Single-Board Hardware
DS1103 PPC Controller Board
Software Support
 DS1103 Real-Time Library
(included)
 Experiment and Platform
Manager for hardware
management (included)
 Programming from Simulink with
Real-Time Interface (RTI, p. 70)
 RTI CAN Blockset (p. 84)
 Microtec C Compiler for
PowerPC (p. 87)
 Experiment Control with
ControlDesk (p. 88) and
MLIB/MTRACE (p. 102)
Real-Time Interface provides
Simulink blocks for convenient
configuration of items such as A/D,
D/A, digital I/O lines, incremental
encoder interface and PWM
generation.
132
2003 Catalog 2003 • dSPACE • Technologiepark 25 • 33100 Paderborn • Germany • info@dspace.de • www.dspace.de
Top-of-the-Class in
Single-Board Solutions
 Single-board system with comprehensive I/O
 PowerPC 604e running at 400 MHz
 Slave DSP TMS320F240 with additional I/O
 Incremental encoder interface
 Applications in drives, vibration control,
automotives and robotics
The DS1103 is designed to meet the requirements of modern function
prototyping. The controller board provides more power and I/O than any other
single-board system so far. To avoid any development constraint, the DS1103
is equipped with a PowerPC processor for fast floating-point calculation at
400 MHz.
The unparalleled number of I/O interfaces makes the DS1103 PPC Controller
Board an all-rounder in rapid control prototyping. Digital I/O is included as
well as 36 ADC channels and 8 DAC channels. For special I/O tasks, a DSP
controller unit built around Texas Instruments’ TMS320F240 DSP is integrated
as a subsystem. The DSP is perfectly suited to drive applications, since it was
specifically designed for these purposes, and provides functionality such as
three-phase PWM generation, to mention just one example.
In robotics applications, six digital incremental encoder interfaces make the
design process with the DS1103 extremely convenient. For designing electrical
drive controls, a tacho controller is used for easy analysis of digital and analog
incremental position signals.
Moreover, an integrated Infineon CAN microcontroller makes the board an
attractive tool for automotive and automation applications.
 DS1103 PPC Controller Board

Fields of Application
 Induction motor control
 Robotics
 Controlled frequency converters
 Positioning systems and stepper motors
 Robot control development for robots with up to 6 joints
 Rapid control prototyping for automotive controllers,
e.g., ABS or steering
 Servohydraulics
 Electric actuators
 Active vibration control

Application Example: Robotics

The DS1103 provides six digital incremental encoder interfaces, which is sufficient
to pick up all movements of a six-joint robot. Thus, this cost-effective single-board
hardware makes it possible to perform rapid prototyping in robotics.

In this example, the DS1103 replaces your position controller. The easy
programmability of the DS1103 enables you to implement and test different
control algorithms very quickly, which reduces design iteration times to
a minimum.

The real-time system picks up the robot’s six incremental encoder values in order
to determine the current robot position. Comparing this data with the reference
value, the DS1103 calculates the control algorithm and sends the controller
output information back to the robot. Possible output values are positions or
velocities, to name some examples.

The reference values are calculated in real-time, even for inverse kinematics
with highly non-linear functions. External sensors might be included, such as
axis-force momentum sensors. With the PPC Controller Board you can also
comfortably execute trajectory planning or advanced algorithms for collision
avoidance. The prototyping hardware allows for easy parameter change and
modification, without any hardware setup changes.

133
Catalog 2003 • dSPACE • Technologiepark 25 • 33100 Paderborn • Germany • info@dspace.de • www.dspace.de 2003
 Single-Board Hardware

Technical Details
Main Processor
 PowerPC 604e / 400 MHz
 Superscalar microprocessor
 10.1 SPECfp95, 15.9 SPECint95
 3 integer units, 1 floating-point unit
 2 on-chip timer units
 32 KByte instruction cache, 32 KByte data cache
 Fast out-of-order instruction execution

Timers
 2 general purpose timers

Real-Time Interface Execution Memory

Times for I/O blocks **)  2 MByte local SRAM as program memory, cached, no wait states
all  128 MByte global DRAM for data storage and data exchange with host
1 channel channels
Analog Interrupt Control Unit
Input 16 bit 4 µs 18.3 µs

Analog  Interrupts by host PC, CAN, slave DSP, serial interface,

Input 12 bit 1 µs 2.7 µs
incremental encoders and 4 external inputs (user interrupts)
Analog  PWM synchronous interrupt
Output 0.2 µs 1 µs

Incremental Analog Input

Encoder 0.8 µs 11.7 µs
Interface  4 ADC units 16-bit, multiplexed (4 channels each), sample & hold,
Digital I/O 4 µs sampling time (for 1 channel) *)
(in/out) (0.2/0.2 µs) (0.5/2 µs)
 ±10V input voltage range
*) Speed and timing specifications describe the capabilities
of the hardware components and circuits of our products.  > 80 dB signal-to-noise ratio
Depending on the software complexity, the attainable
overall performance figures can deviate significantly from  4 channels 12-bit, sample & hold, 800 ns sampling time *)
the hardware specifications.
 ±10V input voltage range
**) Execution times are the times required by the real-time
processor to execute the real-time code for the relevant  > 65 dB signal-to-noise ratio
I/O block generated by Real-Time Interface.

Analog Output
 8 channels 14-bit
 5 µs settling time
 ±10V output voltage range

Incremental Encoder Interface

 6 channels digital input
Order Number
 Digital noise pulse filtering
DS1103 PPC Controller Board
 Max. 1.65 MHz input frequency, i.e. fourfold pulse counts up to 6.6 MHz
 DS1103
 Analog input with TC 3005H controller
Connector Panel (p. 140)
 CP1103 Digital I/O

Combined Connector/LED Panel  4 channels 8-bit digital I/O port

(p. 140)  Individually programmable channels
 CLP1103
Serial Interface
RTI CAN Blockset
 RS232 and RS422 transceiver support
 RTI CAN Blockset (p. 84)
 Baud rate generator up to 1 MBaud

134
2003 Catalog 2003 • dSPACE • Technologiepark 25 • 33100 Paderborn • Germany • info@dspace.de • www.dspace.de
 DS1103 PPC Controller Board

CAN Interface
 Infineon 80C164 microcontroller
 ISO 11898 transceiver, 1 MBaud max.
Clock frequency generator 10-20 MHz
4 kWord of dual-port memory

Slave DSP Subsystem

 Texas Instruments’ DSP TMS320F240, 20 MHz,
designed for motor control
 Independent subsystem
 4 kWord of dual-port RAM
 Support of symmetric/asymmetric PWM and space vector modulation
 Three-phase PWM outputs plus 4 single PWM outputs
 4 capture inputs
 2 low-resolution ADC units for auxiliary purposes, sample & hold,
8 inputs each, 10-bit, 6.6 µs sampling time *)
 18 bits digital I/O (TTL), individually programmable

Physical Characteristics
 Power supply 5 V, 6 A / -12 V, 250 mA / 12 V, 750 mA
 Operating temperature 0 to 50 °C (32 to 122 °F)
 Overtemperature sensor
 Requires a full-length 16-bit ISA slot
 I/O connection via 3 x 100 high-density connectors
(via two additional ISA slots)
 Supports Plug & Play BIOS

135
Catalog 2003 • dSPACE • Technologiepark 25 • 33100 Paderborn • Germany • info@dspace.de • www.dspace.de 2003