dSPACE CLP1104 Manual 201663013420

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DS1104 R&D Controller Board
Hardware Installation
and Configuration
For DS1104 and CP1104/CLP1104 Connector

Panels
Release 4.1 – March 2004
dS
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How to Contact dSPACE
Mail: dSPACE GmbH

Technologiepark 25
33100 Paderborn
Germany
Tel.: +49 5251 1638-0
Fax: +49 5251 66529
E-mail: info@dspace.de
Technical Support: support@dspace.de
+49 5251 1638-941
Web: http://www.dspace.de
Subscription to e-mail newsletter: http://www.dspace.de/goto?SupportNewsletter
How to Contact dSPACE Support

dSPACE recommends that you use dSPACE Support Wizard to contact dSPACE support.
It is available
• On your dSPACE CD at \Diag\Tools\dSPACESupportWizard.exe
• Via Start – Programs – dSPACE Tools (after installation of the dSPACE software)
• At http://www.dspace.de/goto?supportwizard
You can always find the latest version of dSPACE Support Wizard here.
Software Updates and Patches

dSPACE strongly recommends that you download and install the most recent patches for
your current dSPACE installation. Visit http://www.dspace.de/goto?support for software
updates and patches.
Important Notice
This document contains proprietary information that is protected by copyright. All rights
are reserved. Neither the documentation nor software may be copied, photocopied,
reproduced, translated, or reduced to any electronic medium or machine-readable form, in
whole or in part, without the prior written consent of dSPACE GmbH.
© Copyright 2004 by:
dSPACE GmbH
Technologiepark 25
33100 Paderborn
Germany
This publication and the contents hereof are subject to change without notice.
Brand names or product names are trademarks or registered trademarks of their respective
companies or organizations.
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Contents
Documentation Overview 7
Documentation Types ........................................................................ 8
About This Document .....................................................................10
Related Documents .........................................................................11
Introduction to the DS1104 13

Hardware ........................................................................................14
Software .........................................................................................16
Safety Precautions 17
Safety Precautions for Installing and Connecting the Hardware ...18
Safety Precautions for Using Connector Panels............................19
Before You Start 21

Installation and Configuration Overview ..........................................22
Checking the System Requirements.................................................24
Installing the Hardware 25

How to Install the DS1104............................................................... 26
Connecting a Connector Panel to the Board....................................28
How to Connect a Panel (CP, CLP) to a Board..............................29
How to Mount a Panel in a 19'' Rack..........................................30
Verifying the System 31

How to Run ControlDesk.................................................................32
How to View the Board Properties ...................................................34
How to Verify the Installation ..........................................................37
Updating the Firmware....................................................................38
How to Update the Firmware......................................................40
DS1104 Hardware Installation and Configuration March 2004 3

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Implementing and Handling Applications 41

Implementing Models ..................................................................... 43
Implementing Simulink Models Using Real-Time Interface........... 44
How to Implement C Models...................................................... 49
Handling Real-Time Applications ..................................................... 50
Basics of Booting the DS1104..................................................... 51
How to Handle Applications for the Global Memory ................... 53
How to Handle Applications for the Flash Memory ..................... 55
How to Use Scoutcmd to Load and Start Applications ................ 58
Experimenting with ControlDesk ..................................................... 59
How to Generate the Required Files............................................ 60
How to Use ControlDesk ............................................................ 61
Connecting External Devices to the dSPACE

System 71
How to Connect External Devices to a Board................................... 72
How to Connect External Devices to a Connector Panel .................. 74
Uninstalling the System 75

How to Remove the Hardware ........................................................ 76
Connector Pinouts and LEDs 77

Board Overview .............................................................................. 78
DS1104 Connectors........................................................................ 80
I/O Connector (P1)...................................................................... 81
Master PPC Debug Connector (P2) ............................................. 85
Slave DSP Debug Connector (P3) ................................................ 86
Slave DSP Flash Jumper (J1) ........................................................ 87
CP1104/CLP1104 Connectors ......................................................... 88
BNC Connectors (CP1 … CP16).................................................. 91
Digital I/O Connector (CP17) ...................................................... 92
Slave I/O PWM Connector (CP18) ............................................... 94
Incremental Encoder Interface Connectors (CP19, CP20) ............ 96
UART RS232 Connector (CP21) .................................................. 98
UART RS422/RS485 Connector (CP22) ....................................... 99
CLP1104 LED Assignments............................................................ 100
Mapping of I/O Signals 101

Conflicting I/O Features................................................................. 109
4 DS1104 Hardware Installation and Configuration March 2004

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Signal Connection to External Devices 119

Analog Inputs ............................................................................... 120
Input Circuit and Electrical Characteristics ................................. 121
Notes and Tips on Signal Conditioning ..................................... 121
Analog Outputs............................................................................. 122
Output Circuit and Electrical Characteristics .............................. 123
Bit I/O ........................................................................................... 125
I/O Circuit and Electrical Characteristics..................................... 126
Incremental Encoder Interface ....................................................... 129
Input Circuit and Electrical Characteristics ................................. 130
Serial Interface .............................................................................. 136
Connecting RS232 Devices ....................................................... 137
Connecting RS422/RS485 Devices............................................. 138
Slave DSP Digital I/O ...................................................................... 142
I/O Circuit and Electrical Characteristics..................................... 143
General Notes and Tips on Signal Conditioning ............................. 146
Grounding and Shielding .......................................................... 147
Avoiding Crosstalk .................................................................... 151
Wiring Up External Devices ....................................................... 152
ADC Performance of dSPACE Boards ........................................ 153
Data Sheets 157

DS1104 Data Sheet .................................................................. 158
CP1104 Data Sheet .................................................................. 161
CLP1104 Data Sheet................................................................. 161
Troubleshooting 163
Checking the DS1104............................................................... 164
Problems with Multiple Plug & Play Boards................................ 165
Checking the Host PC............................................................... 168
Problems Related to the Firmware............................................. 168
Index 169

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Documentation
Overview
dSPACE offers different types of documents: see Documentation Types

on page 8.
For a brief description of this document, see About This Document on
page 10.
For more information on the documents that are available when you
work with the DS1104 R&D Controller Board, see Related Documents
on page 11.

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Documentation Types
After you install your dSPACE system, you can access the entire
documentation as online help or printable Adobe PDF files. You will
also receive a printed version of some important documents.
dSPACE HelpDesk
The dSPACE HelpDesk is your primary source of information on both
the hardware and the software of your dSPACE system.
To open dSPACE HelpDesk

➤ Select dSPACE HelpDesk from the dSPACE Tools program group
of the Windows Start menu.
From each HelpDesk page, you can easily search and navigate to the
desired information. You also have direct access to printable
Adobe PDF files: see How to Work with dSPACE HelpDesk in the
dSPACE HelpDesk.

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▼ Documentation Overview ▲
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N Only the documents of the products installed on your system are

available. The entire product documentation is available if you open
the HelpDesk on the dSPACE CD.
HelpDesk structure The structure of the documents in the HelpDesk reflects the different
phases of your work:
■ Installation and Configuration
■ Implementation
■ Experiment and Test
■ Production Code Generation
■ Calibration
The topics that are shown depend on your dSPACE system.
Context-sensitive help When you work with any dSPACE software, you can get
context-sensitive help via the F1 key and/or Help button.
PDF Files
All documents are also available as printable Adobe PDF files in the
%DSPACE_ROOT%\Doc\Print folder: see How to Work with dSPACE
HelpDesk in the dSPACE HelpDesk.
Printed Documents
You will receive a printed version of the documents that are essential
for working away from your PC.

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About This Document

This document will show you the installation of the DS1104 R&D
Controller Board and CP1104/CLP1104 Connector Panels.
It describes the hardware installation procedure, shows how to
configure the system, and explains how to get started with your
dSPACE system using an appropriate example. It also gives you
information about connecting external devices to the dSPACE system.
Knowledge in handling the host PC and the Microsoft Windows
operating system is presupposed.
Legend
The following symbols are used in this document.
C Warnings provide indispensable information to avoid severe damage

to your system and/or your work.
N Notes provide important information that should be kept in mind.
T Tips show alternative and/or easier work methods.
E Examples illustrate work methods and basic concepts, or provide

ready-to-use templates.

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▼ Documentation Overview ▲
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Related Documents
The following provides a list of documents that you are recommended
to read when working with the DS1104:
Software Installation ■ dSPACE Software Installation and Management Guide provides
and Management detailed instructions on installing and handling the dSPACE
software. It also shows you how to manage dSPACE licenses.
Features ■ DS1104 Features provides feature-oriented access to the
information you need to implement your control models on your
real-time hardware.
RTI and RTI-MP ■ RTI and RTI-MP Implementation Guide gives detailed information
and instructions on how to use Real-Time Interface (RTI and
RTI-MP) to implement your control models.
■ RTI and RTI-MP Implementation Reference offers reference
information on the various dialogs, files, options, etc. of Real-Time
Interface (RTI and RTI-MP) for dSPACE systems. It also describes the
blocks introduced by RTI-MP.
■ DS1104 RTI Reference provides concise information on the board’s
RTI library.
RTLib ■ DS1104 RTLib Reference provides detailed descriptions of the
C functions needed to program RTI-specific Simulink S-functions or
implement your control models manually via C programs
(handcoding).
ControlDesk Standard ■ ControlDesk Experiment Guide introduces you to the experiment
features provided by ControlDesk Standard.
■ ControlDesk Automation Guide shows you how to automate the
features provided by ControlDesk Standard.
■ ControlDesk Reference, ControlDesk Instrument Reference and
ControlDesk Automation Reference provide detailed information
on the menus, context menus, dialogs and Python libraries
contained in ControlDesk Standard.
AutomationDesk ■ AutomationDesk Automation Guide introduces you to the
automation features provided by AutomationDesk.
■ AutomationDesk Tutorial has several lessons that guide you
through using AutomationDesk.

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■ AutomationDesk Reference provides detailed information on the

menus, context menus, and dialogs contained in AutomationDesk.
■ AutomationDesk Library Reference provides detailed information
on the libraries supported by AutomationDesk.
Interface libraries ■ MLIB/MTRACE MATLAB-dSPACE Interface Libraries contains
detailed reference information and instructions on the experiment
features of MLIB/MTRACE.
■ CLIB C Interface Library contains detailed reference information on
the C Interface Library CLIB, which contains C functions to access
the dSPACE processor and controller boards from the host PC.

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Introduction to the
DS1104
The dSPACE system based on the DS1104 R&D Controller Board

comprises hardware and software.
■ For a short introduction to the hardware components of the
DS1104, refer to Hardware on page 14.
■ For information on the software, refer to Software on page 16.

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Hardware
The DS1104 R&D Controller Board is a standard board that can be
plugged into a PCI slot of a PC. The DS1104 is specifically designed for
the development of high-speed multivariable digital controllers and
real-time simulations in various fields. It is a complete real-time control
system based on a 603 PowerPC floating-point processor running at
250 MHz. For advanced I/O purposes, the board includes a slave-DSP
subsystem based on the TMS320F240 DSP microcontroller.
For purposes of rapid control prototyping (RCP), specific interface
connectors and connector panels (see below) provide easy access to all
input and output signals of the board. Thus, the DS1104 R&D
Controller Board is the ideal hardware for the dSPACE Prototyper
development system for cost-sensitive RCP applications.
To demonstrate control design and implementation, demo equipment
(VCFP Simulator) is available for the DS1104.
Easy access to input and Using an adapter cable you can link your external signals from the
output signals 100-pin I/O connector on the board to Sub-D connectors. So you can
make a high-density connection between the board and the devices of
your application via Sub-D connectors.
Specific interface connector panels provide easy access to all the input
and output signals of the DS1104 R&D Controller Board.
■ The CP1104 Connector Panel provides easy-to-use connections
between the DS1104 R&D Controller Board and devices to be
connected to it. Devices can be individually connected,
disconnected or interchanged without soldering via BNC
connectors and Sub-D connectors. This simplifies system
construction, testing and troubleshooting.
■ In addition to the CP1104, the CLP1104 Connector/LED Combi
Panel provides an array of LEDs indicating the states of the digital
signals.

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▼ Introduction to the DS1104 ▲
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Shipment The DS1104 R&D Controller Board is a single-board system. The

hardware package contains:
■ One PCI-slot board with a bracket including a 100-pin I/O
connector.
■ One adapter cable with two 50-pin female Sub-D connectors. The
adapter cable is optional.
■ Only if ordered: CP1104 (or CLP1104) Connector Panel with
adapter cable to the I/O connector of the board.

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Software
The dSPACE software, such as the implementation and the experiment
software, comes on CD-ROM and has to be installed first. For
information on the software package, the installation and license
handling, refer to Introduction to dSPACE Software in the dSPACE
Software Installation and Management Guide.

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Safety Precautions
To avoid risk of injury and/or damage to the dSPACE hardware, read

and ensure that you comply with the following safety precautions.
■ Safety Precautions for Installing and Connecting the Hardware on
page 18
■ Safety Precautions for Using Connector Panels on page 19

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Safety Precautions for Installing and

Connecting the Hardware
Installation sequence ■ Install the components of your system in exactly the order stated.
Any other sequence may lead to unpredictable results or even
damage the system.
■ Read the instructions carefully before starting installation.
■ Note all warnings given.
Handling boards dSPACE boards contain sensitive electronic devices. Before unpacking,
installing and removing them, take the following precautions to avoid
damage caused by high electrostatic voltage:
■ Make sure that you and all material the board comes in contact
with are properly grounded.
■ During storage or handling, place the board on conductive foam or
in a protective bag.
■ Do not touch the board connectors.
Improper handling will damage the fan of the board.

■ Do not touch any components of the fan, neither during operation
nor when it has stopped.
■ Do not try to stop a rotating fan with your fingers or with the help
of tools.
■ Do not apply pressure to the fan bearing during installation and
removal of the board.

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▼ Safety Precautions ▲
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Installing hardware Before doing any installation work, make sure that:
■ The power supply of the host PC is switched off.
■ No external devices are connected to the dSPACE system.
Connecting devices To avoid risk of injury and prevent damage to the hardware:
■ Do not connect any high-voltage devices to the I/O connectors of
the hardware.
■ Do not apply voltages/currents outside the specified ranges to the
connector pins.
■ Do not connect or disconnect any devices while the dSPACE
System is powered up and/or external devices are switched on.
Make sure that the PC and external devices are turned off
beforehand.
Safety Precautions for Using Connector

Panels
To avoid damage to the hardware and to achieve safe and trouble-free
operation, the following guidelines must always be observed:
■ Before connecting a panel to a board, make sure that the PC is
turned off and no external devices are connected to the panel.
■ No chemicals other than alcohol (ethanol or isopropanol) should
be used to remove writing from the panel templates, since they
might damage the permanent print on the templates or even
corrode the panel.
■ Guard against foreign objects (staples, etc.) falling or blowing into
the unit, or liquids being spilled into it.
■ Do not expose the panel to excessive dust or moisture.

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Before You Start
Before you start:

■ Make yourself familiar with the installation and configuration
procedures of the DS1104 R&D Controller Board. Refer to
Installation and Configuration Overview on page 22.
■ Check if your system fulfills the system requirements. Refer to
Checking the System Requirements on page 24.

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Installation and Configuration

Overview
C CAUTION! Changing the installation sequence may lead to

unpredictable results or even damage the system.
■ Install the components of your system in exactly the order stated.
■ Read the instructions carefully before starting installation.
■ Consider all warnings given.
Installation sequence Installing the DS1104 requires the following steps in the specified
order.
1. Check whether the software has been installed on the host PC.
You must first install the software before installing any hardware
component in the host PC. For detailed instructions on installing
the software, refer to Installing dSPACE Software in the dSPACE
N You need administrator rights to install dSPACE software.
2. Check whether your hardware meets the requirements for

DS1104. Refer to Checking the System Requirements on page 24.
3. Now you can install the hardware. Refer to Installing the Hardware
on page 25
4. To verify that your system works correctly, it is recommended that
you load a check application to your board. For detailed
instructions, refer to Verifying the System on page 31.

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▼ Before You Start ▲
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N If you encounter any problems during installation and configuration:

■ Check the description again.
■ Contact dSPACE support using the dSPACE Support Wizard. It is
available
• On your dSPACE CD at \Diag\Tools\dSPACESupportWizard.exe
• Via Start – Programs – dSPACE Tools (after installation of the
dSPACE software)
External devices For information on connecting external devices of your application to

the dSPACE system, refer to Connecting External Devices to the
dSPACE System on page 71.

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Checking the System

Requirements
Before installing dSPACE’s hardware, you have to check whether your
hardware meets the system requirements.
Host PC Your host PC must fulfill the system requirements concerning the
dSPACE software, other required third-party software and the
hardware equipment.
For details, refer to Checking the System Requirements in the dSPACE
N It is not possible to install the DS1104 in an expansion box.

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Installing the Hardware
The DS1104 must be installed in the host PC. For detailed instructions
refer to How to Install the DS1104 on page 26.
If you use a connector panel for connecting the external devices to the
dSPACE system, refer to Connecting a Connector Panel to the Board
on page 28.
You can install the connector panels in a standard 19” industry rack.
For details, see How to Mount a Panel in a 19'' Rack on page 30.

