Documentation

Max RPS

The maximum rotational velocity. Units are RPS (revolutions per second). This port is enabled or disabled in the 'Input and output ports configuration' tab of this block's dialog box.

Position

The measured rotational position in radians. This port is enabled or disabled in the 'Input and output ports configuration' tab of this block's dialog box.

Velocity

The measured rotational velocity in revolutions per second RPS. This port is enabled or disabled in the 'Input and output ports configuration' tab of this block's dialog box.

Status

A bit field indicating test, signal, and reference statuses.

• Bit0: the status of the BIT (built-in tests procedure).

• Bit1: the signal status. If the signal is below 90% of the expected threshold, this flag is high.

• Bit2: the reference status. If the reference is below 90% of the expected threshold this flag is high.

This port is enabled or disabled in the 'Input and output ports configuration' tab of this block's dialog box.

Module ID

A unique module ID must be used for each type of IO421 module block in your model.

The module ID has two functions:

• It defines the logical connection to link the I/O module driver blocks with each other

• It also has an impact on the PCI slot auto-search feature: if only one I/O module is installed, the module ID must be set to 1. If multiple modules are installed, it must be in the range 1:n. Not all the I/O modules installed in the target machine need to be used

Slot

The carrier board can contain up to three sub-modules. This parameter indicates where is your IO421-1 located.

Active Channels

Select the active input/output channels in a vector. A defined number of channels can be selected using square brackets, for example [1 2 3]. A sequence of channels can be selected using a colon, for example, 1:4.

Sample Time

Defines the base sample time at which this driver block gets its sample hit. This parameter can also be set to -1 for inherited sample time. The units are in seconds.

PCI Slot (-1: auto-search)

There are two approaches for mapping this block to a specific I/O module installed in your target machine. All modules of the same type must be configured using the same method.

• Auto-Search: with the default value -1 the I/O module will be automatically located in the target machine. If you have multiple modules of the same kind, the Module ID defines which module is associated with this block. To see how each I/O module maps to a Module ID, use this Speedgoat API:

  speedgoat.getIoInterfaces("TargetName", "mySpeedgoat")

• Explicit Addressing: to explicitly define the logical address of the I/O module in the target machine, you can provide the PCI bus and slot numbers as a vector: [bus, slot]. To determine these numbers, run the following command in the MATLAB command window:

  speedgoat.getIoInterfaces("TargetName", "mySpeedgoat", "Advanced", true)

  Note that the PCI address can change whenever an I/O module is added or removed – usually, auto-search is the best option.

For all parameters in the table below you can either use a scalar value, which applies to all channels, or a vector which is mapped to the Channels vector.

Expected Signal Voltage VLL

This value is used in the internal signal detection circuit: When the measured signal input falls below 90% of this value, the signal status bit in the optional status output goes to its failure state.

Expected Reference Voltage VREF

This value is used in the internal signal detection circuit: When the measured reference (excitation) input falls below 90% of this value, the reference status bit in the optional status output goes to its failure state.

Bandwidth Vector

Enter the bandwidth for each channel which can individually be programmed between 6 [Hz] and 1280[Hz] (even numbers only). By selecting a value of 0 the sub-module automatically sets the bandwidth.

Ratio Vector (1-256)

Enter the desired ratio as an integer number corresponding to the pair of channels (CH 1&2 or CH 3&4) to be used for a two-speed or multiple-speed configuration. Example: Gear ratio 36:1 = integer 36. Values which can selected are 1-256, where 1 is for single speed. See Synchro/Resolver connection methods for an example.

High Resolution Vector

The resolution can be individually selected by channel. Select either '0' for 16-bit or '1' for 24-bit. Use 24-bit for two-speed configuration otherwise 16-bit.

Synchro Vector

The S/D measurement format can be individually selected for each channel. Enter a scalar or a vector having the same length as the Channels vector. Possible values are '0' for Resolver or '1' for Synchro.

Max RPS Vector

Enter the maximum measurable velocity (in revolutions per second) for each channel. This value sets the velocity scale for each channel. This value must be a scalar or a vector that is the same length as the Channels vector value.

Latch all Channels before Reading Position Data

Select this check box to guarantee that all channels are latched before being read. This ensures that all channels are sampled at the same time. Note that selecting this option incurs a small additional resource overhead.

Show Position Output

When this parameter is checked, an output port labeled "Position" is available. Its width is equal to channel count and the vector elements are ordered as they are defined by the channel vector. This output contains the linear position measured by the S/R module.

Show Velocity Output

When this parameter is checked, an output port labeled "Velocity" is available. Its width is equal to channel count and the vector elements are ordered as they are defined by the channel vector. This output contains the velocity measured by the S/R module.

Show Status Output

When this parameter is checked, an output port labeled "Status" is available. Its width is equal to channel count and the vector elements are ordered as they are defined by the channel vector. The status value is encoded in a 3-bit integer returned as a double and includes the following channel information:

• test status, weight of 0

• signal status, weight of 1

• reference status, weight of 2

Each status value is a binary value (0 = OK, 1 = FAILURE). The driver encodes these binary values into a single signal. For example, a status value of 6 (110) indicates that the test status is OK and both signal status and reference status are FAILURE. If the board does not provide a reference/excitation, the test status and reference status have no meaning.

Show Input Port for Dynamic Max RPS

Select this check box to display an input port for all channels to be used for specifying the maximum RPS dynamically. When you select this check box, the input port signals are internally limited to between 11.9209 and 190.7348 RPS.