trademark and the VMIC logo is a input option (2.3 V maximum) registered trademark of VMIC. Other registered trademarks 11.8 V for differential 4-wire input option are the property of their respective owners. Signal Voltage Maximum without Damage: 15 V maximum, 110 V peak transient Signal Input Impedance: 80 kW 1. External power (±15 V) required. Table 1. Dynamic Characteristics for Resolver Option HIGH BANDWIDTH LOW BANDWIDTH RESOLUTION Bits RESOLUTION Bits 10 12 14 16 10 12 14 16 PARAMETER UNITS Input Frequency kHz 1 to 6 1 to 6 2 to 6 NR .36 to 6 .36 to 6 .36 to 6 2 to 6 Tracking Rate RPS† 800 200 50 12.5 200 50 12.5 3.2 Bandwidth Hz 530 530 530 530 130 130 130 130 2 K 1/sec 1.4 M 1.4 M 1.4 M 1.4 M 90 K 90 K 90 K 90 K a* A1* 1/sec 8 8 8 8 2 2 2 2 A2* 1/sec 178 K 178 K 178 K 178 K 45 K 45 K 45 K 45 K A* 1/sec 1,200 1,200 1,200 1,200 300 300 300 300 2 B* 1/sec 600 600 600 600 150 150 150 150 Accuracy - 1 LSB Lag °/sec 500 128 K 32 K 8 K 32 K 8 K 2 K 500 Settling Time msec 10 15 30 75 40 60 120 300 † = RPS minimum. NR = Not recommended (unit will jitter). *Refer to ILC Data Device Corporation's specification sheet on the RDC - 1920X modules. 2 For Ordering Information, Call: 1-800-322-3616 or 1-256-880-0444 ¥ FAX (256) 882-0859 VMIVME-4941 Table 2. Dynamic Characteristics for Synchro Option HIGH BANDWIDTH LOW BANDWIDTH RESOLUTION Bits RESOLUTION Bits PARAMETER UNITS 10 12 14 16 10 12 14 16 Input Frequency kHz .36 to 1 .36 to 1 .36 to 1 .36 to 1 .047 to 1 .047 to 1 .047 to 1 .047 to 1 Tracking Rate RPS† 160 40 10 2.5 40 10 2.5 0.62 Bandwidth Hz 53 53 53 53 13 13 13 13 2 K 1/sec 14.4 K 14.4 K 14.4 K 14.4 K 3.6 K 3.6 K 3.6 K 3.6 K a A1* 1/sec 0.4 0.4 0.4 0.4 0.1 0.1 0.1 0.1 A2* 1/sec 36 K 36 K 36 K 36 K 9 K 9 K 9 K 9 K A* 1/sec 120 120 120 120 30 30 30 30 B* 1/sec 60 60 60 60 15 15 15 15 2 Accuracy - 1 LSB Lag °/sec 17 K 4.2 K 1.1 K 260 1.1 K 260 66 17 Settling Time msec 110 110 200 500 550 600 750 1,100 † = RPS minimum. *Refer to ILC Data Device Corporation's specification sheet on the SDC - 190204 (Figure 17). Table 4. Synchro Signal Input Table 3. Synchro and Resolver Accuracy Versus Resolution VOLTAGE OPTION (SEE ORDERING OPTIONS) ACCURACY 10-bit 12-bit 14-bit 16-bit (MINUTES) 11.8 VL-L 90 VL-L –2 + 1 LSB 23.1 7.3 3.3 2.3 Common-Mode Range 25 V Maximum 180 V Maximum –3 + 1 LSB 24.1 8.3 4.3 3.3 Z Line-to-Line 52 kΩ 123 kΩ IN –4 + 1 LSB 25.1 9.3 5.3 4.3 Z Each Line-to-Ground 70 kΩ 180 kΩ–8 + 1 LSB 29.1 13.3 9.3 8.3 IN Table 5. Register Word Address Map* ADDRESS OFFSET BINARY REGISTER REGISTER CHANNEL A4 A3 A2 A1 A0 MNEMONIC FUNCTION NO. HEXADECIMAL 00 0 0 0 0 0 PC0 PITCH COUNTER 0 02 0 0 0 1 0 SRD0 S/R DATA 04 0 0 1 0 0 PC1 PITCH COUNTER 1 06 0 0 1 1 0 SRD1 S/R DATA 08 0 1 0 0 0 PC2 PITCH COUNTER 2 0A 0 1 0 1 0 SRD2 S/R DATA 0C 0 1 1 0 0 PC3 PITCH COUNTER 3 S/R DATA 0E 0 1 1 1 0 SRD3 CONTROL AND __ 10 1 0 0 0 0 CSR STATUS * Pitch counter and R/D Registers are concatenated on longword transfers such the pitch counter is read as the most significant word (D16 through D31). Pitch counters, R/D Registers, and CSRs are also byte addressable. VMIC ¥ 12090 South Memorial Parkway ¥ Huntsville, Alabama 35803-3308 3 VMIVME-4941 GND +15 VDC +15 VDC FROM P3 FIELD -15 VDC -15 VDC POWER AND CONNECTOR REF. VOLTAGE +5 VDC RH JUMPERING GND RL P2 * +15 VDC RH -15 VDC RL RH TO S/R CONVERTERS RL GND +5 VDC R/D DATA (TYPICAL) PITCH COUNTER DATA (TYPICAL) REGISTER CONTROL SELECT AND LOGIC CONTROL V 32 16 S/R R0 V CH 0 M 16 E b 32 S/R u R1 ADDRESS CH 1 16 s AND COMPARE LOGIC 32 S/R R2 16-bit CH 2 ADDRESSING P1 DATA 32 32 S/R TRANSCEIVERS 32 R3 CH 3 4 S/R CHANNELS 8-, 16-, OR 32-bit INPUT AND TEST 4 CHANNELS P3 DATA TRANSFER (ONLY) CONTROL QUAD S/R SINGLE CHANNEL S/R LOGIC INPUTS FROM FIELD INPUT FROM P2 BACKPLANE DC REFERENCE VOLTAGE (+5.5 V) FRONT PANEL BACKPLANE *VMIC's SRTbus™ or VMEbus P2 backplane. INPUT TEST MODE* P2 P3 Figure 1. VMIVME-4941 (+5.5 VDC) S1 Functional Block Diagram S4 S1 S4 SIN S2 S/R CH 0 COS S3 CONNECT CH0 SIN COS S1 S1 S4 SIN S1 S2 S4 S/R CH 1 COS CONNECT CH1 S4 S3 SIN SIN COS COS S1 S1 S4 SIN S2 S4 S/R CH 2 COS S3 CONNECT CH2 SIN COS S1 S1 S4 SIN S2 S4 S/R CH 3 COS S3 CONNECT CH3 SIN COS *One Control and Status Register (CSR) bit controls all connections to P2. Figure 2. Test Configuration 4 For Ordering Information, Call: 1-800-322-3616 or 1-256-880-0444 ¥ FAX (256) 882-0859