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How to Install the DS1104

The following instructions will guide you through the installation of
the DS1104 R&D Controller Board.
You install the board at your own risk. In the event of any damage
caused by improper handling, dSPACE cannot be held liable.
N Working with more than one dSPACE board in plug & play
configuration may cause assignment problems. For details, refer to
Problems with Multiple Plug & Play Boards on page 165.
You can install as many DS1104 boards as free PCI slots are available in
your host PC.
Preconditions ■ The host PC is switched off.

■ Precautions are taken to avoid damage by high electrostatic
voltages. For details, refer to Safety Precautions for Installing and
Connecting the Hardware on page 18
Method To install the DS1104 in the host PC
C WARNING! Hazardous voltages.

Risk of electric shock and/or damage to the hardware.
Before doing any installation work, make sure that:
■ No external device is connected to the dSPACE system.
1 Open the enclosure of the PC.
C CAUTION! Improper handling will damage the fan of the board.

■ Do not touch any components of the fan, neither during operation
nor when it has stopped.
■ Do not apply pressure to the fan bearing during installation and
deinstallation of the board.

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▼ Installing the Hardware ▲
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2 Select an unused 32-bit PCI slot.
T PCI slots are shorter than ISA or EISA slots and typically white.
3 Unscrew and remove the bracket that covers the card-slot opening
on the rear side of the enclosure.
4 Insert the board in the slot. Press it down firmly so that the
contacts are securely seated in the slot.
5 When the board is firmly seated in the slot, secure the bracket with
the screw you removed in step 4.
6 Close the enclosure and reconnect the PC to the power supply.
7 Turn on the host PC.
The host PC should boot as usual. Now you can run ControlDesk to
verify the installation, see Verifying the System on page 31.
If the PC does not boot, switch off the power supply immediately and
check that the board is inserted firmly.
For information on connecting external devices to the I/O connector of
the DS1104, see How to Connect External Devices to a Board on
page 72.

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Connecting a Connector Panel

to the Board
The CP and CLP connector panels provide easy-to-use connections
between the board and external devices. Devices can be individually
connected, disconnected or interchanged without soldering. This
simplifies system construction, testing and troubleshooting.
The CLPs additionally provide arrays of LEDs, which indicate the states
of the digital signals.
Connecting After you have installed the board in the host PC, you can connect the
CP/CLP to a board accompanying panel to the board. For detailed instructions, refer to
How to Connect a Panel (CP, CLP) to a Board on page 29.
Mounting panels As a standard, the CP and CLP connector panels are installed in a
in a rack desktop box made from aluminum profiles. They can optionally be
mounted in a 19’’ industry rack. For instructions, refer to How to
Mount a Panel in a 19'' Rack on page 30.
T For the connector pinouts of CP1104/ CLP1104, refer to

CP1104/CLP1104 Connectors on page 88

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▼ Installing the Hardware ▲
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How to Connect a Panel (CP, CLP) to a

Board
For safe and trouble-free operation of the panels, various guidelines
must be observed. For details, refer to Safety Precautions for Using
Connector Panels on page 19.
Precondition The system is switched off.
Method To connect a panel to the DS1104
C CAUTION! Connecting external devices while the power supply

is switched on may damage the dSPACE hardware.
■ Do not connect or disconnect any device while the power supply is
switched on.
■ Turn off the host PC and the external devices beforehand.
1 If the panel is to be mounted in a 19” rack, this should be done

first (see How to Mount a Panel in a 19'' Rack on page 30).
2 Plug the CP1104 or CLP1104 to the DS1104 and tighten the lock
screws. Take care not to mix up the connectors of the DS1104.
Connectors are installed correctly when ribbon cables are not
twisted and do not cross over each other. Furthermore, the
connectors are marked by labels P1A, P1B, etc.
3 Put templates on the panel. Turn the black clips on the panel
through 90 degrees to secure the templates to the panel.
4 Now you can connect devices to the panel. For detailed
instructions, refer to How to Connect External Devices to a
Connector Panel on page 74.
Next step Now you can switch on the dSPACE system.

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How to Mount a Panel in a 19'' Rack

As a standard, the CP1104 or CLP1104 Connector Panels are installed
in a desktop box made from aluminum profiles. They can optionally be
mounted in a 19’’ industry rack.
Preconditions ■ The system is switched off.

■ All connections to external devices are removed.
Method To mount panels in a standard 19’’ industry rack

1 Remove the aluminum box. To do so, unscrew one of its side
panels (4 screws). If there is a ribbon cable strain relief at the
bottom of the box, it must be cut open.
2 Bolt the panel to the front of a 19’’ rack as shown below.
Depending on the rack used, several M2.5x10 or M3x10 bolts are
required.
Panel is attached by
M2.5x10 or M3x10 bolts
122.5 mm 128.5 mm
(4.82 inch) (5.06 inch)
M2.5 or M3 threads Panel

5 mm (0.2 inch) spacing

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Verifying the System
After the DS1104 R&D Controller Board is installed (see How to Install
the DS1104 on page 26), no further configuration is necessary.
Nevertheless you should check if your board is ready to run real-time
applications.
Running ControlDesk The dSPACE real-time hardware is managed by the Platform Manager
integrated in ControlDesk. For information on how to access the
Platform Manager, see How to Run ControlDesk on page 32.
Board properties To view the current settings and properties of the boards in your
system, see How to View the Board Properties on page 34.
Installation check After you set the working board, check if your board is ready to run
real-time applications: see How to Verify the Installation on page 37.
Updating the firmware The DS1104 contains firmware installed in the flash memory of the
board. If you install a new dSPACE Release it may contain newer
firmware. In this case the firmware must be updated. Refer to
Updating the Firmware on page 38.

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How to Run ControlDesk

After installing the dSPACE software, ControlDesk is available in the
Windows Start menu and as an icon on the desktop.
To start ControlDesk
1 In the Windows Start menu, choose Programs – dSPACE Tools –
ControlDesk.
2 In the Navigator, click the Platform tab.
The Platform Navigator appears and displays the installed
DS1104 R&D Controller Board icon.
The first DS1104 is named “ds1104”. All following DS1104 boards
are named “ds1104_xx” (xx = 2 ... 9).
Menu bar
Toolbars
Platform
Navigator
Navigator tabs
Tool window
Status bar
File selector

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With the Platform Navigator, it is possible:

■ to register other dSPACE boards in your system that do not support
plug & play.
■ to download applications to your simulation platform manually.
For more information on ControlDesk and its features, refer to the
ControlDesk Experiment Guide.
configuration may cause assignment problems. For details, refer
to Problems with Multiple Plug & Play Boards on page 165.

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How to View the Board

Properties
After installation, the board properties can be checked.
To view the board properties

1 In the Platform Navigator, double-click the corresponding DS1104
icon to open the Controller Board Properties dialog.
2 In the Controller Board Properties dialog, check the
accompanying pages.
T You can also select the board on the Platform page of the Navigator
and choose Platform – Properties from the menu bar.
N The displayed entries cannot be changed.
Board Properties page This page provides information on the hardware and the status of the
board.

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Versions page This page provides information on the hardware and firmware versions
that you currently use.
If an application is currently running, there is also information on the
module versions it is based on.
dSPACE.ini file The dSPACE.ini file describes the configuration - mostly board
properties - of the platforms already registered, in the form of
key-value pairs.
Initializing a DS1104 some properties of the board are entered into the
dSPACE.ini file.
N If you delete this file, you will have to reregister any boards that do not
support plug & play. This does not apply if you use no other than
DS1104 boards from dSPACE.

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To view the dSPACE.ini file

➤ From ControlDesk’s menu bar, choose View – dSPACE.ini.
The Dspace.ini window opens.

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How to Verify the Installation

To verify whether your DS1104 R&D Controller Board works correctly,
it is recommended that you load the system check application
smd_1104_ch.sdf.
To verify the installation

1 In ControlDesk’s File Selector, change to
%DSPACE_ROOT%\Demos\DS1104\Check\, select the System
Description file (SDF), and drag & drop it onto the DS1104 icon in
the Platform Navigator.
2 In the Tool Window, select the Log Viewer page.
If no error message is displayed in the Log Viewer, the board is
installed correctly.
Now your system is ready to run real-time applications on the DS1104.

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Updating the Firmware

Usually your DS1104 board contains the latest firmware. If you install a
new dSPACE Release it may contain newer firmware. In this case the
firmware can be updated.
After you install the dSPACE Release, you can update the firmware.
The table below shows the path of the firmware installed from the
dSPACE Release. You have to specify this path if you update your
firmware manually.
Path of Firmware Coming with the

Board Firmware Type dSPACE Release
DS1104 – Boot firmware %DSPACE_ROOT%\Ds1104\Firmware
– Slave DSP firmware %DSPACE_ROOT%\Ds1104\SlaveDSP\Firmware
Current version The firmware installed in the board’s flash memory is the current
firmware version. It is detected automatically by the Platform Manager.
Available version The firmware contained in your current dSPACE installation is the
available firmware version. The Platform Manager detects it
automatically.
Required version The firmware needed by an application you download to your

real-time processor is the required firmware version. This information
is shown on the Advanced page of the Firmware Management dialog.
N The firmware is downward compatible: You can download an

application to your hardware if the current firmware version is higher
than or equal to the required firmware version.
Boot firmware Since Release 3.4, the flash application is no longer deleted by a
firmware update. The flash application and the bootstrap code are
saved before and loaded after the update.

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Firmware update If you download an application requiring a higher firmware version

than the current one, you will get an error message. If your board
contains user firmware, you will get an error message if the required
firmware version is higher than that displayed in the Based on
dSPACE version field in the Current Firmware frame of the
Firmware Management dialog. In these cases, you have to update the
firmware.
Automatic update If you use the firmware provided by dSPACE, ControlDesk’s Platform
Manager will automatically update its firmware to the available version
if the current version is lower than the available one. This is the default
setting after you install the dSPACE software.
You can also switch off automatic updating. For details, see Platform
Manager Page in the ControlDesk Reference.
Manual update If you use user firmware or switched off automatic updating you will
be prompted to update your firmware if the application you want to
download requires a firmware version higher than the current one.
Verify boot firmware Platforms that support boot firmware provide the Verify Boot Firmware
command. You can call this feature via the context menu in the
Platform Navigator and in several cases it is performed automatically.
Refer to Verify Boot Firmware in the ControlDesk Reference.

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How to Update the Firmware

You can update your firmware manually.
Method To update the firmware manually

1 Select Update Firmware… from the context menu of the
corresponding board in ControlDesk’s Platform Navigator.
The Firmware Management dialog opens.
2 From the Select Firmware Type list, select the firmware type you
want to update.
3 In the Object file edit field, specify the path of the firmware to be
downloaded to your board. Use the Browse button for this
purpose.
N The firmware path is set by default from the RTLib installation.
4 Click the Update Firmware button.

The firmware will be updated to the available version.
5 When the update is complete, the Close button on the Firmware
Management dialog is enabled. Click it to close the dialog.
N You have to update the firmware for each firmware type individually.

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Implementing and
Handling Applications
After you install your system, you are ready to implement, download
and experiment with your control algorithm.
Development Steps
1. The first step is to implement your control algorithm. For this
purpose, you can either embed the blocks provided by dSPACE’s
Real-Time Interface (RTI) in a Simulink model or use RTLib’s
functions to handcode your application directly in C. For some
basic information on this step, see Implementing Models on
page 43.
2. Then build your model and download it to your dSPACE real-time
hardware. For detailed instructions on how to download, start and
stop an application, see Handling Real-Time Applications on
page 50.

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3. As soon as the real-time application is running on your hardware,

you can use ControlDesk to experiment with it. For some basic
information on how to create a ControlDesk experiment and
observe the variables and change parameters of a running
real-time application, see Experimenting with ControlDesk on
page 59.

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▼ Implementing and Handling Applications ▲
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Implementing Models
Basically, there are two ways to create real-time applications to be
implemented on your dSPACE hardware.
Using RTI If you use MATLAB/Simulink for constructing control models, the
C code is automatically generated by the Real-Time Workshop in
conjunction with dSPACE’s Real-Time Interface (RTI). RTI is the
interface between Simulink and the various dSPACE platforms. See
Implementing Simulink Models Using Real-Time Interface on page 44.
Handcoding An algorithm can also be handcoded in C. In addition to the necessary

compilers, the tools required to generate object files are part of the
dSPACE software. See How to Implement C Models on page 49.

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Implementing Simulink Models Using

Real-Time Interface
It is assumed that MATLAB, Simulink, Real-Time Workshop, and
Real-Time Interface (RTI) for the DS1104 R&D Controller Board
(RTI1104) are properly installed. See below and How to Work with a
Model on page 46.
How to Start RTI1104

To start RTI1104, the following instructions apply.
To start RTI1104
1 Make sure that the required licenses are available and activated.
For information on handling the license mechanism, refer to
Protected Products and Required Licenses in the dSPACE Software
Installation and Management Guide.
2 Open ControlDesk (via Programs – dSPACE Tools – ControlDesk
in the Windows Start menu) and specify the DS1104 as the
working board (via Platform – Set Working Board from the
menu bar). For details, see How to Set the Working Board in the
3 Start MATLAB.
4 In the Select dSPACE RTI Platform Support dialog, select
RTI1104.

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5 At the MATLAB prompt, enter simulink.

The Simulink Library Browser appears in a separate window.
6 In the Simulink Library Browser window, you can click the

+/– signs to browse through the dSPACE RTI1104 library.
T You can also right-click a library icon and choose from the context
menu Open the <Name of the Library> Library to open the
corresponding library.

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To open a dSPACE board library from the MATLAB prompt

➤ In the MATLAB Command Window, enter rti1104.
The dSPACE board library for the DS1104 is displayed.
The DS1104 board library contains information, demos and the icons
available with the DS1104. Double-click the items to obtain more
information.
To switch to another board library

➤ In the MATLAB Command Window, enter
rti<Name of the Library> to start the appropriate library, for
example rti1103.
How to Work with a Model

In the following, the demo model smd_1104_sl is used to describe
how to use the RTI1104 board library. It simulates a damped
spring-mass system stimulated by a square-wave signal. It does not
require any I/O hardware and thus serves as a ready-to-use example. If
you want to use a handcoded application, use the smd_1104_hc
demo – with the smd_1104_hc.sdf SDF file – instead (see How to
Implement C Models on page 49).
The related files are located in the directories
%DSPACE_ROOT%\Demos\DS1104\GettingStarted\HandCode or
...\GettingStarted\Simulink.

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To work with a model

1 In the Library: rtilib1104 window, double-click DEMOS.
2 Double-click the box titled Spring - Mass - Damper in the
Library: rti1104demolib window to open the Simulink model
smd_1104_sl.
The Simulink model smd_1104_sl is displayed in an extra window.
3 To examine the model, double-click its blocks.

4 From the menu bar of the Model window, choose Tools –
Real-Time Workshop – Options to view the simulation
parameters.

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The Simulation Parameters dialog opens.
5 On the Real-Time Workshop page, check if the system target file

rti1104.tlc, the template makefile rti1104.tmf, and the make
command make_rti are specified. If necessary, change the entries
(according to the illustration above).
6 Click Build to build and download the real-time application to the
DS1104.
The smd_1104_sl.sdf system description fileand the real-time
application are created. The latter is downloaded to the DS1104
and started automatically.
7 Use ControlDesk to stop and restart the real-time application.
Refer to Experimenting with ControlDesk on page 59.
If the real-time application - stored in the current MATLAB working

folder - is stopped, it can be downloaded to the DS1104 again using
the SDF file in ControlDesk. A new build process is not needed if you
do not change the Simulink model in the meantime.
To find out the current MATLAB working folder

➤ In the MATLAB Command Window, enter pwd.

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How to Implement C Models

To demonstrate how to proceed without MATLAB and Simulink, the
C-coded example smd_1104_hc.c is used. This model does not require
any I/O hardware. It simulates a damped spring-mass system
stimulated by a square-wave signal. The parameters are spring, mass
and damper.
To compile and link the application, you can use the down1104 utility in
a DOS window to call the makefile. After the object file is downloaded
and started, the RTP error check utility is called automatically.
To edit and download an application

1 Open the file %DSPACE_ROOT%\Demos\DS1104\GettingStarted
\HandCode\smd_1104_hc.c using a text editor of your choice.
2 Browse through the source code, but do not alter the code yet.
3 To invoke down1104, in a DOS window change to the directory
%DSPACE_ROOT%\Demos\DS1104\GettingStarted\HandCode and type
down1104 smd_1104_hc
The object file smd_1104_hc.ppc is generated, downloaded and
started.
4 Use ControlDesk to stop the real-time application:
Select the DS1104 in the Platform Navigator, and click the
Stop RTP/Simulation icon in the Platform toolbar.

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Handling Real-Time
Applications
Handling real-time applications on the DS1104 means downloading,
starting and stopping applications on the real-time processor.
Booting characteristics The DS1104 contains a global and flash memory. For some basic
information about the booting characteristics, see Basics of Booting
the DS1104 on page 51.
Global and flash On the DS1104, the application can be loaded to the global memory
memory or flash memory. For instructions on how to start, stop and reload
applications on the DS1104, see:
■ How to Handle Applications for the Global Memory on page 53
■ How to Handle Applications for the Flash Memory on page 55
scoutcmd To download and start applications on the real-time hardware, it is

possible to use the Platform Manager as a batch client using the
command scoutcmd –b <dsxxxx> (<dsxxxx> denotes the board you
want to download the application to) and additional parameters (see
How to Use Scoutcmd to Load and Start Applications on page 58 and
Handling Applications Using Command Line Parameters in the
ControlDesk Experiment Guide).

