SCALEXIO

Transcription

1 SCALEXIO Innovative system setup for hardware-in-the-loop simulation Newest processor technology for reliable real-time performance Support of virtual ECUs and Functional Mock-up Interface

2 SCALEXIO / Introduction SCALEXIO Introduction 3 System Configuration 4 SCALEXIO I/O Hardware 5 System Variants 6 dspace Engineering Services 7 SCALEXIO LabBox 8 SCALEXIO Rack Version 9 Hardware Function and I/O Channel Overview 10 IOCNET 12 Power Supply Control for Battery Simulation 13 Failure Simulation 14 Tests for Electric Motors 16 HIL Simulation with Virtual ECUs 16 SCALEXIO Hardware SCALEXIO Processing Unit 17 DS DS DS DS DS NEW: DS DS DS DS DS DS Additional Solutions 43 Software ConfigurationDesk 48 Bus Manager 54 2

3 SCALEXIO / Introduction SCALEXIO Versatile system for HIL simulation Highlights High processing power Maximum flexibility due to extensive I/O features Unlimited application range Completely software-configurable Integrated signal conditioning and FIU Model integration via Simulink or FMI Smooth extension of existing HIL systems Use of virtual ECUs for HIL tests Application Area dspace SCALEXIO 1) is a very versatile hardware-in-the-loop (HIL) simulator that provides highly flexible channels, can be extended to any required size and is completely softwareconfigurable. Its application range covers all test domains, including the test of electronic control units (ECU) of electric drives (p. 16). Thanks to the SCALEXIO multiprocessing feature, the simulator can be coupled with existing SCALEXIO-based or DS100xprocessor-board-based systems, allowing users to expand their existing test setups to meet growing project needs. Key Benefits Support of different workflows and user roles by separating I/O configuration, modeling and code generation Test of different ECU variants and types on a single system with minimal configuration effort Easily resizable to fit specific test tasks because component test systems and network systems are both built with the same standardized hardware components and connections Graphical configuration of channels Use of virtual ECUs (V-ECUs) for HIL tests if the real ECU prototype is not available yet Support of Functional Mock-up Interface (FMI) Hardware Concept The SCALEXIO system is standardized and can be reused in all SCALEXIO system variations. The core of a SCALEXIO system, the SCALEXIO Processing Unit, is based on commercially available components so that the processing technology is always up-to-date. IOCNET, the scalable serial I/O network (p. 12), provides the internal communication between the real-time processor and the I/O boards. The SCALEXIO I/O units are specifically designed for typical ECU signals and offer: Local signal preprocessing on I/O boards to relieve the load on the real-time processor Integrated signal conditioning, as well as converters and parts of the electrical failure simulation Similar installation and configuration processes for all units, so very little time is spent on learning 1) Devices connected to the dspace HIL system, for example, electronic control units, can feed in high currents and high voltages (voltages over 60 V DC or 30 V ACRMS), which can be dangerous for the user. This can happen, for example, in systems for piezoelectric or hybrid applications. Such currents and voltages can result in property damage, personal injury, or death. Under all circumstances, you must observe all the safety precautions described in the documentation. Please contact dspace for additional safety-related equipment, such as electrically safe interface cables. 3

4 SCALEXIO / Introduction System Configuration Due to the standardized SCALEXIO hardware, the system is easily resizable to fit its test tasks. Additional boards can be retrofitted if required. Hypertac connectors at the front can be wired according to individual project needs. HighFlex MultiCompact FIU & Power Switch Board Digital I/O Board I/O Unit Exchangeable load board of the MultiCompact I/O unit Signal Measurement Board Signal Generation Board I/O subrack with HighFlex boards (left) and MultiCompact unit (right) SCALEXIO Processing Unit with IOCNET Link Board Bus Board Battery simulation power supply unit Hypertac Connector SCALEXIO I/O Boards FPGA Base Board I/O Moduls Digital I/O Board Multi-I/O Board CAN/LIN Board 4

