ePC-1100 User Manual ()
Contents
1. D O O O O 5 Ground E 6 Data Set Ready F 6 7 9 J Request To Send G 8 Clear To Send H 9 Ring Indicator J CAN 12 3 4 5 Connector D Sub 9p Military Bayonet 10p Oo O O Pin Lay Out 2 CAN Low B O O O dO j CAN Shield E 7 CAN_High G 6 7 8 9 2 INSTALLING YOUR EPC 1000 2 1 Introduction EPC is a convenient device for Embedded Control Development System It has GX 1 300 MHz onboard processor with low power fanless performance The stable Geode processor with onchip PCI VGA and Intel I82559ER high performance Ethernet chip provide power and functionality EPC also has a stacked CAN bus board with two CAN cards It has the provision for stacking additional I O boards which greatly enhances the range of real time applications The EPC is a solution for prototyping testing and deploying real time systems using standard PC hardware It 1s an environment that uses an EPC a host PC and a CAN bus for running real time applications A Typical fully operational EPC set up looks like below It has an EPC with or without a Host computer and a CAN Bus Additional I O boards can be stacked for customizing the EPC for your local needs EPC is compatible with XPC Target software from Matlab Matlab requires a valid user license Figure shows a Hardware setup for Embedded Control Development System Embedded PC Control Logic Software download monitor debug RS 232 USB Ethernet Developmen2. Disk RAM BIOS Serial Port Ethernet Interface CAN Bus Digital I O Option OS Operating Temperature Operating Humidity 12VDC 110VAC Adapter included 2 0 5 5 mm Circular power jack 5 5 X 5 5 X 6 25 inches On board NS GX1 300 processor Embedded low power NS Geode GX1 300 MHz processor Different cou boards available 64 MB Compact Flash Different sizes available 64 Mbytes SDRAM Upgradeable to 128 MB AWARD 256 KB Flash memory One RS 232 Intel 82559 chipset 10 100 Mbps RJ45 standard connector CAN AC2 104 from Softing Two D Sub 9 pin connectors 10 1000 kbit s transfer rate Diamond DMM 32 AT PC Dos 7 Different OS Available 40 to 85 Celsius 0 to 90 relative humidity noncondensing Additional PC 104 cards including Analog and Digital I O can be added into EPC 1000 Please contact us for your requests and available options Different connector options are available Ask us about rugged military version 1 3 Connection Ports and Cables Industrial Connectors Military Connector Options jj Power A BA Connector 2 0 5 5mm jack Military Bayonet 3p Cable Cigarette Lighter Plug for 12VDC incl AC Adapter for 1 10VAC incl Ethernet Connector RJ45 Cable Crossover between 2 PCs RS232 Connector D Sub 9p Military Bayonet 10p P23 4 5 Pin Lay Out 1 Data Carrier Detect A 2 Receive Data B A 3 Transmit Data C 4 Data Terminal Ready
3. EPC 1000 Embedded PC Controller User Manual Servo Tech Inc 1747 W Roosevelt Rd Suite 110 Ph 312 355 4853 Fax 312 355 2021 Chicago IL 60608 www setvotechinc com TABLE OF CONTENTS LABOU OU PCH1O00 seein a S a 3 Lele Egu pme iessen EE TO 3 122 Fechnical SPCCliICAtiONS enner a EEEa 4 1 CONNE CON Pons and Cable Seeerei rra ETSAN 5 2 installing YoUr EPC TOOU uteaccissnatrnt iain A N E 6 Dl lntrodu Oera N EA 6 22 Hardwire Reg nements soreneinanis n aae AAEE 7 2 5 SOLtW are KEGUre MENIS sussurra a A 7 3 Using Y our EPC TOOO ss osc ontaveteteckessaesenaonestiarsnnioneuaienseniennssteesemioneadessoent 8 Sik Communication With TMOSt PCere aa a e Ea 8 Dic GUD E crip aaa dda eaters EEO TEE E N E A EE E 8 o OY SUSI CS 6 soit eaters aan E E E ees E een sauce athe enmen laa T 9 3 4 Creating an Executable Target EPC Application cece cece eee cues 10 A JE XAMDICS Sea E E baat E E E E E 12 4 1 Application Using Two EPC 1000s with CAN Bus Card 0 000 12 4 2 Application Using EPC 1000 with CAN Bus Card and Cat ABL Box 13 4 3 Analog and Digital I O Application Using Diamond DMM 32 AT Card 15 5 Contact Information eeesunnnnnneesseeeerrrnnnnnnseeerrrernrrnsnsssereerrrrrrrreeseserr 17 1 ABOUT YOUR EPC 1000 1 1 Included Equipment EPC Main Unit AC Adapter for 1LOVAC 1 2 Technical Specifications Power Input Dimensions CPU Solid State