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Basics of Booting the DS1104

If you power-up or perform a hardware reset of the host PC, the board
always starts executing the boot firmware contained in the flash
memory. The boot firmware checks for an application program
currently stored in flash memory. If it finds one, this application is
started. If it does not detect an application, the loader enters the idle
state.
N ■ If power is turned off, any application that was previously loaded

to global memory is lost.
■ To avoid having the DS1104 execute an application stored in flash
memory after power-up, the flash memory must be cleared (see
Clearing an application on page 57).
Warm boot/reload If the DS1104 is in the idle state after power-up or if an executing
application has been stopped by ControlDesk, you can start a new
application by loading it to the global or flash memory. If you load an
application to the flash memory, it is copied to the global memory
before it is started. Any application already in global memory is
overwritten.
If you start the application again using ControlDesk’s
Reload Application/Start Simulation toolbar button, you can reload the
most recently loaded application to the global memory. If the most
recently loaded application was loaded to the flash memory, it is
copied to the global memory. Then, the application is started
automatically.
Execution time If an application is loaded to the flash memory, it is copied to the

global memory of the DS1104 before it is started. Thus, it makes no
difference to the speed and execution time of the application during
run time whether the DS1104 booted the application from the global
or the flash memory.

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Stopping a If you stop an application via ControlDesk‘s Stop Real-Time

real-time application Processor command, the processor will be reset immediately.
Therefore, the termination code will not be executed and the
background task will no longer be active. As a result, the I/O will not
output the termination values of the application. To avoid problems
with undefined termination values, use RTI’s simulation control
(RUN/STOP mechanism) for stopping and reloading applications (see
Simulation Control (RUN/STOP Mechanism) in the RTI and RTI-MP
Implementation Guide).

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How to Handle Applications for the

Global Memory
With ControlDesk’s Platform Manager, it is very easy to load real-time
applications to the global memory and reload and stop the real-time
processor.
To download a real-time application to the global memory and

start the RTP
➤ In the File Selector, select the system description file (SDF) or the
object file (PPC) for the real-time processor and drag & drop it onto
the board icon in the Platform Navigator.
The object file is loaded to and started on the real-time processor.
Or you can choose Platform – Application – Load Application

from the menu bar.
N If you drag & drop an application onto the processor board when your
system is still running, a dialog similar to the following opens.

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If you confirm the message, the running application is stopped before

the new application is downloaded and started.
N For details on the behavior of Control Desk’s Stop Real-Time

Processor command, see Stopping a real-time application on
page 52.
To stop a real-time application

1 In the Platform Navigator, select the board.
2 From the menu bar, choose Platform – Application –
Stop Real-Time Processor.
Or you can click the Stop RTP/Simulation icon in the Platform
toolbar.
The program running on the real-time processor is stopped.
To reload a real-time application

Reload Application.
Or you can click the Reload Application/Start Simulation icon in the
Platform toolbar.
The application that was previously downloaded to the global
memory is loaded again and started.

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How to Handle Applications for the

Flash Memory
An application loaded to the flash memory is started automatically
when you reboot your system (host PC).
If you want to prevent the system from booting a flash application,
you have to clear the application from the flash memory (refer to
Clearing an application on page 57).
To download a real-time application to the flash memory and

start the RTP
2 From the context menu of the Platform Manager, choose Load
Application to Flash.
3 Choose an application (that is, the SDF file or the PPC file) in the
Load Application to RTP dialog.
N If you load an application when your system is still running, a

dialog similar to the following opens.
If you confirm the message with Yes, the running application is

stopped before the new application is downloaded and started.

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The F next to the board icon in the Platform Navigator indicates

that the running application is loaded from the flash memory.
N For details on the behavior of Control Desk’s Stop Real-Time

Processor command, see Stopping a real-time application on
page 52.
To stop a real-time application

Stop Real-Time Processor.
Or you can click the Stop RTP/Simulation icon in the Platform
toolbar.
The program running on the real-time processor is stopped.
To reload a real-time application

2 From the menu bar, choose Platform – Application – Reload
Application.
Or you can click the Reload Application/Start Simulation icon in the
Platform toolbar.
The application that was previously downloaded to the flash is
copied to the global memory again. Then, the application is started
automatically.

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Clearing an application To clear an application from the flash memory

2 Stop the real-time application running on the board.
3 From the context menu of the board icon, choose Clear Flash.
4 In the Clear Flash Memory dialog, you have the following options
to clear the memory. Select
• Clear complete flash memory to clear the whole flash
memory.
• Clear flash application memory to delete only the loaded
application from the flash memory. The currently loaded
application is displayed in the Application in Flash field.
5 Click Clear Memory to clear the flash memory according to your
selection.

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How to Use Scoutcmd to Load and Start

Applications
To download and start applications on the real-time hardware, you can
use the Platform Manager as a batch client using the scoutcmd
command and additional parameters.
To load an application to the global memory using scoutcmd

➤ In a DOS window, enter scoutcmd -b ds1104 test.sdf
The test.sdf application is loaded to the board, and the RTP is
started.
To load an application to the flash memory using scoutcmd

➤ In a DOS window, enter scoutcmd -b ds1104 test.sdf -fl
The test.sdf application is loaded to the flash memory
(parameter -fl), and the RTP is started.
T If the parameter -b is not used with the scoutcmd command, the

application is downloaded to and started on the current working
board.
For further information on scoutcmd and its parameters, refer to

Handling Applications Using Command Line Parameters in the

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Experimenting with
ControlDesk
To observe the behavior of the real-time application and to change
application-specific parameters, use dSPACE’s experimentation tool
ControlDesk.
For detailed information on ControlDesk and its features, refer to the
Required files To experiment with a real-time application, three application-specific

files are required: see How to Generate the Required Files on page 60.
Demo model The demo model smd_1104_hc introduces you to ControlDesk’s

experimentation features. If you want to use a Simulink application,
use the demo smd_1104_sl instead.
The related files are located in
%DSPACE_ROOT%\Demos\DS1104\GettingStarted\HandCode or
%DSPACE_ROOT%\Demos\DS1104\GettingStarted\Simulink
For instructions on how to monitor the variables and change the
parameters of a running application using ControlDesk, see How to
Use ControlDesk on page 61.

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How to Generate the Required Files

Three application-specific files are required when working with
ControlDesk:
TRC and MAP file The file with the extension TRC provides information on the available
variables and how they are grouped. The MAP file, which is always
created at the end of compilation, maps symbolic names to physical
addresses. It is generated by the Microtec PowerPC compiler. The way
TRC files are generated depends on the method used for
implementation – either via RTI/Simulink or via handcoding in C.
SDF file The system description (SDF) file specifies which executable is
downloaded onto which processor. The way the SDF file is generated
depends on the method used for implementation.
T When you load an SDF file to your system, the executable and all files
related to the experiment are loaded automatically.
Using RTI and Simulink

RTI automatically generates the SDF file, the TRC file(s) and the
MAP file when generating and compiling the code.
C-Coded Models
In smd_1104_hc.c, services have been included to make the application
accessible to ControlDesk. The application-specific SDF and TRC file for
ControlDesk must be created manually. You can use an existing file,
such as smd_1104_hc.trc, as a template to create the TRC file for your
application.
For information on how to write your own TRC file, refer to Syntax of
the TRC File in the ControlDesk Reference. To create and edit an SDF
file, you can use ControlDesk’s SDF File Editor or the Save Current
Configuration command.

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How to Use ControlDesk

To observe the variables of a running real-time application, you have to
create a ControlDesk layout with an instrument such as a plotter, and
connect the instrument to the variables to be observed. For detailed
instructions, see below.
For instructions on how to change the parameters of a running
application with ControlDesk, see To use the demo experiment for
ControlDesk on page 66.
To observe the system behavior

1 Start ControlDesk.
configuration may cause assignment problems. For details, refer to
Problems with Multiple Plug & Play Boards on page 165.
2 If ControlDesk’s Platform Navigator displays more than one

dSPACE board in your system, it may be necessary to specify the
DS1104 as the working board: In the Platform Navigator, you can
recognize the working board by its bold print. If the DS1104 is not
the current working board, choose Platform – Set Working
Board … to call up the Set Working Board dialog.
3 Use the Platform Navigator to load the SDF file smd_1104_hc.sdf

from %DSPACE_ROOT%\Demos\DS1104\GettingStarted\HandCode. For
information on how to download, start and stop a real-time
application on your system, see Handling Real-Time Applications
on page 50.
The hierarchical structure of the model and its variables are
displayed in the Variable Browser, a page of the Tool Window.

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4 In the Variable Browser, click the trace group Model to display the
variables (a, v, x, f, ...) of that block in the Showlist on the right.

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5 To display the behavior of the system, choose New – Layout from

the File menu. Two new windows will appear: The Layout
window and the Instrument Selector (on the right side in the
illustration below).
6 Do the following to build an instrument panel within the layout

window:
• In the Instrument Selector, click the instrument group
containing the desired instrument (for example, Data
Acquisition).
• In the Instrument Selector, click the icon of the instrument
(for example, a PlotterArray).
• In the layout window, draw a rectangle using the mouse.

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• The new instrument is opened in the layout window, and an

icon for the instrument is added to the Instrumentation
Navigator. The red frame of the instrument indicates that
there is no valid data connection yet.
• In the Variable Browser, choose a signal, and drag & drop it
onto the instrument (for example, x). The red frame disappears
when the connection is built.
7 Select the instrument, and choose Properties from the context
menu to display or change the properties of the instrument.

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8 From the menu bar, choose Instrumentation – Animation mode

to start the animation. In the following example there is one
plotter to display the signal x.
9 To add new instruments to the layout or to change the properties

of existing instruments, choose Instrumentation – Edit Mode.
10 From the menu bar, choose File – Save to save the new layout.
Data connections describe the connection between variables of the

real-time application and a ControlDesk instrument. To save data
connections, you should create an experiment and add the layout to it.
For further information, refer to Saving and Loading Instrument Panels
in the ControlDesk Experiment Guide.

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To use the demo experiment for ControlDesk

1 Start ControlDesk.
2 From the menu bar, choose File – Open Experiment to open the
experiment smd_1104_hc.cdx from
%DSPACE_ROOT%\Demos\DS1104\GettingStarted\HandCode.
ControlDesk will open the experiment together with all the related
files.
3 Use the Platform Navigator to load the file smd_1104_hc.sdf from
the same folder.
4 Close all windows except the instrument panel DS1104
Spring-Mass-Damper Demo (SMD).

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5 From the menu bar, choose Instrumentation – Animation mode

to start the animation.

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6 Change the parameter Mass m to 0.10 with the slider, and

observe the system behavior in the plotter.

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7 Change the Frequency f to 100.0 with the slider, and observe the
system behavior in the plotter without stopping the Animation
mode.
For more information on ControlDesk and its features, refer to the


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Connecting External
Devices to the dSPACE
System
Prior to connecting external devices to the board or a connector panel,

ensure you have familiarized yourself with the related instructions,
provided in:
■ How to Connect External Devices to a Board on page 72
■ How to Connect External Devices to a Connector Panel on page 74

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How to Connect External

Devices to a Board
To connect external devices to the DS1104

switched on.
1 Turn off all external devices which are to be connected to the

dSPACE system
2 Turn off the host PC.
3 Disconnect the host PC and all devices connected to it from the
power supply.

the hardware.
connector pins.
4 Connect the devices belonging to your application to the DS1104

via the adapter cable.
N Do not mix up the connectors of the adapter cable. They are

labeled P1A, P1B.
5 Reconnect the host PC and all external devices to the power

supply.

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▼ Connecting External Devices to the dSPACE System ▲
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The host PC should boot as usual.
7 Turn on all external devices connected to the dSPACE system.

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How to Connect External

Devices to a Connector Panel
To connect external devices to a connector panel

switched on.
1 Turn off all external devices which are to be connected to the

dSPACE system.
2 Turn off the host PC.
3 Disconnect the host PC and all devices connected to it from the
power supply.

the hardware.
connector pins. The isolation of the panels has been designed for
low-voltage operation only.
4 Connect the devices belonging to your application to the panel.

5 Reconnect the host PC and all external devices to the power
supply.
7 Turn on all external devices connected to the dSPACE system.

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Uninstalling the System
All components of a dSPACE system, software and hardware, can be

removed from the host PC in the following order:
1. You have to remove the software first. For further information,
refer to Removing dSPACE Software in the dSPACE Software
Installation and Management Guide.
2. Afterwards you can remove the hardware from the host PC. Refer
to How to Remove the Hardware on page 76.

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How to Remove the Hardware

Preconditions ■ The host PC is switched off.
■ Precautions are taken to avoid damage by high electrostatic
voltages. For details, refer to Safety Precautions for Installing and
Connecting the Hardware on page 18.
Method To remove the dSPACE board from the host PC

Before removing any board, make sure that:
■ No external device is connected to the dSPACE system.
1 Disconnect the host PC and all external devices connected to them

from the power supply.
2 Unplug any external devices or connector panels from the I/O
connector of the DS1104.
3 Open the enclosure of the host PC.
4 Unscrew the bracket of the DS1104.
5 Remove the DS1104 from the slot.
6 Reinstall the original bracket to cover the opening at the rear side
of the enclosure.
7 Close the enclosure, reconnect the PC to the power supply, and
turn it on.

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Connector Pinouts and

LEDs
This chapter provides hardware-related, reference information on the

elements of the DS1104 and its optional accessories, the CP1104
Connector Panel and the CLP1104 Connector/LED Combi Panel:
■ Board Overview on page 78 contains an illustration of the board,
showing the location of connectors, jumpers and LEDs.
■ DS1104 Connectors on page 80 shows the pin assignments of the
different board connectors.
■ CP1104/CLP1104 Connectors on page 88 shows the front view of
the connector panel and the pin assignments of the connectors
equipped on the panel.
■ CLP1104 LED Assignments on page 100 shows the LED array of
the CLP.
Mapping of I/O signals Various connector pins can be assigned to RTI blocks and RTLib
functions. Refer to Mapping of I/O Signals on page 101.

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Board Overview
The illustration shows the locations of connectors, jumpers and LEDs
on the DS1104. It is not to scale.
I/O connector (P1) Master PPC debug connector (P2)

Slave DSP debug connector (P3) Status LED
Slave DSP flash jumper (J1)
The DS1104 contains the following important elements (from left to

right):
■ The I/O connector (P1) is a 100-pin connector. The signals
available at this connector are described in I/O Connector (P1) on
page 81.
■ The slave DSP debug connector (P3) is a JTAG 1149.1 hardware
debug connector and can be used for slave DSP debugging. The
signals available at this connector are described in Slave DSP
Debug Connector (P3) on page 86.

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▼ Connector Pinouts and LEDs ▲
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■ The slave DSP flash jumper (J1) is used to control the protection
mode of the flash memory and the watchdog mode: see Slave DSP
Flash Jumper (J1) on page 87.
■ The red status LED is equipped for troubleshooting purposes. For
details, see Checking the DS1104 on page 164.
■ The master PPC debug connector (P2) is a JTAG 1149.1
hardware debug connector and can be used for master PPC
debugging. The signals available at this connector are described in
Master PPC Debug Connector (P2) on page 85.

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DS1104 Connectors
The DS1104 is equipped with the following connectors:
■ I/O Connector (P1) on page 81
■ Master PPC Debug Connector (P2) on page 85
■ Slave DSP Debug Connector (P3) on page 86
■ Slave DSP Flash Jumper (J1) on page 87
N Prior to connecting external devices to the board, ensure you have

familiarized yourself with the relevant instructions provided in
Connecting External Devices to the dSPACE System on page 71.

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I/O Connector (P1)

The I/O connector (P1) is a 100-pin, high density KEL connector. It is
used to obtain access to the I/O signals of the board. The connector is
located on the bracket of the DS1104, see Board Overview on
page 78.
Adapter cable Using the adapter cable supplied with the board, the I/O connector
(P1) can be linked to two 50-pin, female Sub-D connectors (labeled
P1A, P1B).
Signal specification For detailed information (I/O circuits, electrical characteristics, etc.) on
the I/O lines terminating at the I/O connector, see Signal Connection to
External Devices on page 119.
N For the DS1104, the total load of the connector pins providing VCC
(P1 19 and P1 20; P1A 4 and P1B 4 on the Sub-D connectors) must
not exceed 500 mA.
The VCC lines are protected against short circuits by a common
multifuse on the DS1104.
If VCC is overloaded or shorted, the multifuse on the DS1104 is
heated up by the overcurrent and abruptly raises its resistance. To reset
the multifuse to its initial low resistance, turn off the power for some
minutes to allow the multifuse to cool down.
Pinout of I/O connector The following table shows the pin assignment of the I/O connector
(P1). It also provides the mapping to the Sub-D connectors of the
adapter cable.
Signal names in parentheses apply when the UART is set to the RS422
or RS485 mode.