5 SCALEXIO / Introduction SCALEXIO I/O Hardware The SCALEXIO I/O hardware comprises three hardware types, each specially designed for typical application needs. MultiCompact, HighFlex and SCALEXIO I/O hardware can be combined and extended to produce whatever system configuration you want. They have the following in common: Local signal preprocessing on I/O boards to relieve the load on the real-time processor Connection to the processing unit via an IOCNET interface Completely software-configurable Similar installation and configuration processes, so very little time is spent on learning MultiCompact Large number of I/O channels for specifi c applications Each channel has a fi xed channel type, so the costs per channel are low Integrated signal conditioning and converters Onboard failure insertion unit (FIU) Connection of real and substitute loads possible Can be used in a SCALEXIO rack DS2680 I/O Unit (p. 20) Compact design for installation in a unit carrier Basic functions for a fully adequate simulation system, such as a power switch Various channels with dedicated I/O functions DS2690 Digital I/O Board (p. 23) Standardized connector for slot independence and easy assembly Digital channels with dedicated I/O functions HighFlex Universal input/output/bus channels with freely assignable channel types Very versatile and fi nely scalable with 10 channels per I/O board, 4 channels per bus board Galvanic isolation for each individual channel Integrated signal conditioning and converters Onboard failure insertion unit (FIU) Connection of real and substitute loads possible Can be used in a SCALEXIO rack Standardized connector concept for all boards Boards are slot-independent and easy to assemble. DS2601 Signal Measurement Board (p. 34) DS2621 Signal Generation Board (p. 36) DS2642 FIU & Power Switch Board (p. 38) DS2671 Bus Board (p. 40) SCALEXIO I/O Boards Large number of I/O channels with dedicated channel types Focus on I/O functions without current-related functionality No onboard failure insertion unit (FIU) No connection of real or substitute loads Can be used in a SCALEXIO rack or SCALEXIO LabBox Connection to I/O via Sub-D connector Boards are slot-independent and easy to assemble DS6101 Multi-I/O Board (p. 28) DS6201 Digital I/O Board (p. 30) DS6301 CAN/LIN Board (p. 32) DS2655 FPGA Base Board (p. 25) Two Types of Fastening Brackets The SCALEXIO I/O boards are available in two variants, each with a different type of fastening bracket, for installation in a SCALEXIO LabBox or a SCALEXIO rack system. The version for SCALEXIO LabBox (left) includes an ejection lever for easy removal. The DS6101 with the front bracket and ejection lever for installation in SCALEXIO LabBox (left) and the same board for installation in a SCALEXIO rack (right). 5

6 SCALEXIO / Introduction System Variants SCALEXIO systems are available in several variants for various application areas and test requirements. They range from desktop versions for function tests to huge test setups for virtual vehicle simulations and test benches. SCALEXIO is available as off-the-shelf systems (e.g., SCALEXIO LabBox) for common applications and as highly customized large HIL simulators or test benches to satisfy individual project needs. Off-the-Shelf Systems Together, SCALEXIO LabBox and the SCALEXIO Processing Unit form a compact desktop HIL system for function tests. All SCALEXIO I/O boards can be used with it, covering the essential functions for automotive applications. SCALEXIO LabBox SCALEXIO Processing Unit The SCALEXIO rack version is available in different sizes that provide sufficient space for MultiCompact units, HighFlex boards, and SCALEXIO I/O boards. The systems are ideal for testing single ECUs. SCALEXIO rack systems with 9 height units (U) and 12 U. Customized Systems For test systems tailored to customer-specific requirements, dspace offers the dspace Engineering Services, because such systems are built and configured individually. The fullsize SCALEXIO simulator (left) provides maximum flexibility and can be expanded easily. Its typical fields of application include large tests of networked ECUs and tests including electronic loads. For ECUs that cannot be accessed for the HIL tests via their electrical interfaces, dspace offers highly dynamic test benches (page 7). They let you use mechanical loads and physically stimulated ECUs. For more information and application examples, please see 6 In addition to the standard full-size SCALEXIO HIL simulator (left), dspace provides other variants of the full-size SCALEXIO simulator (right) depending on your needs.

