Hardware

Mobile Real-Time Target Machine

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The Mobile real-time target machine is Speedgoat’s mainstay target computer for field and in-vehicle use, confined areas, or harsh environments.

It is used in a broad range of application areas and industry sectors, such as Rapid Controller Prototyping (RCP) for the automotive and energy sectors.

This high-performance target computer is Speedgoat’s answer to other small form factor designs based on PCI/104, COM Express, PCIe/104, etc.

 

MathWorks software products are optimized to guarantee the best real-time performance, workflow integration and usability with Simulink Real-Time™ and Speedgoat target machines.

 

Speedgoat builds and optimises its target machines for use with Simulink Real-Time, as well as guaranteeing that each target machine is configured to meet specific requirements, such as sample rate, I/O, and environmental.

 

Every target machine comes with Simulink driver blocks or FPGA reference designs to configure all installed I/O and protocols functionality. Simulink test models are also provided.

Each Mobile real-time target machine is configured to meet sample rate and I/O frequency requirements. By leveraging multiple CPU cores and FPGAs for algorithmic execution, and lowest latency analog and digital I/O connectivity, closed-loop sample rates of up to several MHz can be achieved.

 

For applications requiring closed-loop sample rates above 20 kHz, Speedgoat typically recommends partitioning algorithms to allow the running of some parts on FPGA-based I/O modules, installed in the Mobile real-time target machine.

 

  • Concurrent execution on multiple CPU cores and FPGAs

Simulink Real-Time provides powerful technology to automatically distribute models to multiple cores. Such technology is ideal for real-time applications that introduce a high algorithmic load, as is often the case with plant simulations. Execution and synchronization of applications running on multiple target machines is supported via dedicated shared memory I/O modules.

 

For closed-loop sample rates from 20 kHz up to several MHz, the advanced cooling concept of the Mobile real-time target machine allows the installation of multiple powerful Speedgoat FPGA-based I/O modules, supported by HDL Coder from MathWorks. This allows you to automatically build and run HDL code based real-time applications created from Simulink on the target machine.

 

  • High speed serial links between FPGA modules

Simulink Programmable FPGA modules are connected together via on-board gigabit links, supporting the Xilinx Aurora protocol, allowing you to close the loop in less than 10μs even if hundreds of analog and digital I/O lines are required.

The Mobile real-time target machine supports a vast range of I/O to connect with your hardware.

 

Every Mobile real-time target machine comes with on-board I/O, and a large range of additional functionality can be installed in the form of I/O modules. Three I/O modules can be installed in the standard target machine. Up to 14 can be used with the flexible expansion concept.

 

I/O Modules

Speedogat I/O modules offer an easy, flexible way of adding a large variety of I/O connectivity to your real-time target machine.

 

On-board I/O Connectivity

The following I/O connectivity is available as standard on the Mobile real-time target machine:

  • 1 x Ethernet port for XCP Slave and TCP/IP link with Simulink development computer
  • 3 x Ethernet port supporting XCP Slave, EtherCAT Master, real-time UDP, XCP over UDP (level of support varies depending on MATLAB version).
  • 4 x RS232 (2 x RS422/RS485 optional)
  • 1 x dedicated USB port for kernel transfer
  • 4 x USB 3.0
  • 2 x USB 2.0
  • 1 x PS/2
  • 1 x Ignition switch for remote-control startup and shutdown
  • 1 x 5V power supply with 1A max

 

This target machine is designed to withstand high levels of shock and vibration – typical when used in off-highway vehicles, helicopters, or planes. The mainboard, internal power supply, and I/O module carriers form a single rigid unit, isolated from the case to prevent unwanted strains which could occur in environments with varying temperatures.

 

No mechanically moving parts are used (e.g. CPU fans, hard disk). The I/O connectors of the I/O modules are brought out directly, eliminating the need for internal cabling. The enclosure is EMI shielded and all connectors are ESD protected. IP67 is optionally available.

 

The advanced heat dissipation concept is based entirely on thermal conduction. By using solid aluminum heat sinks and optimized internal heat distribution, temperature ranges of -20°C to 60°C (optionally -45°C up to +75°C) can be supported.

The Mobile real-time target machine not only provides rich on-board I/O including EtherCAT Master, real-time UDP, PTP (1588), XPC over Ethernet, RS232, and USB WebCam support, but allows for flexible I/O expansion.

 

The standard configuration has a total of 5 slots for I/O modules, with the following form factors:

  • 2 x PMC/XMC
  • 1 x PMC/XMC/CMC
  • 2 x mPCIe

To install further I/O modules, up to three expansion layers can be added, each providing an additional 2 PMC/XMC, and 1 PMC/XMC/CMC slots.

 

Fully expanded, a total of 14 I/O modules can be installed.

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