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I/O Connector (P1) Pin Sub-D Pin Signal Pin Sub-D Pin Signal
P1 1 P1B 1 GND P1 2 P1A 1 GND
1 2 P1 3 P1B 34 DCD (CTS) P1 4 P1A 34 (RTS)
P1 5 P1B 18 CTS (CTS) P1 6 P1A 18 RTS (RTS)
P1 7 P1B 2 DSR (RXD) P1 8 P1A 2 DTR (TXD)
P1 9 P1B 35 RXD (RXD) P1 10 P1A 35 TXD (TXD)
P1 11 P1B 19 SSOMI P1 12 P1A 19 SCAP4
P1 13 P1B 3 SSIMO P1 14 P1A 3 SCAP3
P1 15 P1B 36 SSTE P1 16 P1A 36 SCAP2
P1 17 P1B 20 SSCLK P1 18 P1A 20 SCAP1
P1 19 P1B 4 VCC (+5 V) P1 20 P1A 4 VCC (+5 V)
P1 21 P1B 37 ST3PWM P1 22 P1A 37 SPWM6
P1 27 P1B 38 SPWM9 P1 28 P1A 38 SPWM3
P1 29 P1B 22 SPWM8 P1 30 P1A 22 SPWM2
P1 31 P1B 6 SPWM7 P1 32 P1A 6 SPWM1
P1 33 P1B 39 GND P1 34 P1A 39 GND
P1 35 P1B 23 IDX(2) P1 36 P1A 23 IDX(1)
P1 37 P1B 7 IDX(2) P1 38 P1A 7 IDX(1)
P1 39 P1B 40 PHI90(2) P1 40 P1A 40 PHI90(1)
P1 41 P1B 24 PHI90(2) P1 42 P1A 24 PHI90(1)
P1 43 P1B 8 PHI0(2) P1 44 P1A 8 PHI0(1)
P1 45 P1B 41 PHI0(2) P1 46 P1A 41 PHI0(1)
P1 47 P1B 25 GND P1 48 P1A 25 GND
P1 49 P1B 9 IO19 P1 50 P1A 9 IO18
P1 51 P1B 42 IO17 P1 52 P1A 42 IO16
P1 53 P1B 26 IO15 P1 54 P1A 26 IO14
P1 55 P1B 10 IO13 P1 56 P1A 10 IO12
99 100 P1 57 P1B 43 IO11 P1 58 P1A 43 IO10
P1 59 P1B 27 IO9 P1 60 P1A 27 IO8
P1 61 P1B 11 IO7 P1 62 P1A 11 IO6
P1 63 P1B 44 IO5 P1 64 P1A 44 IO4
P1 65 P1B 28 IO3 P1 66 P1A 28 IO2
P1 67 P1B 12 IO1 P1 68 P1A 12 IO0
P1 69 P1B 45 GND P1 70 P1A 45 GND
P1 71 P1B 29 DACH8 P1 72 P1A 29 DACH7
P1 73 P1B 13 GND P1 74 P1A 13 GND
P1 75 P1B 46 DACH6 P1 76 P1A 46 DACH5
P1 77 P1B 30 GND P1 78 P1A 30 GND
P1 79 P1B 14 DACH4 P1 80 P1A 14 DACH3
P1 81 P1B 47 GND P1 82 P1A 47 GND
P1 83 P1B 31 DACH2 P1 84 P1A 31 DACH1
P1 85 P1B 15 GND P1 86 P1A 15 GND
P1 87 P1B 48 ADCH8 P1 88 P1A 48 ADCH7
P1 89 P1B 32 GND P1 90 P1A 32 GND
P1 91 P1B 16 ADCH6 P1 92 P1A 16 ADCH5
P1 93 P1B 49 GND P1 94 P1A 49 GND
P1 95 P1B 33 ADCH4 P1 96 P1A 33 ADCH3
P1 97 P1B 17 GND P1 98 P1A 17 GND
P1 99 P1B 50 ADCH2 P1 100 P1A 50 ADCH1

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Pinout of Because the pin numbering used for Sub-D connectors is not
Sub-D connectors standardized, the following illustrations show the numbering used
(viewed from the top of a female connector).
C Do not rely on the numbers written on Sub-D connectors.
The table below shows the pin assignment of the Sub-D connector
P1A. Signal names in parentheses apply when the UART is set to the
RS422 or RS485 mode.
Connector P1A Pin Signal Pin Signal Pin Signal
18 1 GND 34 (RTS)
2 DTR (TXD) 18 RTS (RTS) 35 TXD (TXD)
1 34 3 SCAP3 19 SCAP4 36 SCAP2
4 VCC (+5 V) 20 SCAP1 37 SPWM6
5 SPWM4 21 SPWM5 38 SPWM3
6 SPWM1 22 SPWM2 39 GND
7 IDX(1) 23 IDX(1) 40 PHI90(1)
8 PHI0(1) 24 PHI90(1) 41 PHI0(1)
9 IO18 25 GND 42 IO16
10 IO12 26 IO14 43 IO10
11 IO6 27 IO8 44 IO4
12 IO0 28 IO2 45 GND
17
13 GND 29 DACH7 46 DACH5
50
14 DACH3 30 GND 47 GND
33 15 GND 31 DACH1 48 ADCH7
16 ADCH5 32 GND 49 GND
17 GND 33 ADCH3 50 ADCH1

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The table below shows the pin assignment of the Sub-D connector
P1B. Signal names in parentheses apply when the UART is set to the
RS422 or RS485 mode.
Connector P1B Pin Signal Pin Signal Pin Signal
18 1 GND 34 DCD (CTS)

2 DSR (RXD) 18 CTS (CTS) 35 RXD (RXD)
1 34 3 SSIMO 19 SSOMI 36 SSTE
4 VCC (+5 V) 20 SSCLK 37 ST3PWM
5 ST1PWM 21 ST2PWM 38 SPWM9
6 SPWM7 22 SPWM8 39 GND
7 IDX(2) 23 IDX(2) 40 PHI90(2)
8 PHI0(2) 24 PHI90(2) 41 PHI0(2)
9 IO19 25 GND 42 IO17
10 IO13 26 IO15 43 IO11
11 IO7 27 IO9 44 IO5
12 IO1 28 IO3 45 GND
17
13 GND 29 DACH8 46 DACH6
50
14 DACH4 30 GND 47 GND
33 15 GND 31 DACH2 48 ADCH8
16 ADCH6 32 GND 49 GND
17 GND 33 ADCH4 50 ADCH2

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Master PPC Debug Connector (P2)

The master PPC features a superset of the IEEE 1149.1 JTAG standard
emulation port, which can be used for software debugging.
For the location of the connector on the board, see Board Overview on
page 78.
Connector (P2) Pin Signal Pin Signal
1 2
1 TDO 2 N/C
3 TDI 4 TRST
5 RUN_STP 6 VDD_SENSE
7 TCK 8 CHKSTP_IN
9 TMS 10 N/C
11 N/C 12 N/C
15 16
13 HRESET 14
15 CKSTP_OUT 16 GND
N The dSPACE software does not support the master PPC debug
connector.

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Slave DSP Debug Connector (P3)

The TMS320F240 slave DSP features a superset of the IEEE 1149.1
JTAG standard emulation port. This emulation port can be used for
software debugging. The DS1104 contains a JTAG connector to
connect an external emulator such as the Texas Instruments XDS510.
For the location of the connector on the board, see Board Overview on
page 78.
Connector Pin Signal Pin Signal
1 2 1 TMS 2 TRST
3 TDI 4 GND
5 VCC 6
7 TDO 8 GND
9 TCK 10 GND
13 14
11 TCK 12 GND
13 EMU0 14 EMU1
N The dSPACE software does not support the slave DSP debug
connector.

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Slave DSP Flash Jumper (J1)

The slave DSP contains an on-chip flash memory. The flash jumper (see
Board Overview on page 78) is used to set the protection mode of the
flash memory and the slave DSP watchdog mode.
The VCCp pin of the TMS320F240 slave DSP selects the protection
mode of the flash memory and the slave DSP watchdog mode:
■ If the jumper connects VCCp to VCC (default setting):
• erase/write operations to the flash memory are enabled
• the watchdog is disabled
■ If the jumper connects VCCp to GND:
• erase/write operations to the flash memory are disabled
• the watchdog is enabled
1 2 3
GND VCCp VCC
N The dSPACE software does not support the watchdog of the slave DSP.
For this reason, do not change the jumper’s default setting shown
above.

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CP1104/CLP1104 Connectors
The connector panels CP1104 and CLP1104 provide easy-to-use
connections between the DS1104 and devices to be connected to it.
Devices can be individually connected, disconnected or interchanged
without soldering. This simplifies system construction, testing and
troubleshooting.
N Prior to connecting external devices to the connector panel, ensure

you have familiarized yourself with the relevant instructions provided
in How to Connect External Devices to a Connector Panel on page 74.

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the panel.
Hole for 19'' rack mount Incremental Encoder Interface connectors

(CP19) (CP20)
CP1 CP5 CP9 CP13
CP2 CP6 CP10 CP14
CP3 CP7 CP11 CP15
CP4 CP8 CP12 CP16
Slave I/O PWM UART RS485/RS422

connector (CP18) connector (CP22)
BNC connectors
(CP1 ... CP16)
Digital I/O connector UART RS232 connector
(CP17) (CP21)
N For the CP1104 and CLP1104 Connector Panels, the total load of all
connector pins that provide access to the PC power supply must not
exceed 500 mA (CP1104) or 400 mA (CLP1104).
The VCC lines are protected against short circuits by a common
multifuse on the DS1104.

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If VCC is overloaded or shorted, the multifuse on the DS1104 is

heated up by the overcurrent and abruptly raises its resistance. To reset
the multifuse to its initial low resistance, turn off the power for some

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The CP1104 and CLP1104 Connector Panels are equipped with the
following connectors:
■ BNC Connectors (CP1 … CP16) on page 91
■ Digital I/O Connector (CP17) on page 92
■ Slave I/O PWM Connector (CP18) on page 94
■ Incremental Encoder Interface Connectors (CP19, CP20) on
page 96
■ UART RS232 Connector (CP21) on page 98
■ UART RS422/RS485 Connector (CP22) on page 99
BNC Connectors (CP1 … CP16)

The CP1 ... CP16 connectors are female BNC connectors. Their shells
are connected to GND.
Connector Signal Connector Signal Connector Signal Connector Signal

CP1 ADCH1 CP5 ADCH5 CP9 DACH1 CP13 DACH5
N In order to avoid poor performance of the analog subsystems, do not

create ground loops within the BNC wiring.
For detailed information (I/O circuits, electrical characteristics, etc.) on

the I/O lines terminating at the BNC connectors, see Analog Inputs on
page 120 and Analog Outputs on page 122.

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Digital I/O Connector (CP17)

The digital I/O connector (CP17) is a 37-pin, male Sub-D connector
located on the front of the connector panel.
Pinout Because the pin numbering used for Sub-D connectors is not
standardized, the following figure shows the numbering scheme used
(front view).
Connector (CP17) Pin Signal Pin Signal
19 19 GND
37
18 GND 37 VCC (+5 V)
17 GND 36 VCC (+5 V)
16 GND 35 GND
15 IO19 34 GND
14 IO17 33 IO18
13 GND 32 IO16
12 IO15 31 GND
11 IO13 30 IO14
10 GND 29 IO12
9 IO11 28 GND
8 IO9 27 IO10
20
1 7 GND 26 IO8
6 IO7 25 GND
5 IO5 24 IO6
4 GND 23 IO4
3 IO3 22 GND
2 IO1 21 IO2
1 GND 20 IO0

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the I/O lines terminating at this connector, see Bit I/O on page 125.

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Slave I/O PWM Connector (CP18)

The slave I/O PWM connector (CP18) is a 37-pin, female Sub-D
connector located on the front of the connector panel.
(front view).
1 1 GND
20
2 SCAP1 20 GND
3 SCAP3 21 SCAP2
4 GND 22 SCAP4
5 ST2PWM 23 ST1PWM
6 GND 24 ST3PWM
7 SPWM1 25 GND
8 SPWM3 26 SPWM2
9 SPWM5 27 SPWM4
10 SPWM7 28 SPWM6
11 SPWM9 29 SPWM8
12 GND 30 GND
37
19
13 GND 31 GND
14 GND 32 GND
15 GND 33 GND
16 SSIMO 34 SSOMI
17 SCLK 35 SSTE
18 VCC (+5 V) 36 GND
19 VCC (+5 V) 37 GND

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the I/O lines terminating at this connector, see Slave DSP Digital I/O on
page 142.

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Incremental Encoder Interface

Connectors (CP19, CP20)
The incremental encoder interface connectors CP19 and CP20 are
15-pin, female Sub-D connectors located on the front of the
connector panel. Each of the connectors provides the signals for one
of the two available incremental encoder channels.
(front view).
Connector (CP19,
CP20) Pin Signal Pin Signal
1 VCC (+5 V)
1
9
2 PHI0(x) 9 VCC (+5 V)
3 PHI0(x) 10 GND
4 PHI90(x) 11 GND
5 PHI90(x) 12 GND
15
8 6 IDX(x) 13 GND
7 IDX(x) 14 GND
8 GND 15 GND
x corresponds to the two available incremental encoder channels:

Channel 1 is connected to CP19 (x = 1), channel 2 is connected to
CP20 (x = 2).

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the I/O lines terminating at this connector, see Incremental Encoder
Interface on page 129.

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UART RS232 Connector (CP21)

The UART RS232 connector CP21 is a 9-pin, male Sub-D connector
located on the front of the connector panel. The pinout has been
adapted from the 9-pin RS232 connector of a PC.
N The DS1104 supports one serial interface. In RS232 mode the signals
are available from the RS232 connector CP21. In RS422/485 mode the
signals are available from the RS422/485 connector CP22. CP21 and
CP22 are mutually exclusive and cannot be used at the same time.
(front view).

5 GND
5
9
4 DTR (TXD) 9 Not used
3 TXD (TXD) 8 CTS (CTS)
6
1 2 RXD (RXD) 7 RTS (RTS)
1 DCD (CTS) 6 DSR (RXD)
Signal names in parentheses apply when the UART is set to the RS422
or RS485 mode. However, you should use the UART RS422/RS485
Connector (CP22) instead, when you are using RS422/485 mode.
the I/O lines terminating at this connector, see Serial Interface on
page 136.

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UART RS422/RS485 Connector (CP22)

The UART RS422/RS485 connector CP22 is a 9-pin, male Sub-D
connector located on the front of the connector panel.
N The DS1104 supports one serial interface. In RS232 mode the signals
are available from the RS232 connector CP21. In RS422/485 mode the
signals are available from the RS422/485 connector CP22. CP21 and
CP22 are mutually exclusive and cannot be used at the same time.
(front view).

5 GND
5
9
4 RXD 9 CTS
3 RXD 8 CTS
6
1 2 TXD 7 RTS
1 TXD 6 RTS

the I/O lines terminating at this connector, see Serial Interface on
page 136.

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CLP1104 LED Assignments

The CLP1104 Connector/LED Combi Panel additionally provides an
array of 54 LEDs, which indicate the states of the digital signals.
In the illustration below you will find the signal names as labeled on
the panel template.
IO0 IO16 / INT1 SPWM1

IO4 SSTE SPWM5
IO5 SCLK SPWM6 Phi 1
IO6 SSIMO SPWM7 Phi90 1
IO7 SSOMI SPWM8 Index 1
IO8 TXD SPWM9 Phi 2
IO9 RXD ST1PWM Phi90 2
IO10 DCD (CTS) ST2PWM Index 2
IO11 RTS (/RTS) ST3PWM
IO12 DTR (TXD) SCAP1
IO13 CTS (/CTS) SCAP2
IO14 DSR (RXD) SCAP3
IO15 VCC SCAP4
N The LEDs display the TTL signal level, not the active status of the signal.
(TTL “high” → LED is on; TTL “low” → LED is off).
In order to keep the loading of the signals as low as possible, the LEDs
are run through buffers.
For the incremental sensor signals, there are buffers with true
differential inputs. The pulse length of data signals of the UART (RXD,
TXD) is extended to make even small blocks of data visible.
The power required by the LEDs is taken from the DS1104’s supply
voltage (VCC).

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Mapping of I/O Signals
The following table lists the I/O signals of the DS1104 by function
groups, their electrical specifications, and the mapping of these signals
to RTI blocks and RTLib functions.
The table also provides the mapping of the I/O signals to the I/O pins
on the DS1104, on the Sub-D connectors (P1A, P1B), and on the
CP1104/CLP1104 connector panels.