7 SCALEXIO / Introduction Technical Details for SCALEXIO Off-the-Shelf and Customized Systems Features Off-the-Shelf Systems Customized Systems Application area SCALEXIO I/O hardware (p. 5) I/O Boards Processing Unit (p. 17) Additional functions for rack versions Connectors for ECUs Simulator communication SCALEXIO LabBox Rack Version Rack Version Function tests SCALEXIO I/O boards Up to 18 boards (19 slots, one reserved for the DS6051 IOCNET Router) Board exchange via front fl ap Connected externally via IOCNET All test domains MultiCompact units HighFlex boards SCALEXIO I/O boards Up to 20 boards Board exchange via front access Integrated in the rack Failure insertion unit Lambda Genesys power supply unit to supply external devices Hypertac Number of boards depends on the size Board exchange via front access Not applicable Failure insertion unit Electronic load modules Customer-specifi c power supply Sub-D Hypertac Customer-specifi c IOCNET for internal communication and coupling with other SCALEXIO systems Multiprocessor extension by coupling two or more Processing Units (p. 17) Test Benches For test benches, dspace offers project-specific consultation. For further information, please contact dspace at info@dspace.de. dspace Engineering Services You can use dspace Engineering Services in any project phase. Whether you need engineering support for an entire project or just for system installation or first use, you can rely on our years of experience and comprehensive know-how. These will help you get the maximum benefit from the system's flexibility for your projects. For example, all the I/O units contain FPGAs whose microcode machines we can program for project-specific I/O functions. For more information, please see 7

8 SCALEXIO / Introduction SCALEXIO LabBox Off-the-shelf housing for SCALEXIO I/O boards Highlights Modular I/O extension for SCALEXIO Small size for desktop use Convenient exchange of I/O boards Convertible from desktop to rack-mount version and vice versa Application Areas SCALEXIO LabBox is a compact extension that offers space for up to 18 SCALEXIO I/O boards. With the boards, it covers all the essential I/O functions for automotive applications. The LabBox is available as a desktop version and a rackmount version to be used in a 19'' simulator rack. The SCALEXIO Processing Unit acts as a computation node and is connected externally via an IOCNET cable. Key Benefits SCALEXIO LabBox comes with a front flap that makes exchanging boards very easy. Users can simply buy additional boards that have an ejection lever and install them themselves. If the need for more I/O arises, further LabBoxes can be connected to the Processing Unit via an IOCNET cable. Parameters Specification General Housing for up to 18 SCALEXIO I/O boards Software-confi gurable via Confi gurationdesk Status LED and Kensington security slot Connection to host PC via Ethernet Board exchange via front fl ap using the ejection lever Coupling with additional systems Connection to Processing Unit via IOCNET (p. 12) I/O extension via additional LabBoxes using the DS6051 IOCNET Router Power supply V AC, Hz; 350 W Physical data Size (width x height x depth) Desktop version: 447 x 193 x 394 mm (17.6 x 7.6 x 15.5 in) Rack-mount version: 483 x 178 x 355 mm (19 x 7 x 14 in) Covered rack-mount version: 483 mm x 178 mm x 493 mm (19 in x 7 in x 19.4 in) Mass 11.5 kg ( without boards) Order Information SCALEXIO LabBox desktop version SCALEXIO LabBox rack-mount version (ECU connector accessables from outside) SCALEXIO LabBox covered rack-mount version (Cable routing within the housing) Order Number SCLX_LBX19_D SCLX_LBX19_R SCLX_LBX19_CR 8

9 SCALEXIO / Introduction SCALEXIO Rack System Off-the-shelf HIL simulator with up to 12 height units Highlights HIL simulator for a wide range of applications Expandable system from 9 to 12 height units (U) Failure insertion unit Integrated signal conditioning Software-configurable with dspace ConfigurationDesk Application Areas The SCALEXIO rack version is a 19'' system available in different sizes, depending on the installed components. All SCALEXIO I/O hardware can be installed, covering a broad range of test scenarios and domains. The rack version comes with integrated signal conditioning and failure insertion unit. The SCALEXIO Processing Unit acts as the computation node and is also integrated in the system. Key Benefits The SCALEXIO rack version is very flexible due to extensive I/O features. All hardware is software-configurable, making it easy to adapt the system to changing project requirements. Parameters General Coupling with additional systems Specification HIL simulator system for up to 20 boards Failure insertion unit Integrated signal conditioning Integrated SCALEXIO Processing Unit Software-confi gurable via Confi gurationdesk Connection to host PC via Ethernet Board exchange via front access I/O extension via additional I/O subracks using an IOCNET connection Power supply Internal V AC, Hz; 15 A For external devices Lambda Genesys power supply unit Physical data Size 19'' rack system Mass Up to 80 kg Order Information SCALEXIO 9 U rack system SCALEXIO 12 U rack system Order Number Please inquire Please inquire 9

