OPAL-RT TECHNOLOGIES
1751 Richardson suite 1060, Montréal QC Canada H3K 1G6
www.opal-rt.com

Legend

SPS WORKFLOW

Introduction

This firmware includes:

One eHS x64 Gen4 Solver
One Dual Permanent Magnet Synchronous Machines (PMSM-SH) model
Two Asynchronous Induction Machine (IM) models
One Analog Output Mapping and Rescaling (AOMR) module
One Analog Input Differential Rescaling (AIR) module
One Resolver and Encoder module

LoadIn/DataIn/DataOut mapping

	LoadIn	DataIn	DataOut
1	Config eHS	Inputs eHS	eHS Averaged
2	Scenario / Rst eHS = Status	TSDO 1 - eHS 0 to 7	eHS DownSample
3		TSDO 2 - eHS 8 to 15	Analog In 2A - 0 to 7
4	eHS PWM - 0 to 7	TSDO 3 - eHS 16 to 23	Analog In 2A - 8 to 15
5	eHS PWM - 8 to 15	TSDO 4 - eHS 24 to 31	Digital In 1A - 0 to 7
6	eHS PWM - 16 to 23	TSDO 5 - eHS 32 to 39	Digital In 1A - 8 to 15
7	eHS PWM - 24 to 31	TSDO 6 - eHS 40 to 47	Digital In 1A - 16 to 23
8	Config PMSM SH 1/2	TSDO 7 - eHS 48 to 55	Digital In 1A - 24 to 31
9	Config IM 1	TSDO 8 - eHS 56 to 63	PMSM SH 1/2
10	Config IM 2	TSDO 9 - eHS 64 to 71	IM 1
11			IM 2
12	Config AOMR
13	PWM 1B - 24 to 31		Resolver/Encoder 1/2
14	PWM 1B - 16 to 23		Encoder 1/2 Input on RS422
15	PWM 1B - 8 to 15	PMSM SH 1/2	PQ Estimation
16	PWM 1B - 0 to 7	IM1
17	Config eHS to Machines Mapping	IM1 Mtx
18	Config MechMux	IM2
19	Config Resolver/Encoder 1/2 Offset	IM2 Mtx
20	Config Resolver/Encoder 1/2
21	Config Resolver/Encoder 1/2 PhaseShift	AOMR/Analog Out 2B - 0 to 7
22	Config Encoder 1/2 Input on RS422	Digital Out 1B - SDO 24 to 31
23		Digital Out 1B - SDO 16 to 23
24		Digital Out 1B - SDO 8 to 15
25		Digital Out 1B - SDO 0 to 7
26	Config Encoder 1/2 Output on RS422	LEDs
27	Config AIR	Analog Out 2B - 8 to 15
28		eHS SWG
29		Encoder 1/2 Output on RS422

System Overview

Extensive I/O compatibility (Polymorphism)

Listed cards are compatible at the same location

Digital In Mezzanine
Compatible Mezzanine Modules
OP5353 32 Din
OP5351 32 Din TTL
OP5357 32 Din LVDS
OP5358-3 32 Din RS-422
OP5358-5 32 Din RS-422

Digital Out Mezzanine
Compatible Mezzanine Modules
OP5360-1 32 Dout
OP5360-2 32 Dout
OP5360-3 32 Dout
OP5352 32 Dout TTL
OP5359 32 Dout
OP5354 32 Dout
OP5355 32 Dout LVDS
OP5356-3 32 Dout RS422
OP5356-5 32 Dout RS422

Analog In Mezzanine
Compatible Mezzanine Modules
OP5340-1 16 Ain
OP5340-2 16 Ain

Analog Out Mezzanine
Compatible Mezzanine Modules
OP5330-3 16 Aout
OP5330-1 16 Aout

Expansion Mezzanine
Compatible Mezzanine Modules
OP5969-1 DIN/DOUT RS422 5V
OP5969-2 DIN/DOUT FIBER OPTIC

eHS solver

SPS WORKFLOW SPECIFIC

Connectivity

SPS WORKFLOW SPECIFIC

Source Type	Source Index	Source Name	Details
Input	0	CPU Input
	1	eHS Analog In	Slot 2A - Ch00-15
	2	PMSM SH 1/2	PMSM1 Ia/PMSM1 Ib
	2	PMSM SH 1/2	PMSM2 Ia/PMSM2 Ib
	3	Sine Wave Generator
	4	Induction Machine 1/2	IM1 Stator Ia/IM1 Stator Ib/IM1 Rotor Ia/IM1 Rotor Ib
	4	Induction Machine 1/2	IM2 Stator Ia/IM2 Stator Ib/IM2 Rotor Ia/IM2 Rotor Ib
Gate	0	CPU Gating Signal
	1	PWM
	2	Digital Input	Slot 1A - Ch00-31

SPS WORKFLOW SPECIFIC

To contextualize the Input and Gate Configuration table with this firmware configuration, the eHS firmware config tab must be configured with the following custom input source enumeration:

{'CPU Model',0,64;'Sine Wave Generator',3,32;'PMSM',2,4;'IM',4,8}

And this custom gate sources enumeration:

{'CPU Model',0,72;'Digital Inputs',2,32;'PWM',1,32}

Permanent Magnet Synchronous Machine (PMSM - SH) models

SPS WORKFLOW SPECIFIC

A total of two PMSM (SH) are available and are configured using the Dual PMSM SH block in the CPU model. The following communication ports need to be configured.