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Conflicting I/O features Some I/O features of the DS1104 conflict with other I/O features. In
the table below, these signals are marked with an asterisk“*“.
For an overview, see Conflicting I/O Features on page 109.
Channel/Bit Numbers of Related RTI Blocks/RTLib Functions I/O Pin on …

Ch/Bit Ch/Bit Sub-D
Signal Related RTI Block(s) (RTI) Related RTLib Functions (RTLib) DS1104 Conn. CP/CLP
ADC Unit
• Input voltage range: ±10 V
• ADCH1 … ADCH4: input for A/D converter with 16-bit resolution
• ADCH5 … ADCH8: input for A/D converter with 12-bit resolution
• I/O circuit and further electrical characteristics: see Analog Inputs on page 120
ADCH1 DS1104MUX_ADC Ch 1 See ADC Unit in the DS1104 Ch 1 P1 100 P1A 50 CP1
ADCH2 Ch 2 RTLib Reference Ch 2 P1 99 P1B 50 CP2
ADCH3 Ch 3 Ch 3 P1 96 P1A 33 CP3
ADCH4 Ch 4 Ch 4 P1 95 P1B 33 CP4
ADCH5 DS1104ADC_Cx Ch 5 See ADC Unit in the DS1104 Ch 5 P1 92 P1A 16 CP5
ADCH6 Ch 6 RTLib Reference Ch 6 P1 91 P1B 16 CP6
ADCH7 Ch 7 Ch 7 P1 88 P1A 48 CP7
ADCH8 Ch 8 Ch 8 P1 87 P1B 48 CP8
DAC Unit
• Output voltage range: ±10 V
• Output current range: ±5 mA
• DACH1 … DACH8: D/A converter output with 16-bit resolution
• I/O circuit and further electrical characteristics: see Analog Outputs on page 122
DACH1 DS1104DAC_Cx Ch 1 See DAC Unit in the DS1104 Ch 1 P1 84 P1A 31 CP9
DACH2 Ch 2 RTLib Reference Ch 2 P1 83 P1B 31 CP10
DACH3 Ch 3 Ch 3 P1 80 P1A 14 CP11
DACH4 Ch 4 Ch 4 P1 79 P1B 14 CP12
DACH5 Ch 5 Ch 5 P1 76 P1A 46 CP13
DACH6 Ch 6 Ch 6 P1 75 P1B 46 CP14
DACH7 Ch 7 Ch 7 P1 72 P1A 29 CP15
DACH8 Ch 8 Ch 8 P1 71 P1B 29 CP16

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Ch/Bit Ch/Bit Sub-D
Bit I/O Unit
• TTL voltage range
• I/O circuit and further electrical characteristics: see Bit I/O on page 125
IO0 DS1104BIT_IN_Cx / Bit 0 See Bit I/O Unit in the DS1104 Bit 0 P1 68 P1A 12 CP17 20
IO1 DS1104BIT_OUT_Cx Bit 1 RTLib Reference Bit 1 P1 67 P1B 12 CP17 2
IO2 Bit 2 Bit 2 P1 66 P1A 28 CP17 21
IO3 Bit 3 Bit 3 P1 65 P1B 28 CP17 3
IO4 Bit 4 Bit 4 P1 64 P1A 44 CP17 23
IO5 Bit 5 Bit 5 P1 63 P1B 44 CP17 5
IO6 Bit 6 Bit 6 P1 62 P1A 11 CP17 24
IO7 Bit 7 Bit 7 P1 61 P1B 11 CP17 6
IO8 Bit 8 Bit 8 P1 60 P1A 27 CP17 26
IO9 Bit 9 Bit 9 P1 59 P1B 27 CP17 8
IO10 Bit 10 Bit 10 P1 58 P1A 43 CP17 27
IO11 Bit 11 Bit 11 P1 57 P1B 43 CP17 9
IO12 Bit 12 Bit 12 P1 56 P1A 10 CP17 29
IO13 Bit 13 Bit 13 P1 55 P1B 10 CP17 11
IO14 Bit 14 Bit 14 P1 54 P1A 26 CP17 30
IO15 Bit 15 Bit 15 P1 53 P1B 26 CP17 12
IO16 * Bit 16 Bit 16 P1 52 P1A 42 CP17 32
IO17 * Bit 17 Bit 17 P1 51 P1B 42 CP17 14
IO18 * Bit 18 Bit 18 P1 50 P1A 9 CP17 33
IO19 * Bit 19 Bit 19 P1 49 P1B 9 CP17 15
• TTL or RS422 input voltage range
• PHI0(x): digital incremental encoder interface input 0° (PHI0(x): inverted signal)
• PHI90(x): digital incremental encoder interface input 90° (PHI90(x): inverted signal)
• IDX(x): digital incremental encoder interface index input (IDX(x): inverted signal)
• I/O circuit and further electrical characteristics: see Incremental Encoder Interface on page 129
PHI0(1) DS1104ENC_SETUP / Ch 1 See Incremental Encoder Ch 1 P1 46 P1A 41 CP19 2
PHI0(1) DS1104ENC_POS_Cx / Interface in the DS1104 RTLib P1 44 P1A 8 CP19 3
DS1104ENC_SET_POS_Cx Reference
PHI90(1) P1 42 P1A 24 CP19 4
PHI90(1) P1 40 P1A 40 CP19 5
PHI0(2) Ch 2 Ch 2 P1 45 P1B 41 CP20 2
PHI0(2) P1 43 P1B 8 CP20 3
PHI90(2) P1 41 P1B 24 CP20 4
PHI90(2) P1 39 P1B 40 CP20 5
IDX(1) DS1104ENC_SETUP / Ch 1 See Incremental Encoder Ch 1 P1 38 P1A 7 CP19 6
IDX(1) DS1104ENC_HW_INDEX_Cx / Interface in the DS1104 RTLib P1 36 P1A 23 CP19 7
DS1104ENC_SW_INDEX_Cx Reference
IDX(2) Ch 2 Ch 2 P1 37 P1B 7 CP20 6
IDX(2) P1 35 P1B 23 CP20 7

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Ch/Bit Ch/Bit Sub-D
Serial Interface (RS232 mode)
• RS232 voltage range
• DCD (data carrier detect), CTS (clear to send), RTS (ready to send), DSR (data set ready), DTR (data terminal ready), RXD (receive),
TXD (transmit)
• I/O circuit and further electrical characteristics: see Serial Interface on page 136
DCD * DS1104SER_SETUP / See Serial Interface in the P1 3 P1B 34 CP21 1
CTS * DS1104SER_STAT / DS1104 RTLib Reference P1 5 P1B 18 CP21 8
DS1104SER_TX /
RTS * DS1104SER_RX / P1 6 P1A 18 CP21 7
DSR * DS1104SER_INT_Ix / P1 7 P1B 2 CP21 6
DTR * DS1104SER_INT_REC_LEV P1 8 P1A 2 CP21 4
RXD * P1 9 P1B 35 CP21 2
TXD * P1 10 P1A 35 CP21 3
Serial Interface (RS422/RS485 mode)
• RS422/RS485 voltage range
• CTS, CTS (clear to send and inverted signal), RTS, RTS (ready to send and inverted signal), RXD, RXD (receive and inverted signal),
TXD, TXD (transmit and inverted signal)
• I/O circuit and further electrical characteristics: see Serial Interface on page 136
CTS * DS1104SER_SETUP / See Serial Interface in the P1 3 P1B 34 CP22 8
RTS * DS1104SER_STAT / DS1104 RTLib Reference P1 4 P1A 34 CP22 7
DS1104SER_TX /
CTS * DS1104SER_RX / P1 5 P1B 18 CP22 9
RTS * DS1104SER_INT_Ix / P1 6 P1A 18 CP22 6
RXD * DS1104SER_INT_REC_LEV P1 7 P1B 2 CP22 3
TXD * P1 8 P1A 2 CP22 2
RXD * P1 9 P1B 35 CP22 4
TXD * P1 10 P1A 35 CP22 1

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Ch/Bit Ch/Bit Sub-D
Slave DSP Bit I/O Unit
• I/O circuit and further electrical characteristics: see Slave DSP Digital I/O on page 142
SPWM7 * DS1104SL_DSP_BIT_IN_Cx/ Bit 0 See Slave DSP Bit I/O Unit in Group 2 P1 31 P1B 6 CP18 10
DS1104SL_DSP_BIT_OUT_Cx the DS1104 RTLib Reference bit 0
SPWM8 * Bit 1 Group 2 P1 29 P1B 22 CP18 29
bit 1
SPWM9 * Bit 2 Group 2 P1 27 P1B 38 CP18 11
bit 2
ST1PWM * Bit 3 Group 2 P1 25 P1B 5 CP18 23
bit 3
ST2PWM * Bit 4 Group 2 P1 23 P1B 21 CP18 5
bit 4
ST3PWM Bit 5 Group 2 P1 21 P1B 37 CP18 24
bit 5
SCAP1 * Bit 6 Group 3 P1 18 P1A 20 CP18 2
bit 4
bit 5
bit 6
bit 7
SCLK * Bit 10 Group 4 P1 17 P1B 20 CP18 17
bit 0
SSTE * Bit 11 Group 4 P1 15 P1B 36 CP18 35
bit 1
SSIMO * Bit 12 Group 4 P1 13 P1B 3 CP18 16
bit 2
SSOMI * Bit 13 Group 4 P1 11 P1B 19 CP18 34
bit 3

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Ch/Bit Ch/Bit Sub-D
Slave DSP PWM Signal Generation (PWM, PWM3, PWMSV)
• TTL output voltage range
ST2PWM * DS1104SL_DSP_PWM Ch 1 See Slave DSP PWM Ch 1 P1 23 P1B 21 CP18 5
SPWM7 * Ch 2 Generation in the DS1104 Ch 2 P1 31 P1B 6 CP18 10
RTLib Reference
SPWM8 * Ch 3 Ch 3 P1 29 P1B 22 CP18 29
SPWM9 * Ch 4 Ch 4 P1 27 P1B 38 CP18 11
SPWM1 * DS1104SL_DSP_PWM3 / Phase 1 See Slave DSP PWM3 Phase 1 P1 32 P1A 6 CP18 7
SPWM3 * DS1104SL_DSP_PWMSV Phase 2 Generation / Phase 2 P1 28 P1A 38 CP18 8
Slave DSP PWMSV Generation
SPWM5 * Phase 3 in the DS1104 RTLib Reference Phase 3 P1 24 P1A 21 CP18 9
SPWM2 Phase 1 Phase 1 P1 30 P1A 22 CP18 26
(inverted) (inverted)
Slave DSP Square-Wave Signal Generation (D2F)
• TTL output voltage range
SPWM1 * DS1104SL_DSP_D2F Ch 1 See Square Wave Signal Ch 1 P1 32 P1A 6 CP18 7
SPWM3 * Ch 2 Generation (D2F) in the Ch 2 P1 28 P1A 38 CP18 8
DS1104 RTLib Reference
SPWM5 * Ch 3 Ch 3 P1 24 P1A 21 CP18 9
ST2PWM * Ch 4 Ch 4 P1 23 P1B 21 CP18 5
Slave DSP PWM Signal Measurement (PWM2D)
• TTL input voltage range
SCAP1 * DS1104SL_DSP_PWM2D Ch 1 See Slave DSP PWM Ch 1 P1 18 P1A 20 CP18 2
SCAP2 * Ch 2 Measurement (PWM2D) in the Ch 2 P1 16 P1A 36 CP18 21
SCAP3 * Ch 3 Ch 3 P1 14 P1A 3 CP18 3
SCAP4 * Ch 4 Ch 4 P1 12 P1A 19 CP18 22
Slave DSP Square-Wave Signal Measurement (F2D)
SCAP1 * DS1104SL_DSP_F2D Ch 1 See Square Wave Signal Ch 1 P1 18 P1A 20 CP18 2
SCAP2 * Ch 2 Measurement (F2D) in the Ch 2 P1 16 P1A 36 CP18 21
SCAP3 * Ch 3 Ch 3 P1 14 P1A 3 CP18 3
SCAP4 * Ch 4 Ch 4 P1 12 P1A 19 CP18 22

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Ch/Bit Ch/Bit Sub-D
Slave DSP Serial Peripheral Interface (SPI)
• SSOMI: SPI slave out, master in
• SSIMO: SPI slave in, master out
• SSTE: SPI slave transmit enable
• SSCLK: SPI clock
SSOMI * – See Slave DSP Serial Peripheral P1 11 P1B 19 CP18 34
SSIMO * – Interface in the DS1104 RTLib P1 13 P1B 3 CP18 16
Reference
SSTE * – P1 15 P1B 36 CP18 35
SSCLK * – P1 17 P1B 20 CP18 17
User Interrupts
• I/O circuit and further electrical characteristics: see Bit I/O on page 125
IO16 * DS1104MASTER_HWINT_Ix User See Interrupt Handling in the Ext int 0 P1 52 P1A 42 CP17 32
int 1 DS1104 RTLib Reference
IO17 * User Ext int 1 P1 51 P1B 42 CP17 14
int 2
IO18 * User Ext int 2 P1 50 P1A 9 CP17 33
int 3
IO19 * User Ext int 3 P1 49 P1B 9 CP17 15
int 4
GND pins The following I/O pins provide GND potential:
Connector Pin
DS1104
I/O Connector P1 1, 2, 33, 34, 47, 48, 69, 70,
73, 74, 77, 78, 81, 82, 85, 86,
89, 90, 93, 94, 97, 98
Sub-D Connector P1A 1, 13, 15, 17, 25, 30, 32, 39,
45, 47, 49
P1B 1, 13, 15, 17, 25, 30, 32, 39,
45, 47, 49
CP1104/CLP1104 Connector Panel
BNC CP1 … CP16 Shell
Digital I/O CP17 1, 4, 7, 10, 13, 16 … 19, 22,
25, 28, 31, 34, 35
Slave I/O CP18 1, 4, 6, 12 … 15, 20, 25,
30 … 33, 36, 37
Incremental Encoder Interface CP19, CP20 8, 10 … 15
UART RS232 and RS485/422 CP21 , CP22 5
GND of the DS1104 is internally connected to PC ground.

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VCC pins The following I/O pins provide access to the PC power supply VCC
(+5 V):
Connector Pin
DS1104
I/O Connector P1 19, 20
Sub-D Connector P1A 4
P1B 4
CP1104/CLP1104 Connector Panel
Digital I/O CP17 36, 37
Slave I/O CP18 18, 19
Incremental Encoder Interface CP19, CP20 1, 9
N ■ For the DS1104, the total load of the connector pins P1 19 and
P1 20 (pins P1B 4 and P1A 4 on the Sub-D connector) must not
exceed 500 mA.
■ For the connector panels CP1104 and CLP1104, the total load of
all connector pins that provide access to the PC power supply must
not exceed 500 mA (CP1104) or 400 mA (CLP1104).

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Conflicting I/O Features

Conflicts There are I/O features that share the same board resources.
Conflicts concerning single I/O channels There are conflicts that

concern single channels of an I/O feature. The dSPACE board provides
only a limited number of I/O pins. The same pins may be shared by
different I/O features. However, one pin can serve as the I/O channel
for only one feature at a time.
Conflicts concerning an I/O feature as a whole There are

conflicts that concern the use of an I/O feature as a whole. Suppose
two I/O features of the dSPACE board use the same on-board timer
device. In this case, only one of the two I/O features can be used at a
time. The other feature is completely blocked.
Conflicts for the DS1104 The following I/O features of the DS1104 conflict with other
I/O features:
■ Bit I/O Unit: see page 110
■ Serial Interface: see page 110
■ Slave DSP Bit I/O Unit: see page 111
■ Slave DSP 1-Phase PWM Signal Generation (PWM): see page 112
■ Slave DSP 3-Phase PWM Signal Generation (PWM3): see page 112
■ Slave DSP Space Vector PWM Signal Generation (PWMSV): see
page 113
■ Slave DSP Square-Wave Signal Generation (D2F): see page 114
■ Slave DSP PWM Signal Measurement (PWM2D): see page 115
■ Slave DSP Square-Wave Signal Measurement: see page 116
■ Slave DSP Serial Peripheral Interface (SPI): see page 117

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Conflicts for the Bit I/O Unit

The following I/O features of the DS1104 conflict with the Bit I/O unit:
Bit I/O Unit *) Conflicting I/O Feature **)
Bit Bit Ch Ch
(RTI) (RTLib) Signal (RTI) (RTLib)
Conflicts Concerning Single Bits

Bit 16 Bit 16 IO16 User interrupt User Int 1 Ext Int 0
*) Related RTI blocks and RTLib functions: **) Related RTI blocks and RTLib functions:
• DS1104BIT_IN_Cx/DS1104BIT_OUT_Cx • DS1104MASTER_HWINT_Ix
• See Bit I/O Unit in the DS1104 RTLib • See Interrupt Handling in the DS1104 RTLib Reference
Reference
Conflicts for the Serial Interface

The master PPC of the DS1104 supports only one serial interface. It
can be configured as either RS232 or RS422/RS485 transceiver.
Conflicts for External Triggering

Enabling the external trigger conflicts with the slave DSP bit I/O unit.
You cannot use the following bits for digital I/O purposes at the same
time:
External Trigger Signal Conflicting I/O Feature **)
Bit Bit Ch Ch
Conflicts Concerning External Triggering

External Trigger SPWM7 Bit 0 Group 2 bit 0
SPWM8 Bit 1 Group 2 bit 1
SPWM9 Bit 2 Group 2 bit 2
ST1PWM (used for triggering) Bit 3 Group 2 bit 3
ST2PWM Bit 4 Group 2 bit 4
ST3PWM Bit 5 Group 2 bit 5
*) Related RTI blocks and RTLib **) Related RTI blocks and RTLib functions:
functions: • DS1104SL_DSP_BIT_IN_Cx, DS1104SL_DSP_BIT_OUT_Cx
• DS1104SYNC_IO_SETUP • See Slave DSP Bit I/O Unit in the DS1104 RTLib Reference
• See Synchronous I/O Trigger
in the DS1104 RTLib
Reference

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Conflicts for the Slave DSP Bit I/O Unit

The following I/O features of the DS1104 conflict with the
Slave DSP Bit I/O unit:
Slave DSP Bit I/O Unit *) Conflicting I/O Feature **)
Bit Bit Ch Ch
Conflicts Concerning Single Bits