4. appropriate boot floppy disk 3 3 System Test In the MATLAB command prompt type gt gt xpctest MATLAB runs the test script and displays messages indicating the success or failure of a test If you use RS232 communication the first test is skipped gt gt xPC Target Test Suite 2 0 1 gt gt Host Target interface is TCP IP Ethernet gt gt Test 1 Ping target system using standard ping OK gt gt Test 2 Ping target system using xpctargetping OK gt gt Test 3 Reboot target using direct call OK gt gt Test 4 Build and download xPC Target application OK gt gt Test 5 Check host target communication for commands OK gt gt Test 6 Download xPC Target application using OOP OK gt gt Test 7 Execute xPC Target application for 0 2s OK gt gt Test 8 Upload logged data and compare with simulation OK gt gt Test Suite successfully finished Ping Target System xPC Target Ping test This test is an xPC Target ping to your target computer If this test fails try troubleshooting with the following procedure At the MATLAB Command prompt type gt gt tg xpc Check the messages in the MATLAB window MATLAB should respond with the following message xPC Object Connected Yes Application xpCosc Mode Real Time Single Tasking Status stopped CPUoverload none At the Matlab command prompt type gt gt Xpctargetping Mat
5. d output components Function generator Display Scope etc for the purpose of debug and analysis 3 Provide I O to Simulink blocks using Input and Output which will be connected to Diamond DMM AT 32 board 4 Build and download the target application using the above Diamond blocks 5 Run and monitor the model 16 5 CONTACT INFORMATION For any questions please contact us Address Servo Tech Inc 1747 W Roosevelt Rd Suite 110 Chicago IL 60608 Phone 312 355 4853 Fax 312 355 2021 Web www servotechinc com 17
6. lab displays the following message ans SUCCESS If the connection is resumed Connected Yes then the connection is all right If the connection is timing out consistently for a particular model then the time out needs to be increased If all of the tests were successful you are ready to build and download a target application to the EPC 3 4 Creating an Executable Target EPC Application Host Target Communication Typical steps involved in developing xPC code are as follows 1 Download a target application from the host PC to the EPC computer 2 Control Change properties and control the target application This includes starting and stopping the target application changing sample and stop times and getting information about the performance of the target application through the communication link between host PC and EPC 3 Parameter values Download parameter values to the EPC computer between runs or during a run 4 Signal data Save real time signal data and upload signal data from EPC to host PC for analysis after the target application is finished running or view signal data during the run Creating a real time target application for a loopback or signal acquisition test 1 Before starting any model in xpcsetup window select the appropriate mode for the xPC target embedded option the type of host target connection and its related properties Click the update and boot floppy buttons 2 Create a simple model i
