1 Boolean Slave bit out

Data type DS110404SL_DSP

conversion 2 _BIT_OUT_C10
wm_ref

Wref_4quad wm i_ref la_ref

reset la1 Vc

Pl_speed_reset reset
Duty cycle
Pl_current_reset ++ 1/2 a
-1 Duty cycle
b
Gain 2 Duty cycle
0 c
Gain 1
ADC 20 1 DC PWM stop

DS1104ADC_C5 Constant DS1104SL_DSP_PWM3

Motor_curren
t 0

PWM control

Avg block

Enc position
Enc 2*π/ 1
delta position Wm_dist Wm
(Ts*1000)
DS1104ENC_POS_C1
Gain 5
Speed_rad_sec
Encoder
Master setup

DS1104ENC_Setup

Preliminary
control design Test the control
in off-line

Specify I/O in the

mode

Set up control
desk to acquire
data and change
the variables

Dump the real-time Create real-time

code in DSP
code for the model
processor