Bit 0 Group 2, bit 0 SPWM7 • PWM Ch 2 Ch 2
• External Trigger
Bit 3 Group 2, bit 3 ST1PWM • Slave DSP PWM int
Bit 4 Group 2, bit 4 ST2PWM • PWM • Ch 1 • Ch 1
• D2F • Ch 4 • Ch 4
Bit 5 Group 2, bit 5 ST3PWM External Trigger
Bit 6 Group 3, bit 4 SCAP1 PWM2D/F2D Ch 1 Ch 1
Bit 10 Group 4, bit 0 SCLK SPI –
Bit 11 Group 4, bit 1 SSTE SPI –
Bit 12 Group 4, bit 2 SSIMO SPI –
Bit 13 Group 4, bit 3 SSOMI SPI –
functions: PWM:
• DS1104SL_DSP_BIT_IN_Cx/ • DS1104SL_DSP_PWM
DS1104SL_DSP_BIT_OUT_Cx • See Slave DSP PWM Generation in the DS1104 RTLib Reference
• See Slave DSP Bit I/O Unit in Slave DSP PWM int
the DS1104 RTLib Reference • DS1104SLAVE_PWMINT
• See ds1104_slave_dsp_pwm3_int_init in the DS1104 RTLib Reference
D2F:
• DS1104SL_DSP_D2F
• See Square Wave Signal Generation (D2F) in the DS1104 RTLib
Reference
PWM2D/F2D:
• DS1104SL_DSP_PWM2D/DS1104SL_DSP_F2D
• See Slave DSP PWM Measurement (PWM2D)/Square Wave Signal
Measurement (F2D) in the DS1104 RTLib Reference
SPI:
• See Slave DSP Serial Peripheral Interface in the DS1104 RTLib
Reference

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Conflicts for Slave DSP 1-Phase PWM Signal Generation

(PWM)
The following I/O features of the DS1104 conflict with Slave DSP
1-Phase PWM Signal Generation:
Slave DSP 1-Phase PWM

Signal Generation (PWM) *) Conflicting I/O Feature **)
Ch Ch Ch Ch
Conflicts Concerning Slave DSP 1-Phase PWM Signal Generation as a Whole

• If you use channel 4 of D2F, you cannot generate 1-phase PWM signals at the same time.
Conflicts Concerning Single Channels
Ch 1 Ch 1 ST2PWM Slave DSP Bit I/O unit Bit 4 Group 2, bit 4
Ch 2 Ch 2 SPWM7 Slave DSP Bit I/O unit Bit 0 Group 2, bit 0
functions: D2F:
• DS1104SL_DSP_PWM • DS1104SL_DSP_D2F
• See Slave DSP PWM • See Square Wave Signal Generation (D2F) in the DS1104 RTLib
Generation in the DS1104 Reference
RTLib Reference Slave DSP Bit I/O Unit:
• DS1104SL_DSP_BIT_IN_Cx/ DS1104SL_DSP_BIT_OUT_Cx
• See Slave DSP Bit I/O Unit in the DS1104 RTLib Reference
Conflicts for Slave DSP 3-Phase PWM Signal

Generation (PWM3)
3-Phase PWM Signal Generation:
Slave DSP 3-Phase PWM

Signal Generation (PWM3) *) Conflicting I/O Feature **)
Ch Ch Ch Ch

• If you perform space vector PWM signal generation (PWMSV) or square-wave signal generation (D2F), you cannot
generate 3-phase PWM signals at the same time.
functions: PWMSV:
• DS1104SL_DSP_PWM3 • DS1104SL_DSP_PWMSV
• See Slave DSP PWM3 • See Slave DSP PWMSV Generation in the DS1104 RTLib Reference
Generation in the DS1104 D2F:
RTLib Reference • DS1104SL_DSP_D2F
Reference

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Conflicts for Slave DSP Space Vector PWM Signal

Generation (PWMSV)
Space Vector PWM Signal Generation:
Slave DSP Space Vector PWM

Signal Generation
(PWMSV) *) Conflicting I/O Feature **)
Ch Ch Ch Ch

• If you perform 3-phase PWM signal generation (PWM3) or square-wave signal generation (D2F), you cannot generate
space vector PWM signals at the same time.
functions: 3-phase PWM signal generation (PWM3):
• DS1104SL_DSP_PWMSV • DS1104SL_DSP_PWM3
• See Slave DSP PWMSV • See Slave DSP PWM3 Generation in the DS1104 RTLib Reference
Generation in the DS1104 D2F:
RTLib Reference • DS1104SL_DSP_D2F
Reference

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Conflicts for Slave DSP Square-Wave Signal

Generation (D2F)
Square-Wave Signal Generation:
Slave DSP Square-Wave

Signal Generation (D2F) *) Conflicting I/O Feature **)
Ch Ch Ch Ch
Conflicts Concerning Slave DSP Square-Wave Signal Generation as a Whole

• If you perform 3-phase or space vector PWM signal generation (PWM3 or PWMSV), you cannot generate square-wave
signals at the same time.
Ch 4 Ch 4 ST2PWM • Slave DSP Bit I/O unit • Bit 4 • Group 2, bit
4
• PWM • Ch 1 • Ch 1
functions: PWM3/PWMSV:
• DS1104SL_DSP_D2F • DS1104SL_DSP_PWM3/DS1104SL_DSP_PWMSV
• See Square Wave Signal • See Slave DSP PWM3 Generation/Slave DSP PWMSV Generation in the
Generation (D2F) in the DS1104 RTLib Reference
DS1104 RTLib Reference Slave DSP Bit I/O Unit:
PWM:
• DS1104SL_DSP_PWM
• See Slave DSP PWM Generation in the DS1104 RTLib Reference

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Conflicts for Slave DSP PWM Signal Measurement

(PWM2D)
The following I/O features of the DS1104 conflict with Slave DSP PWM
Signal Measurement:
Slave DSP PWM Signal

Measurement (PWM2D) *) Conflicting I/O Feature **)
Ch Ch Ch Ch
Conflicts Concerning Slave DSP PWM Signal Measurement as a Whole

• If you perform square-wave signal measurement (F2D), you cannot measure PWM signals at the same time.
Ch 1 Ch 1 SCAP1 Slave DSP Bit I/O unit Bit 6 Group 3, bit 4
functions: F2D:
• DS1104SL_DSP_PWM2D • DS1104SL_DSP_F2D
• See Slave DSP PWM • See Square Wave Signal Measurement (F2D) in the DS1104 RTLib
Measurement (PWM2D) in Reference
the DS1104 RTLib Reference Slave DSP Bit I/O Unit:

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Conflicts for Slave DSP Square-Wave Signal

Measurement (F2D)
Square-Wave Signal Measurement:
Slave DSP Square-Wave

Signal Measurement (F2D) *) Conflicting I/O Feature **)
Ch Ch Ch Ch
Conflicts Concerning Slave DSP Square-Wave Signal Measurement as a Whole

• If you perform PWM signal measurement (PWM2D), you cannot measure square-wave signals at the same time.
functions: PWM2D:
• DS1104SL_DSP_F2D • DS1104SL_DSP_PWM2D
• See Square Wave Signal • See Slave DSP PWM Measurement (PWM2D) in the DS1104 RTLib
Measurement (F2D) in the Reference
DS1104 RTLib Reference Slave DSP Bit I/O Unit:

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Conflicts for the Slave DSP Serial Peripheral

Interface (SPI)
The following I/O features of the DS1104 conflict with the Slave DSP
Serial Peripheral Interface (SPI):
Slave DSP Serial Peripheral

Interface *) Conflicting I/O Feature **)
Bit Bit
Signal (RTI) (RTLib)
Conflicts Concerning the Slave DSP Serial Peripheral Interface (SPI) as a Whole
• If you use the following bits of the Slave DSP Bit I/O Unit you cannot use the SPI.
SCLK Slave DSP Bit I/O unit Bit 10 Group 4, bit 0
SSTE Slave DSP Bit I/O unit Bit 11 Group 4, bit 1
SSIMO Slave DSP Bit I/O unit Bit 12 Group 4, bit 2
SSOMI Slave DSP Bit I/O unit Bit 13 Group 4, bit 3
*) Related RTLib functions: **) Related RTI blocks and RTLib functions:
• See Slave DSP Serial • Related RTI blocks: DS1104SL_DSP_BIT_IN_Cx/
Peripheral Interface in the DS1104SL_DSP_BIT_OUT_Cx
DS1104 RTLib Reference • Related RTLib functions: see Slave DSP Bit I/O Unit in the DS1104 RTLib
Reference

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Signal Connection to
External Devices
This chapter provides descriptions of the on-board I/O circuits, lists

important electrical characteristics and gives notes and tips on signal
conditioning and signal connection to external devices.
The information given is sorted according to the I/O units of the
DS1104:
■ Analog Inputs on page 120
■ Analog Outputs on page 122
■ Bit I/O on page 125
■ Incremental Encoder Interface on page 129
■ Serial Interface on page 136
■ Slave DSP Digital I/O on page 142
T User interrupts must be connected to the pins of the bit I/O unit. For
details, see Recognizing User Interrupts on page 128.

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Analog Inputs
The DS1104 contains two different types of analog/digital converters
(ADCs) for the analog input channels:
■ One 16-bit ADC with four multiplexed input signals:
ADCH1 ... ADCH4
■ Four 12-bit parallel ADCs with one input signal each:
ADCH5 ... ADCH8
For a feature description of the ADCs refer to ADC Unit in the DS1104
Features document.
For detailed information on connecting external devices to the analog
inputs, refer to:
■ Input Circuit and Electrical Characteristics on page 121
■ Notes and Tips on Signal Conditioning on page 121

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Input Circuit and Electrical Characteristics

Input circuit The following illustration is a simplified diagram of the input circuitry
of the ADCs.
1 kΩ
ADCHx ADC
Rin ≈ 1 MΩ
1 MΩ Rin,amp > 10 MΩ
Electrical characteristics The analog inputs are single-ended bipolar inputs with the following
characteristics.
Parameter Value
Min. Max.
Input voltage –10 V +10 V
Input resistance Approx. 1 MΩ
SNR (signal-to- • 16-bit muxed ADCs • > 80 dB
noise ratio) • 12-bit parallel ADCs • > 65 dB
Notes and Tips on Signal Conditioning

The following notes and tips are intended to help you achieve
optimum results using the ADCs.
Noise, crosstalk and inductive effects can degrade the signal and lead
to incorrect results if you do not perform the following correctly:
■ Grounding and Shielding on page 147
■ Avoiding Crosstalk on page 151
■ Wiring Up External Devices on page 152

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Analog Outputs
The DS1104 provides a digital/analog converter (DAC) with 8 parallel
DAC channels. The analog output channels are called
DACH1 ... DACH8.
For a feature description of the DACs refer to DAC Unit in the DS1104
Features document.
For detailed information on connecting external devices to the analog
outputs, refer to:
■ Output Circuit and Electrical Characteristics on page 123

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Output Circuit and Electrical

Characteristics
Output circuit The following illustration is a simplified diagram of the output circuitry
of the DACs.
R out → 0 Ω
DACx + 100 Ω
DACHx
–
3 kΩ
1 kΩ
Electrical characteristics The analog outputs are single-ended bipolar outputs with the
following characteristics.
Parameter Value
Min. Max.
Output voltage –10 V +10 V
Output current –5 mA +5 mA
Output resistance →0Ω
Power-up default 0V
SNR (signal-to-noise ratio) > 80 dB
DAC outputs are low-impedance outputs.

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optimum results when using the DACs.
to incorrect results if you do not perform the following correctly:

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Bit I/O
The DS1104 contains a bit I/O unit with 20 digital I/O pins called
IO0 ... IO19.
You can select the direction for each bit individually by software. For a
feature description of the bit I/O unit refer to Bit I/O Unit in the
DS1104 Features document.
For detailed information on connecting external devices to the bit I/O,
refer to:
■ I/O Circuit and Electrical Characteristics on page 126

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I/O Circuit and Electrical Characteristics

I/O circuit The following illustration is a simplified diagram of the input/output
circuitry of the bit I/O.
VCC
Output
10 kΩ
Enable
33 Ω I/Ox
→
I
Electrical characteristics The bit I/O has TTL output/input levels with the following
characteristics.
Parameter Value
Min. Max.
Input voltage High 2.0 V 5.0 V
Low 0V 0.8 V
Output voltage High 2.4 V 5.0 V
Low 0V 0.4 V
Input current 500 µA
(The current direction is shown in the circuit
diagram above.)
Power-up default All bit I/O output circuits are

disabled and driven to VCC
by the built-in 10 kΩ pull-up
resistors.

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optimum results when using the bit I/O:
■ Changing Power-up Default on page 128
■ Recognizing User Interrupts on page 128
■ Noise, crosstalk and inductive effects can degrade the signal and
lead to incorrect results if you do not perform the following
correctly:
• Grounding and Shielding on page 147
• Avoiding Crosstalk on page 151
• Wiring Up External Devices on page 152

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Changing Power-up Default

After power-up the bit I/O unit is configured to input mode. In this
case, the I/O pins have a defined logical high level because of the built-
in pull-up resistors.
If you want to change the power-up default, you can set the I/O pins
to a defined logical low level by connecting a 1 kΩ pull-down resistor
from ground to each I/O pin.
Recognizing User Interrupts

IO16 ... IO19 can be used as external interrupt inputs. To allow the
interrupt controller to recognize incoming user interrupts, the input of
the interrupts must be kept high for at least 1 µs. The interrupt is
activated by the high to low transition of the signal. The signal must
remain low for at least 100 ns after the transition.
Thigh Tlow
high Thigh min: 1 µs
Tlow min: 100 ns
low
t

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The DS1104 provides a digital incremental encoder interface with
input channels for two incremental encoders. The pins which make up
the inputs are called:
■ IDX(1), IDX(1), PHI90(1), PHI90(1), PHI0(1), PHI0(1)
■ IDX(2), IDX(2), PHI90(2), PHI90(2), PHI0(2), PHI0(2)
The incremental encoder interface supports single-ended TTL and

differential RS422 signals (selectable by software). For a feature
description of the encoder interface refer to Incremental Encoder
Interface in the DS1104 Features document.
For detailed information on connecting external devices to the
incremental encoder interface, refer to:
■ Input Circuit and Electrical Characteristics on page 130

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Input Circuit and Electrical Characteristics

Input circuit The following illustration is a simplified diagram of the input circuitry
of the digital incremental encoders.
PHI0 (x) 1 kΩ
PHI90 (x)
IDX (x)
150 Ω RS422/ Digital
Single Converter
Ended Interface
4.7 nF Converter
PHI0 (x)
PHI90 (x)
IDX (x) 1 kΩ
Electrical characteristics The encoder interface supports single-ended TTL and differential
RS422 signals with the following characteristics.
Parameter Value
Min. Max.
TTL input voltage High 2.0 V 5.0 V
Low 0V 0.8 V
TTL input resistance 12 kΩ
RS422 input voltage High Diff > +0.2 V
Low Diff < -0.2 V
• Diff = Voltage difference between

non-inverted and inverted signal
• The input signal, together with the
corresponding inverted signal, must
be in the range 0 ... 5 V.
RS422 input resistance The input resistance gradually

drops from 8.5 kΩ at the corner
frequency of 28 kHz to 210 Ω
at the corner frequency of
225 kHz.

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Encoder power The DS1104 offers a 5 V supply voltage for the incremental encoders.
supply lines These voltage outputs (VCC) are connected to the PC‘s 5 V power
supply via a multifuse.
If a supply output is overloaded or shorted, the multifuse is heated by
the overcurrent and abruptly increases its resistance. To reset the
multifuse to its initial low resistance, remove the power for some
You should use the VCC supply voltages for all connected incremental
sensors.