7. n Simulink like a second order system with a Sin wave input Add blocks like gain and Mux from Simulink and CAN bus blocks setup send and receiver from xPC Target Then set the properties for these selected blocks 3 Enter and select parameters in the Simulation Parameters dialog box 4 Add an xPC Target Scope block to visualize signals while running the target application you can add as many target scopes as you want in order to monitor various signals on your target PC 5 Enter scope parameters in the Block Parameters dialog box before building the target application 6 At this stage you can include any custom C code files and any xpc target drivers for your PC 104 interfaces into your model 7 From Real Time workshop tab pick xPC target for target configuration and select all necessary options Click the Build button This will create and download the target application on to your EPC CAN AC2 104 B1 CAN TS CAN 2 Standard Extended Setup Target Scope CAN AC 104 51 CAH AC 104 B1 50 CAN 1 Send CAN 2 Receive 50 Standard 11bit Standard 11bit Id 1 Sine Wave Scope xPC a Send Receive Figure shows a Simulink model for a loopback test on EPC with CAN bus After the compiling linking and downloading process a target object is created in your MATLAB workspace Now you can start running and controlling the model to check Signal Acquisition 10 11 4 EXAMPLES 4 1 Can Bus Application U
8. oad the target application on to your EPC using Real Time Workshop 6 Run the target application by using host PC and monitor the outputs RPAG Contig RPAC ACY 104 B P1 BaudRate 250 kBaud PY BaudRate 250 kBaud RPAC Readivrite 10 Figure 3 shows Simulink model using EPC with CAN bus and ABL2CS V3 I O s 4 3 Analog and Digital I O Application 3 Analog and Digital I O application using Diamond DMM 32 AT card Software Here we use the same software tools Use the following paths to get into the Diamond board blocks Matlab Simulink xPC Target A D Diamond MM 32 Analog Input Matlab Simulink xPC Target D A Diamond MM 32 Analog Output Matlab Simulink xPC Target Digital Input Diamond MM 32 Digital Input Matlab Simulink xPC Target Digital Output Diamond MM 32 Digital Output The following table lists the additional hardware required for this application Hardware Description Analog I O DMM 32 AT from Diamond systems Optional on EPC Digital I O 1000 Oscilloscope 2201 Analog Digital storage oscilloscope from Tektronix 15 Oscilloscope Tmk Se a 6S Host Computer Oscilloscope Figure 1 shows hardware setup for Diamond DMM 32 AT board I O s 1 Connect the Laptop to the EPC using RS232 TCP IP communication and hook up the Diamond board with the Oscilloscopes in order to complete hardware setup 2 For real time implementations remove all input an
9. sing Two EPC 1000s Software and Hardware The same hardware and software as in chapter 3 is used in this section 1 Connect the hardware between the host PC and the two EPC s using TCP IP or RS232 communication 2 Now connect the CAN ports cards using a gender changer or null modem cable accordingly as shown below 3 Use two different base addresses for each of the CAN buses pick values of 0X240 and OX300 4 Build and download a target application modell on EPC1 and model2 on EPC2 5 Using the host PC run the target application on each EPC and then monitor the output 6 Time lag or synchronization is not an issue between the two EPC s when dealing with the CAN signals The following is the hardware setup for a loop back test Host Computer Figure 1 shows CAN Bus application using Two EPC s with CAN Bus card 12 model CAN AC2 104 B1 model2 CAN 4C2 104 B1 CAN 1 CAN 3 Standard Extended CAN 1 SCAN 2 Standard Extended CAN AC 104 B1 0 CAN 1 Send CAN 4c2 104 B41 Standard 11bit Target Scope aie CAN 1 Feceive 50 Id 1 Standard 11bit Receive Scope xP 3 Target Scope Id 5 Scope xPC 1 Figure 2 shows Simulink model1 and model2 for a loopback test using two xpc s with CAN bus 4 2 Can Bus Application Using EPC 1000 and CAT ABL Box Software In addition to the above mentioned software tools we also need Cat_utilites toolboxes in order