SPS Workflow - Dual PMSM Motors SH

Communication port configuration for the Dual PMSM (SH) block

	Dual PMSM Motors SH 1
Machine Label	PMSM 1	PMSM 2
Data In Port Number	15
Load In Port Number	8
Data Out Port Number	9

Induction Machine (IM) model

SPS WORKFLOW SPECIFIC

One IM is available and configured using the Induction Machine block in the CPU model. The following communication ports need to be configured.

SPS Workflow - Induction Machine

Communication port configuration for the Induction Machine (IM) block

	IM 1	IM 2
Data In Port Number	16	18
Data In Mtx Port Number	17	19
Load In Port Number	9	10
Data Out Port Number	10	11

Resolver and Encoder Outputs

SPS WORKFLOW SPECIFIC

There are resolver/encoder outputs that can be assigned to any of the motors. Resolver excitation can be configured either as internal or external.

The cpuhilsensors_lib/DualAngleSensors_wfaults Simulink block in the figure below is used for configuration of the Resolver/Encoder Out feature. Please refer to the block help and the User Guide for eHS & Machine package for further information.

SPS Workflow - Resolver/Encoder out configuration block

The mapping of the Resolver/Encoder out is achieved with the mapping block below. A total of 5 machine angles can be mapped to any of the 2 Resolvers/Encoders. Follows the correct configuration of the CPU block.

SPS Workflow - Resolver/Encoder mapping block

SPS Workflow - Resolver/Encoder mapping block configuration

Communication port configuration for the Resolver and Encoder block

	Resolver/Encoder 1/2
Load In Port Number	20
Offset Load In Port Number	19
PhaseShift Load In Port Number	21
Data Out Port Number	13

Connectivity (Input)

The signals received could be used as external carrier for machine resolver module.

Analog In - Slot 2A - Ch00-01

Communication port configuration for the Resolver and Encoder Mapping block

	Resolver/Encoder 1/2
Load In Port Number	18

Analog Output Mapping and Rescaling module (AOMR)

AUTOMATIC AND NOT VISIBLE IN SCHEMATIC EDITOR WORKFLOW

There is one AOMR block allowing to configure all 32 analog outputs.

AOMR Master Subsystem (SM) block

Communication port configuration for the Analog Output Mapping and Rescaling (AOMR) block

	AOMR - Slot 2B
Version	V1
Data In Port Number	21
Load In Port Number	12

AOMR Output

Index	Signal Source
0	Resolver 1 Sine
1	Resolver 1 Cosine
2	Resolver 2 Sine
3	Resolver 2 Cosine
4 .. 47	Not Used
48 .. 127	User Defined
128 .. 191	eHS Y01 to Y64

Analog Input Differential Rescaling module (AIR)

AUTOMATIC AND NOT VISIBLE IN SCHEMATIC EDITOR WORKFLOW

AIR block configures analog inputs for eHS.

AIR block

Communication port configuration for the Analog Input Differential Rescaling (AIR) block

	AIR - Slot 2A
Channels	Ch00-15
Load In Port Number	27

Analog In module (AI)

AI block reads signals from analog input channels on the simulator.

SPS Workflow - AI block

Communication port configuration for the Analog Input (AI) block

	Slot 2A
Channels	Ch00-07	Ch08-15
Data Out Port Number	3	4

Connector Pin Assignment

Please refer to your hardware documentation

Hardware Pin assignment

Analog Out module (AO)

AO block configures analog output channels on the simulator.

SPS Workflow - AO block

Communication port configuration for the Analog Output (AO) block

	Slot 2B
Channels	Ch00-07	Ch08-15
Data Out Port Number	21	27

Connector Pin Assignment

Please refer to your hardware documentation

Hardware Pin assignment

Digital In module (DI)

DI block reads signals from digital input channels on the simulator. It could be static, TSDI or PWMIn.

SPS Workflow - DI block

Communication port configuration for the Digital Input (DI) block

	Slot 1A
Channels	Ch00-07	Ch08-15	Ch16-23	Ch24-31
Data Out Port Number	5	6	7	8

Connector Pin Assignment

Please refer to your hardware documentation

Hardware Pin assignment

Digital Out module (DO)

DO block configures digital output channels on the simulator. It could be static, TSDO or PWMOut.

SPS Workflow - DO block

Communication port configuration for the Digital Output (DO) block

	Slot 1B
Channels	Ch00-07	Ch08-15	Ch16-23	Ch24-31
Data In Port Number	25	24	23	22
Load In Port Number	16	15	14	13

Connector Pin Assignment

Please refer to your hardware documentation

Hardware Pin assignment

Encoder Input module (ENC IN)

Encoder Input block reads signals from specific input channels on the simulator.

SPS Workflow - Encoder Input block

Communication port configuration for the Encoder Intput (ENC IN) block

	Slot 3A - RS422
Nb of Encoder Signals	2
Load In Port Number	22
Data Out Port Number	14

Connector Pin Assignment

Please refer to your hardware documentation

Hardware Pin assignment

Encoder Output module (ENC OUT)

Encoder Output block configures specific output channels on the simulator.

SPS Workflow - Encoder Output block

Communication port configuration for the Encoder Output (ENC OUT) block

	Slot 3B - RS422
Nb of Encoder Signals	2
Data In Port Number	29
Load In Port Number	26

Connector Pin Assignment

Please refer to your hardware documentation

Hardware Pin assignment