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optimum results using the incremental encoder interface:
■ Recognizing Encoder Index Interrupts: see below
■ Connecting Encoders on page 133
■ Supplying Power to Encoders on page 135
lead to incorrect results if you do not provide correct shielding. For
details refer to Shielding on page 150.
Recognizing Encoder Index Interrupts

To allow the interrupt controller to recognize incoming index interrupts
(IDX1, IDX2), the input of the index interrupts must be kept low for at
least 1 µs. The interrupt is activated by the low to high transition of
the signal. The signal must remain high for at least 100 ns after the
transition from low to high.
Tlow Thigh
high Thigh min: 100 ns
Tlow min: 1 µs
low
t

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Connecting Encoders
General To allow proper operation, do not connect the outputs of your
encoder to an AC-coupling network. The input signals must be DC
signals.
Encoder providing Connect encoders that provide differential RS422 signals to the
differential RS422 DS1104 as shown in the illustration below.
signals
DS1104 Incremental encoder

output
PHI0 PHI0
PHI0 PHI0
PHI90 PHI90
PHI90 PHI90
IDX IDX
IDX IDX
VCC VSupply
GND GND

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Encoder providing If the single ended TTL mode is used, the inverted pins PHI90, PHI0
single-ended TTL mode and IDX must be left unconnected (see below).

output
PHI0 PHI0
PHI0
PHI90 PHI90
PHI90
IDX IDX
IDX
VCC VSupply
GND GND
Encoder providing If your encoder has sense lines, connect SENSE+ to Vsupply and
SENSE lines SENSE– to GND. Connect the sense lines directly within the connector
of the encoder (see below).

output
VCC VSupply
GND GND
SENSE +
SENSE -

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Encoder without You can leave the IDX and IDX pins unconnected if your encoder does
index signal not provide an index signal. In this case, you cannot use RTLib
functions or RTI blocks that require an index signal.
Supplying Power to Encoders

Using VCC pins The DS1104 offers two VCC pins. You should use these supply
voltages for all connected incremental encoders.
Connect both pins so that the current is shared evenly by both pins.
Use wires of sufficient diameter to avoid voltage drops.
The total load of all connector pins that provide access to the PC
power supply must not exceed 500 mA (DS1104 or via CP1104) or
400 mA (CLP1104).
Using an external If you use an external supply voltage, you have:

power supply ■ To guarantee that no input voltages are fed to the DS1104 while it
is switched off
■ To connect the encoder’s ground line to a ground pin of the board
(see example below)

output
VCC VSupply
GND GND
External
VSupply

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Serial Interface
The DS1104 contains a Universal Asynchronous Receiver and
Transmitter (UART) to perform communication with external devices.
The UART can be configured as a RS232, RS422 or RS485 transceiver.
The pins of the UART are called:
■ RXD, RXD
■ TXD, TXD
■ RTS, RTS
■ CTS, CTS
■ DCD, DTR, DSR
For a feature description refer to Serial Interface in the DS1104

Features document.
For notes and tips of connecting the UART, refer to:
■ Connecting RS232 Devices on page 137
■ Connecting RS422/RS485 Devices on page 138

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Connecting RS232 Devices

If you use the UART interface as an RS232 transceiver, you have to
cross-connect the TXD and RXD signals for connecting external
devices.
To do this, connect the pin of the TXD (output) signal to the pin of the
RXD (input) signal as shown below.
DS1104 (RS232 mode) External device

or another DS1104
TXD TXD
RXD RXD
GND GND
N For some devices (e.g., modems), you should not cross-connect the
TXD and RXD signals. For the correct connection refer to the manual
of the device you want to connect to the DS1104.

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Connecting RS422/RS485 Devices

By default, the UART interface of the DS1104 is configured as an
RS422 transceiver. To use the UART as an RS485 transceiver you have
to connect the following pins (see below):
■ TXD signal to RXD signal
■ TXD signal to RXD signal
DS1104 (RS485 mode)
TXD
TXD
RXD
R
RXD
T = Transmitter
R = Receiver
For proper operation of the UART interface you have to pay attention
to line termination and grounding.
Line termination The UART chip of the DS1104 does not provide line termination. If you
use the UART as an RS422 or RS485 transceiver, line termination is
essential, especially for faster data transfer rates and long cables. The
main reasons for correct termination are reflections at the ends of the
line, and the minimum transmitter load requirement.

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Because RS422 allows only one transmitter in the bus, the termination
resistor is placed only at the end of the cable near the last receiver (see
figure below).
DS1104 (RS422 mode)
TXD
T ZT
TXD
RXD RXD RXD RXD RXD RXD
R R R
T = Transmitter
R = Receiver
The termination resistor ZT, must be within 20% of the characteristic

impedance of the cable (Z0) and can vary from 90 Ω to 120 Ω.

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The figure below shows a typical 485-compliant network, with a

transceiver at both ends of the cable and transmitters/receivers placed
along the length of the cable. Since each device communicates
bidirectionally, it is impossible to determine where the transmitter is
and to which device the transmitter is currently transmitting at the
moment. Moreover, it is also possible for the transmitter to be in the
middle of the line. So, both ends of the line have to be terminated
with a terminator.
DS1104 (RS485 mode)
+5 V
1 kΩ Pull-up
resistor
TXD
RXD
T ZT ZT R
RXD
TXD
RXD TXD
R T
R 1 kΩ Pull-down T
resistor
RXD TXD
T = Transmitter
R = Receiver
The termination resistor ZT, must be within 20 % of the characteristic

impedance of the cable (Z0) and can vary from 90 Ω to 120 Ω.
Avoiding undefined If no transmitter is currently active in an RS485 network, undefined

conditions (RS485) conditions may occur. To avoid these conditions, you must provide a
pull-up and a pull-down resistor (each 1 kΩ) as shown above.

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Ground connection For correct operation of the transmitter and the receiver, a return
signal path between the grounding of the individual devices is
required.
This has to be realized by a third wire. Here a resistor can be connected
in series to limit unwanted high currents resulting from ground
potential differences.
The figure below shows the grounding arrangement in an RS485
network.
ZT ZT
Ground wire
T R
100 Ω 100 Ω
100 Ω 100 Ω
Logic ground Chassis ground Logic ground Chassis ground

T = Transmitter
R = Receiver

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Slave DSP Digital I/O

The slave DSP of the DS1104 provides the following I/O:
■ Slave DSP Bit I/O Unit
■ Slave DSP Timing I/O Unit
■ Slave DSP Serial Peripheral Interface
The pins of the slave DSP digital I/O are called:

■ SPWM1 ... SPWM9
■ ST1PWM ... ST3PWM
■ SCAP1 ... SCAP4
■ SSOMI
■ SSIMO
■ SSTE
■ SSCLK
For a feature description of the slave DSP digital I/O refer to Features
Provided by the Slave DSP in the DS1104 Features document.
For detailed information on connecting external devices to the slave
DSP digital I/O, refer to:
■ I/O Circuit and Electrical Characteristics on page 143

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I/O Circuit and Electrical Characteristics

I/O circuit The following illustration is a simplified diagram of the input/output
circuitry of the slave DSP digital I/O.
VCC
Output
10 kΩ
Enable
33 Ω Slave I/O
→
I
Electrical characteristics The slave DSP digital I/O have TTL output/input levels with the
following characteristics.
Parameter Value
Min. Max.
Input voltage High 2.0 V 5.0 V
Low 0V 0.8 V
Output voltage High 2.4 V 5.0 V
Low 0V 0.4 V
Input current 500 µA
(The current direction is shown in the circuit
diagram above.)
Power-up default All digital I/O output circuits

are disabled and driven to
VCC by the built-in 10 kΩ
pull-up resistors.

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optimum results using the slave DSP digital I/O:
■ Changing Power-up Default on page 144
■ Using the ST1PWM Pin on page 145
lead to incorrect results if you do not perform the following
correctly:
• Grounding and Shielding on page 147
• Avoiding Crosstalk on page 151
• Wiring Up External Devices on page 152
Changing Power-up Default

After power-up the digital I/O are configured to input mode. In this
case, the I/O pins have a defined logical high level because of the built-
in pull-up resistors.
If you want to change the power-up default, you can set the I/O pins
to a defined logical low level by connecting a 1 kΩ pull-down resistor
from ground to each I/O pin.

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Using the ST1PWM Pin

The ST1PWM pin is lead to the interrupt controller of the DS1104, so it
is possible to generate interrupts that are synchronous to PWM signal
generation. You can also use the pin as a further external interrupt
input (user interrupt). In this case the ST1PWM pin has to be
configured as an input (using RTLib1104).
Strobing I/O In addition, you can use the ST1PWM pin for strobing the I/O (ADCs,
DACs and incremental encoder signals). The required trigger signal can
be either generated by the slave DSP or driven externally. In the second
case the ST1PWM pin has to be configured as an input or the slave
DSP must be in reset mode.
Recognizing signals at To allow the interrupt controller to recognize an incoming signal at the
the ST1PWM pin ST1PWM pin (PWM interrupt, external interrupt or trigger for
strobing), the interrupt signal must be kept high for at least 1 µs. The
interrupt is activated by the high to low transition of the signal. The
signal must remain low for at least 100 ns after the transition.
Thigh Tlow
high Thigh min: 1 µs
Tlow min: 100 ns
low
t

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General Notes and Tips on

Signal Conditioning
In addition to this section (= general notes) you will find specific notes
and tips on signal conditioning according to the I/O units of the board.
You should also refer to these.
to incorrect results if the following are not performed correctly:
ADC performance of When you are sampling an unconnected A/D input, you are looking at
dSPACE boards a noisy signal traced in ControlDesk. This may give the impression that
the performance of the A/D sections of dSPACE boards is poor.
For an explanation of this incorrect impression and further background
information (definition of SNR, measuring noise), refer to ADC
Performance of dSPACE Boards on page 153.

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Grounding and Shielding

Proper grounding and shielding reduces noise and inductive effects.
T The advice given here also applies to the cabling of the devices inside
your test bench. It is better to eliminate the cause, than to reduce the
effects.
Grounding ■ There are different terms for ground signals which are often mixed
up. For their definitions, refer to Definitions of Different Ground
Signals on page 148.
■ For notes on cabling and connecting ground lines as well as further
background information, refer to Grounding Signals on page 149.
Shielding ■ For notes on cabling and connecting the shield as well as further
background information, refer to Shielding on page 150.

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Definitions of Different Ground Signals

There are three classes of signals often referred to as ground signals,
i.e. signal return, power ground and shield. To achieve the best results
regarding signal quality, noise rejection and EMC behavior, these
different ground signals must not be mixed.
■ A signal return line is the reference potential of a signal. It should
carry the same current as the corresponding signal line, and this
current should be kept small.
■ Power supply ground is the return path for the supply voltage. It
carries large and varying currents resulting in significant (AC)
voltage drops along the cable. Never use the same wire for signal
return and power supply ground.
■ Shield is a barrier to keep in everything inside and keep out
everything outside. It is usually connected to the device enclosures
at both ends to form a closed cage around all signals and cards. It
is not necessarily connected to power ground.

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Grounding Signals
Do not use a ground line for more than one purpose. A grounding
scheme has to be evaluated based on its AC current flow and not on
its DC behavior. The DC resistance of a cable has only minor impact.
Cable inductance plays a major role.
Avoiding ground loops To avoid ground loops and ground bounces, use separate signal return
and ground bounces (ground) lines for all connected sensors and actuators.
Each signal should have its own return line. The best results can be
achieved with a shielded twisted pair cable. A twisted pair cable has
the lowest inductance.
On the sensor/actuator side, connect one of the twisted wires to the
signal and the other one to ground. On the board side, connect the
first wire to the input/output and the second one to ground. The
shield should be connected to the housing of the sensor/actuator and
to the metal shell of the board connector. Do not connect the shield to
ground anywhere.
Metal shell
Signal return line A Shield
GND pin
I/O pin Signal A
I/O connector Shielded twisted pair cable
Signal B
If not enough ground pins are available at the connector, several

return lines can be attached to a common ground pin. However, this
common ground lead should be kept as short as possible to reduce
ground line inductance.

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If a cable contains unused leads, connect them to signal return

(ground) lines at both ends to lower the inductance of the ground
path between the dSPACE system and the sensor/actuator.
Star ground In a star ground configuration, ground loops are of no concern, if the
configuration signal return (ground) lines within the external devices are not
connected to protective ground.
Always connect all signal return (ground) lines at both ends of a cable,
i.e. board connector and sensor/actuator.
Shielding
The best shield is a low-inductance conductive barrier surrounding the
complete setup of the device, cable and system, keeping in everything
inside and keeping out everything outside (faraday cage). Low
resistance, and most especially low inductance, are the key to a good
shield.
EMC radiation and immunity are mostly affected by the outer cable
shield. Individual lead shielding has only a minor effect if a common
outer shield is present. Individual shielding is only necessary to reduce
crosstalk.
Cabling For cabling you should use shielded, twisted pair cables. The inner
twisted-pair leads are used for the signal line and the return line
(ground line). The return line should be connected to the ground pins
of the respective board connector.
Ideally, each signal should be twisted with its return line so that any
electromagnetic fields cancel one another.
Using the encoder interface with differential signals, the PHI90 line
should be twisted with PHI90, PHI0 with PHI0 et cetera.
Connecting shield to Use a metal shell connector to the dSPACE board connector and
the dSPACE system connect the shield to the connector shell so that shield, connector
shell and system enclosure form a closed shield surrounding all
electronics. Use a large area connection and avoid pigtails.

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N Do not connect the shield to the GND pins of the dSPACE

system.
Connecting shield to At the other end, the shield should be connected directly to the
the external device sensor/actuator housing. Sometimes sensors and actuators have
dedicated shield pins available at their connector. The idea is to form
one closed shielding cage consisting of the cable shield and
sensor/actuator enclosure, which is ideally nowhere connected to
signal ground. Use a large area connection and avoid pigtails.
Avoiding Crosstalk
Crosstalk occurs if a signal with steep edges runs close to a high
impedance analog signal. The main reason for crosstalk is inductive
coupling. It can be reduced by the following measures:
■ Twist each signal line with its return line (ground).
■ Never twist two signal lines.
■ Separate digital and analog signal lines. Keep fast-changing signals
far away from analog inputs.
■ Avoid connecting high-impedance sources to the inputs of the
dSPACE boards.
■ If you use multiconductor cables, the individual twisted pairs
should be shielded.
■ You should also note the advice in Wiring Up External Devices on
page 152.

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Wiring Up External Devices

Noise and/or crosstalk can be reduced and maybe avoided by the
following measures:
Using connector panels ■ Do not use a connector panel in areas of strong electromagnetic
radiation. Note that a ribbon cable may pick up some of this
radiation.
■ If optimum signal quality is a must, avoid using connector panels.
Connect your external devices to the board connectors directly.
Using BNC cables ■ If your dSPACE hardware offers BNC cables: If noise is a problem,
avoid the use of BNC connectors. BNC connectors use the outside
of the connector for ground. They do not permit shielding.
■ To avoid poor signal performance, do not create ground loops
within the BNC wiring.
Cabling ■ Use connections as short as possible between your test bench and
the dSPACE board.
■ Keep cabling away from noise sources.
■ Separate signal lines from high-current or high-voltage lines. These
lines are capable of inducing currents on the signal lines if they run
parallel and close to them. To reduce the magnetic coupling
between lines, separate them by a reasonable distance if they run
in parallel, or run the lines at right angles to each other.
■ Do not route signal lines through conduits that also contain power
lines.
■ Protect signal lines from magnetic fields caused by devices such as
monitors, electric motors, welding equipment, transformers, and
so on, by running these through special metal conduits.

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ADC Performance of dSPACE Boards

We are frequently contacted because of the “poor” performance of
the A/D sections of our boards. This is usually derived from looking at
the noisy signal traced in ControlDesk when sampling an unconnected
A/D input or an A/D input shorted to ground. However, this has
nothing to do with the definition of the SNR (signal-to-noise-ratio) we
publish in the data sheets of our boards.
A common misunderstanding is that theoretical maximum values of
ideal ADCs are expected from real-world components in real-world
board designs, even inside PC environments. This is impossible. A
16-bit ADC, for example, never has an effective number of bits equal
to 16.
The A/D section of every dSPACE board is FFT (Fast Fourier Transform)
tested during production so that we can guarantee the published data
sheet values for every board. For 16-bit ADCs we typically achieve an
SNR of 78 … 82 dB depending on the board type. This corresponds to
an effective number of bits of about 12.5 … 13. This is the best that
can be achieved in typical PC environments.
For background information, refer to:
■ Definition of SNR on page 154
■ Measuring Noise on page 155
■ “Noise Reduction Techniques in Electronic Systems” by Henry W.
Ott, John Wiley & Sons, Inc.

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Definition of SNR
SNR (signal-to-noise-ratio) is defined as a true rms (root mean square)
ratio between the input signal and the noise. SNR is usually expressed
in dB.
The SNR for a sinusoidal input signal can be described as:
signal ( rms )
SNR = 20 ⋅ log ------------------------------- dB
noise ( rms )
An application note from the well-known ADC manufacturer MAXIM

describes the formula used and explains how the SNR parameter
correlates with ADC performance: Defining and Testing Dynamic
Parameters in High-Speed ADCs, Part 1. It is available at
http://www.maxim-ic.com/appnotes.cfm/appnote_number/728.
Notes on Often the peak-to-peak values of the signal and the noise are
calculation of SNR mistakenly taken to calculate the SNR with the formula shown above.
However, this results in much lower performance than the A/D
converter really obtains. While the rms value of a sine wave can be
obtained by dividing its peak-to-peak value by 2.828, the peak-to-
peak value of a noise signal must be divided by approximately 6 … 8
to obtain its rms value (occasional extreme peaks must be ignored
using this equation). Furthermore, the peak-to peak noise theoretically
might be ±10 V (even if the inputs are shorted) without decreasing the
SNR, assuming that such high peaks appear rarely enough.

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Measuring Noise
It is often claimed that the noisy signal measured with the dSPACE
board looks much better when measured with an oscilloscope. The
reason is that you are using the wrong “voltage range” for the
dSPACE system!
dSPACE boards have an input range of ±10 V and you are looking at
signals with a voltage range of a few mV. That is similar to using a ruler
to measure 1/1,000 inches. When you use your oscilloscope, you
select an appropriate voltage range for the signal you are watching.
You should do the same with the dSPACE system: You should adapt
your input signal to the ±10 V scale of the dSPACE board before
converting it. Use external amplifiers to ensure that the maximum
amplitude range of the signal to be measured is mapped to the full
scale range of the ADC, which is usually ±10 V.