10. st have a network adapter card correctly installed on the host PC EPC already has an onboard Ethernet adapter Connect the host and target computers with an unshielded twisted pair UTP cable to your local area network LAN You can directly connect host and target PCs with a crossover cable 3 2 Setup EPC is set up for Dosloader mode by default At the Matlab command prompt type gt gt xPCsetup Then in EPC setup window as shown below make the following selection CCompiler Visualc CompilerPath C Program Files Microsoft Visual Studio CANLibrary PC104 Target scope Enabled xPC target embedded option Dosloader For RS232 Select HostTarget com RS232 RS232HostPort COM1 COM2 Pick default values RS232Baudrate 115200 Pick default values The recommended I O base address for the CAN bus 1s 0X240 large Seim ae joj PC Target Wersiom RS232HostPort F F Dr Compiler RS2326audr 15200 xj R8232 CompilerPath program filestrni agetaddres i2 T00 il paana MER anlv TargetRAMSire Auto 2222 MaxModelaze fime ToplpSup Neth ae a ar Top Gateway 255 256 256 255 SystemFPontSiz Smal a Pein E ToplpTangetDnve 182559 ToplpTargetBus Iy xPC Target Embedded For TCP IP communication ONnIV TargetBoot Bice an 2 Then click the Update button to update system environment and the boot floppy button in order to create the
11. t ECM Programming Cable DUS Real time In this configuration Electronic Control Module ECM acts as I O mapping device between I O signals and CAN bus EPC reads input signals from CAN bus executes the control logic and writes the output onto the CAN bus 2 2 Hardware Requirements Host PC can be a notebook or desktop computer The following table lists the minimum resources required on the host PC Hardware Description CPU Pentium Athlon or later Peripherals Hard disk drive with 60 Mbytes of free space One 3 5 inch floppy disk drive CD ROM drive RAM 128 Mbytes or more Communication One free serial port COM1 or COM2 with a 9 pin serial cable or an Ethernet card with a cross over cable 2 3 Software Requirements The following table lists the minimum software required on your host PC Software Description Operating system Microsoft Windows XP SP1 or Windows 2000 MATLAB Version 6 5 1 199709 R13 Service Pack 1 Simulink Version 5 1 R13SP1 Real Time Workshop Version 5 1 R13SP1 Stateflow optional Version 5 1 1 R13SP1 State Flow Coder optional Version 5 1 1 R13SP1 xPC Target Version 2 0 1 R13SP1 xPC Target Embedded optional Version 2 0 1 R13SP1 C language compiler Microsoft Visual C C version 5 0 or higher 3 USING YOUR EPC 1000 3 1 Host PC Communication RS 232 communication uses a null modem cable and COM ports of the host and target PCs For TCP IP communication you mu
12. to run the ABL Box RPAC Rapid Prototyping for Automatic Controls is a Matlab Simulink library to support ABL2CS in this configuration The following table lists the I O hardware boards Hardware Description CAN BUS CAN AC2 104 from Softing ABL Box ABL2CS V3 from Caterpillar PIN selection on ABL Box CAN_L J1 6 CAN_H J1 18 CAN _S J1 19 INPUT TO ABL SWITCH6 J1 45 INPUT TO ABL SWITCH6 J2 56 OUTPUT FROM ABL to bulb connector J2 64 9 OUTPUT FROM ABL to bulb connector J2 52 10 POWER TO ABL J2 70 11 POWER TO ABL J2 69 12 key switch for ABL Box JI 58 o U A WN FR 13 Power Converter f is an i Switch Host Computer Multimeter ABL Box Testing Lamp Figure shows the hardware setup for ABL2CS V3 I O s KEY SWITCH ies BATTERY J2 69 J2 70 J1 58 J2 64 J145 ABL2CSv2 ECM J256 J2 52 Figure 2 shows pin and circuit connections of ABL Box PWM driver outputs 1 This test model has an on off switch multimeter and a lamp to test the various I O s Complete the hardware setup and pin circuit connections as shown above 14 2 Set the I O base address for the CAN bus as 0X240 when using EPC with ABL box and never change it 3 Using RPAC toolbox select RPAC_Config and RPAC_ReadWrite_IO blocks then complete I O connections as shown below 4 Add a gain block and a program with stateflow logic to turn switch on off 5 Build and downl
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