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Data Sheets
For the technical data of the DS1104 and the optional connector
panels CP1104/CLP1104, see:
■ DS1104 Data Sheet on page 158
■ CP1104 Data Sheet on page 161
■ CLP1104 Data Sheet on page 161

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DS1104 Data Sheet

The following table shows the data sheet of the
DS1104 R&D Controller Board.
Parameter Characteristics
Processor • MPC8240 processor with PPC603e core and on-chip
peripherals
• 64-bit floating-point processor
• 250 MHz CPU
• 2 x 16 KB cache; on-chip
• On-chip PCI bridge (33 MHz)
Memory • Global memory: 32 MB SDRAM
• Flash memory: 8 MB
Timer • 1 sample rate timer (decrementer):
32-bit down counter, reload by software, 40 ns resolution
• 4 general purpose timer:
32-bit down counter, reload by hardware, 80 ns resolution
• 1 time base counter:
64-bit up counter, 40 ns resolution, range 23400 years
Interrupt controller • 5 timer interrupts
• 2 incremental encoder index line interrupts
• 1 UART interrupt
• 1 slave DSP interrupt
• 1 slave DSP PWM interrupt
• 5 ADC end of conversion interrupts
• 1 host interrupt
• 4 user interrupts from the I/O connector
ADC • 4 muxed channels equipped with one 16-bit sample & hold
1 x 16-bit ADC with mux ADC
Note: 5 ADC channels (1 x 16-bit + 4 x 12-bit) can be
sampled simultaneous
• 16-bit resolution
• ±10 V input voltage range
• 2 µs conversion time
• ±5 mV offset error
• ±0.25 % gain error
• 4 ppm/K offset drift
• 25 ppm/K gain drift
• >80 dB signal-to-noise ratio (SNR)

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ADC • 4 channels each equipped with one 12-bit sample & hold
4 x 12-bit ADC ADC
Note: 5 ADC channels (1 x 16-bit + 4 x 12-bit) can be
sampled simultaneous
• 12-bit resolution
• ±10 V input voltage range
• 800 ns conversion time
DACs • 16-bit resolution
8 x 16-bit DAC • ±10 V output voltage range
• ±5 mA maximum output current
• Max. 10 µs settling time (full scale, accuracy 1/2 LSB)
Digital I/O • 20-bit parallel I/O
• Single bit selectable for input or output
• TTL output/input levels
Digital Incremental Encoder • 2 channels
Interface • Selectable single-ended (TTL) or differential (RS422) input
(2 x 24 bit) • Fourfold line subdivision
• Max. 1.65 MHz input frequency, i.e. fourfold pulse counts up
to 6.6 MHz
• 24-bit loadable position counter
• Reset on index
• 5 V/0.5 A sensor supply voltage
Serial interface • 1 serial UART (universal asynchronous receiver and
transmitter)
• Selectable transceiver mode: RS232/RS422/RS485
• Max. baudrate RS232: 115.2 kBaud
• Max. baudrate RS422/RS485: 1 MBaud

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Slave DSP subsystem • Texas Instruments TMS320F240 DSP
• 16-bit fixed-point processor
• 20 MHz clock frequency
• 64 K x 16 external program memory
• 28 K x 16 external data memory
• 4 K x 16 dual-port memory for communication
• 16 K x 16 flash memory
• 1 x 3-phase PWM output
• 4 x 1-phase PWM output
• 4 capture inputs
• SPI (serial peripheral interface)
• Max. 14-bit digital I/O
• TTL output/input levels for all digital I/O pins
Host interface • 32-bit PCI host interface
• 5 V PCI slot
• 33 MHz ±5 %
Physical size PCI 185 x 106.68 mm (7.28 x 4.2 in)
Ambient temperature 0 … 55 ºC (32 ... 131 ºF)
Cooling Active cooling by fan
Power supply • +5 V ±5 %, 2.5 A
• +12 V ±5 %, 0.3 A
• –12 V ±5 %, 0.2 A
Power consumption 18.5 W

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CP1104 Data Sheet

The following table shows the data sheet of the CP1104 Connector
Panel.
Grounding The enclosure and the front panel are not grounded.
Cable length 2 m (6.6 ft) standard
Physical size (with desktop enclosure) 281 x 142.5 x 70 mm (11.06 x 5.61 x 2.75 in)
(length x depth x height)
Space needed for 19” rack mount Height 3 U; width 10.8“
Weight Approx. 2.2 kg (4.8 lbs); incl. enclosure and shielded
ribbon cables
CLP1104 Data Sheet

The following table shows the data sheet of the CLP1104
Connector/LED Combi Panel.
Power consumption 5 V; max. 100 mA (via DS1104 board)
Grounding The enclosure and the front panel are not grounded.
Cable length 2 m (6.6 ft) standard
Physical size (with desktop enclosure) 433.5 x 142.5 x 70 mm
(length x depth x height) (17.07 x 5.61 x 2.75 in)
Space needed for 19” rack mount Height 3 U; width 16.8“
Weight Approx. 2.5 kg (5.5 lbs); incl. enclosure and shielded
ribbon cables

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Troubleshooting
If any problem related to the hardware and software of your system

occurs, refer to the following information:
■ Checking the DS1104 on page 164
■ Problems with Multiple Plug & Play Boards on page 165
■ Checking the Host PC on page 168
■ Problems Related to the Firmware on page 168
T If this information does not help you solve the problem, you should
check the support section of our Web site
http://www.dspace.de/goto?support. This might help you solve the
problem on your own. The support’s FAQ section especially might be
of help.

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If you cannot solve the problem, contact dSPACE Support via

dSPACE Support Wizard. It is available:
■ On your dSPACE CD at \Diag\Tools\dSPACESupportWizard.exe
■ Via Start – Programs – dSPACE Tools (after installation of the
dSPACE software)
■ At http://www.dspace.de/goto?supportwizard
You can always find the latest version of dSPACE Support Wizard
here.
Checking the DS1104

Perform the following checks if the DS1104 does not operate
correctly:
➤ Check whether the host PC is running correctly.
➤ Use ControlDesk’s Platform Manager to check the board properties
(see How to Run ControlDesk on page 32).
➤ Check the PCI interface clock rate by the status of the red LED on
the board.
If the LED is lit, the host PC’s PCI bus for the DS1104 is over- or
underclocked. The LED is lit whenever the clock rate is lower than
5 MHz or higher than 35 MHz.
For the location of the status LED, see Board Overview on page 78.
T For PCI interfaces, 33 MHz is the standard frequency. The host

interface of the DS1104 is therefore designed to handle
frequencies in the range 33 MHz ±5%.

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Problems with Multiple Plug & Play

Boards
Working with more than one dSPACE board in plug & play
configuration presents us with two problems. The first is that the
logical name of a board as assigned by the software must be
associated with a physical board. The second is that under certain
conditions, assignment of the names to the boards may change
unexpectedly. It is vital to detect this situation, because otherwise an
application to be loaded to a certain board might be loaded to another
board of the same type by mistake.
For example, assume you have one board connected to the engine
ECU and another connected to the ESP system of a vehicle. In order to
avoid severe damage to the car, you must avoid loading the program
intended for the ECU-related board to the ESP-related board, and vice
versa.
Affected boards The problem described always applies to DS1104 boards (and
MicroAutoBox via DS815 or DS817) because plug & play mode
cannot be disabled.
It also applies to DS1103 and DS1005 boards if they are configured to
plug & play mode. For these boards, plug & play mode can be used
only if they are installed in a PC directly. This might be the case with an
industrial PC with many ISA slots and a built-in PC.
The problem can be avoided for DS1103 and DS1005 boards installed
in a PC simply by disabling the plug & play mode. This means,
however, that you must set up a configuration free of I/O address
conflicts by setting the I/O address switches of the boards manually.
Plug & play boards The problem never applies to DS1103, DS1005 and DS1006 boards
in an expansion box installed in a dSPACE expansion box independently of the type of
interface used to connect the box to the PC, because when they are
installed in expansion boxes, the plug & play mode must be disabled.

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Handling plug & play ControlDesk’s Platform Manager handles the boards by detecting their
boards in ControlDesk type (DS1005, DS1103, DS1104, MicroAutoBox via DS815 or DS817)
and their actual I/O address. For plug & play boards, the actual I/O
address is dynamically assigned by the PC BIOS or the plug & play
components of the operating system. If you add hardware
components to your host PC or remove them from it, or enable or
disable motherboard components, the PC's BIOS and/or the operating
system's plug & play components assign new resources such as I/O
addresses to all plug & play components, including dSPACE boards in
plug & play mode.
This may result in different I/O addresses being assigned to the same
board without even touching any of the dSPACE boards! This situation
cannot be automatically corrected by the Platform Manager. It does,
however, detect a change in the configuration, that is a change in the
names assigned to the boards and the particular board. Detection is
based on the board serial numbers.
The Platform Manager detects such a change if at least one board was
allocated a different name by the device driver. The affected board is
removed from the dSPACE configuration and cannot be accessed by
the Platform Manager to avoid confusion when loading applications
and to prevent damage to external devices connected to the board.
The Platform Manager displays an error message and requires the user
to reregister all the hardware before all boards can be used again.
To restore a consistent dSPACE board configuration

1 From ControlDesk’s menu bar, choose Platform – Initialization –
Clear System.
Boards setup in plug & play mode are then reregistered
automatically.
2 In the Platform Navigator, double-click the corresponding board
icon to open the Platform Properties dialog.
3 Compare the serial number of each dSPACE board (label on each
board’s bracket) with the one shown in the board’s property page
of the Platform Manager to make sure that your applications are
still loaded to the correct dSPACE boards.

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The following table displays the affected dSPACE boards and the
property pages showing the boards’ serial numbers:
dSPACE Board Property Page

DS1005 DS1005 Properties page
DS1104 Board Properties page
(MicroAutoBox)
For details, see Platform Properties in the ControlDesk Reference.
N ■ After using the Clear System command, you must reregister all
installed dSPACE boards that do not support plug & play or where
plug & play mode is disabled by means of the address switches.
■ It is your responsibility to check and ensure that all applications are
still loaded to the correct board. Since this is not under complete
control of the dSPACE software it might even be necessary to
change external connections to the boards! In a subsequent
release of the Platform Manager it will be possible to assign board
names to the particular boards as needed.

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Checking the Host PC

If the host PC does not operate correctly after installation of the
DS1104, check that the board is installed firmly.
Problems Related to the Firmware

If you are prompted to update your firmware when downloading an
application to your real-time processor(s), see Updating the Firmware
on page 38 for further information.

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▼ Index ▲
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Index
A ControlDesk encoder interface

instrument panel 63 recognizing encoder index
adapter cable 81 layout 63 interrupts 132
analog inputs plug & play 166 supplying power to encoders 135
electrical characteristics 121 CP1104 experimenting with ControlDesk 59
input circuit 121 data sheet 161 external devices
notes and tips for signal crosstalk connecting to the dSPACE system 71
conditioning 121 general notes and tips 151
analog outputs F
electrical characteristics 123 D
notes and tips for signal file
conditioning 124 data sheet dSPACE.ini 35
output circuit 123 CLP1104 161 firmware
arrangement of boards in PC/expansion CP1104 161 automatic update 39
box 153 DS1104 158 available firmware version 38
definition boot firmware 38
B SNR 154 current firmware version 38
definition of different ground signals 148 manual update 39
bit I/O
de-installation 75 required firmware version 38
changing power-up default 128
demo experiment for ControlDesk 66 troubleshooting 168
electrical characteristics 126
demo model 59 updating 38
I/O circuit 126 flash memory
notes and tips for signal development steps 41
down1104 command 49 clearing application 57
conditioning 127 downloading and starting
recognizing user interrupts 128 download to global memory 53
downloading application 55
bit I/O connector 92 handling applications 55
to flash memory 55
BNC connectors 91 DS1104 reloading an application 56
board overview DS1104 78 board overview 78 stopping an application 56
board properties page 34 conflicting I/O features 109
boards G
connectors 80
connecting external devices 72
data sheet 158
boot firmware 38 getting started 41
execution time 51
global memory
hardware package 15
C download application 53
I/O connector (P1) 81
handling applications 53
C-coded models 49 installation 26
reloading an application 54
CLP1104 master PPC debug connector (P2) 85
start application 53
data sheet 161 reloading 51
stopping an application 54
LED assignment 100 removing 76
GND pins 107
conflicting I/O features 109 slave DSP flash jumper (J1) 87 grounding
connector panels troubleshooting 164 general notes and tips 149
bit I/O connector 92 warm boot 51
BNC connectors 91 dSPACE board configuration H
connecting external devices 74 restore 166
connecting to the board 29 dSPACE board library 46 hardware
incremental encoder interface dSPACE boards installation 25
connector 96 ADC performance 153 uninstallation 76
mounting in a 19 inch rack 30 dSPACE HelpDesk 8 HelpDesk 8
slave DSP digital I/O connector 94 dSPACE Prototyper for RCP 14 host PC
UART RS232 connector 98 dSPACE.ini file 35 installing DS1104 26
UART RS422/RS485 connector 99 requirements 24
connectors E troubleshooting 168
CP1104/CLP1104 88
DS1104 80 encoder interface I
ControlDesk connecting encoders 133
demo experiment 66 power supply lines 131 I/O connector (P1) 81
implementing C models 49

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incremental encoder interface S User interrupts 128

connector 96 using ControlDesk 61
electrical characteristics 130 scoutcmd 58 using ST1PWM pin 145
input circuit 130 load application to flash memory 58
notes and tips for signal load application to global memory 58 V
conditioning 132 SDF file 60
installation serial interface VCC pins 108
connector panels 29 connecting RS232 devices 137 verifying the installation 37
DS1104 26 connecting RS422/485 devices 138 versions page 35
hardware 25 ground connection 141 viewing the board properties 34
line termination 138 viewing the versions page 35
L shield
connecting to the dSPACE system 150 W
LED assignment CLP1104 100 connecting to the external device 151
log viewer 37 definition 148 warm boot 51
shielding wiring up external devices
M general notes and tips 150 general notes and tips 152
signal connection to external devices 119
make_rti command 48 signal return line
MAP file 60 definition 148
mapping of I/O signals 101 simulation parameters 47
master PPC debug connector (P2) 85 Simulink model
measuring noise handling 47
general notes and tips 155 slave DSP bit I/O
changing power-up default 144
P recognizing PWM interrupts 145
using the ST1PWM pin 145
page
slave DSP digital I/O
board properties 34
electrical characteristics 143
versions 35
I/O circuit 143
PDF files 9 notes and tips for signal
plug & play
conditioning 144
board configuration 166
slave DSP digital I/O connector 94
ControlDesk 166
slave DSP flash jumper (J1) 87
multiple plug & play boards 165 SNR
power supply ground
definition 154
definition 148
starting ControlDesk 32
power-up boot 51
starting RTI 44
printed documents 9
status LED 79
stopping an application in flash
R memory 56
real-time application stopping application in global memory 54
clearing from flash 57 strobing I/O 145
creation via hand-coding 43 switching the board library 46
creation via RTI 43 system requirements 24
flash memory 55
global memory 53 T
reloading 51
TLC file 48
scoutcmd 58
TRC file 60
reloading application to global
memory 54 troubleshooting 163
requirements
host PC 24 U
rti1104 command 46
UART RS232 connector 98
running ControlDesk 32
UART RS422/RS485 connector 99
updating the firmware 38

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▼
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Find the dSPACE DS1104 at our website: Click HERE

For DS1104 and CP1104/CLP1104 Connector

Release 4.1 – March 2004

Mail: dSPACE GmbH

How to Contact dSPACE Support

Software Updates and Patches

Introduction to the DS1104 13

Before You Start 21

Installing the Hardware 25

Verifying the System 31

DS1104 Hardware Installation and Configuration March 2004 3

Implementing and Handling Applications 41

Connecting External Devices to the dSPACE

Uninstalling the System 75

Connector Pinouts and LEDs 77

Mapping of I/O Signals 101

4 DS1104 Hardware Installation and Configuration March 2004

Signal Connection to External Devices 119

Data Sheets 157

DS1104 Hardware Installation and Configuration March 2004 5

6 DS1104 Hardware Installation and Configuration March 2004

dSPACE offers different types of documents: see Documentation Types

DS1104 Hardware Installation and Configuration March 2004 7

To open dSPACE HelpDesk

8 DS1104 Hardware Installation and Configuration March 2004

N Only the documents of the products installed on your system are

DS1104 Hardware Installation and Configuration March 2004 9

About This Document

C Warnings provide indispensable information to avoid severe damage

N Notes provide important information that should be kept in mind.

T Tips show alternative and/or easier work methods.

E Examples illustrate work methods and basic concepts, or provide

10 DS1104 Hardware Installation and Configuration March 2004

DS1104 Hardware Installation and Configuration March 2004 11

■ AutomationDesk Reference provides detailed information on the

12 DS1104 Hardware Installation and Configuration March 2004

The dSPACE system based on the DS1104 R&D Controller Board

DS1104 Hardware Installation and Configuration March 2004 13

14 DS1104 Hardware Installation and Configuration March 2004

Shipment The DS1104 R&D Controller Board is a single-board system. The

DS1104 Hardware Installation and Configuration March 2004 15

16 DS1104 Hardware Installation and Configuration March 2004

To avoid risk of injury and/or damage to the dSPACE hardware, read

DS1104 Hardware Installation and Configuration March 2004 17

Safety Precautions for Installing and

Improper handling will damage the fan of the board.

18 DS1104 Hardware Installation and Configuration March 2004

Safety Precautions for Using Connector

DS1104 Hardware Installation and Configuration March 2004 19

20 DS1104 Hardware Installation and Configuration March 2004

Before You Start

Before you start:

DS1104 Hardware Installation and Configuration March 2004 21

Installation and Configuration