10 SCALEXIO / Introduction Hardware Function and I/O Channel Overview The table on this and the following page provides an overview of the input and output functions each SCALEXIO hardware offers. Failure insertion unit integrated Number of channels Current In Triggered Current In Voltage In Hardware-in-the-Loop Function Multi Bit In Digital Pulse Capture PWM/PFM In In Current Signal Capture Voltage Signal Capture Injection/Ignition Current In Extension Injection/Ignition Voltage In Extension SENT In DS2680 (p. 20) In Analog In 1 20 Analog In 2 2 Digital In 1 30 Flexible In 2 18 Analog Out 1 15 Out Analog Out 2 2 Yes Analog Out 3 7 Analog Out 4 8 Digital Out 1 28 Resistance Out 1 12 Power Switch 2 6 Power Switch DS2672 Bus Yes 6 CAN, LIN, FlexRay (2 channels each) Hardware-in-the-Loop Channel DS2690 (p. 23) DS2601 (p. 34) DS2621 (p. 36) DS2671 (p. 40) In Out In/ Out In Out Bus 1 Digital In 2 Digital Out 2 10 Yes 10 Digital In/Out 1 10 Flexible In 1 Flexible Out 1 Yes Yes Yes CAN, LIN, FlexRay, UART DS2642 (p. 38) DS6101 (p. 28) DS6201 (p. 30) Power Switch 1 10 Power Switch Analog In 4 10 In/Out Out In Analog In 5 1 Digital In 3 12 Flexible In 3 10 Analog Out 6 8 No Analog Out 7 1 Analog Out 8 3 Analog Out 9 4 Digital Out 3 14 Resistance Out 2 6 Digital In/Out 3 No 96 DS6301 (p. 35) Bus No 8 CAN, LIN (4 channels each) 10 DS2655 (p. 25) Connection of up to 5 I/O modules with No DS2655M1 I/O Module: 5 A/D channels, 5 D/ channels, 10 digital I/O channels DS2655M2 I/O Module: 32 digital I/O channels (R232 or R485 communication)

11 Hardware-in-the-Loop Function SCALEXIO / Introduction Out Current Sink Voltage Out Multi Bit Out Potentiometer Out Resistance Out PWM/PFM Out Wavetable Current Sink Wavetable Digital Out Wavetable Voltage Out Digital Incremental Encoder Out Wheel Speed Out Waveform Current Sink Waveform Voltage Out Waveform Digital Out Crank/Cam Current Sink Crank/Cam Digital Out Crank/Cam Voltage Out Knock Signal Out Lambda DCR* Lambda NCCR* Lambda ADCR* SENT Out Power Switch CAN, LIN, FlexRay (2 channels each) CAN, LIN, FlexRay, UART Power Switch * Several channel types are required for this function 11

12 SCALEXIO / Introduction IOCNET (I/O Carrier Network) IOCNET is a network technology developed by dspace that is optimized for high real-time requirements in terms of latencies and bandwidth. IOCNET makes scaling SCALEXIO systems easy by allowing for decentralized setups. The setups can include more than 100 device nodes, and the I/O and processing units can be located up to 100 m apart. SCALEXIO is therefore ideal for spatially distributed test systems, which can also be extended later on. Coupling SCALEXIO with Existing Systems The SCALEXIO system can interact with all dspace HIL systems, such as dspace Simulator Mid-Size and dspace Simulator Full-Size. These are based on the PHS-bus technology, which is used for communication between the processor and the I/O units. A SCALEXIO system is connected to a PHS system by processor-to-processor coupling with an IOCNET Gigalink connection. Coupling with Additional I/O By using IOCNET, you can add several I/O subracks to your system. These decentralized I/O units do not need their own Processing Units. Coupling Several Processors IOCNET is also used for coupling processors, so no additional hardware is necessary for creating a multiprocessor system. Uplinks and Downlinks The Processing Unit and I/O units are connected via IOCNET. A Processing Unit has an IOCNET Link Board with 4 or 8 IOCNET ports. The I/O units each have an IOCNET router with 1 uplink for the connection to the Processing Unit and 2 downlinks for connecting further I/O units. TCP/IP Host Gigalink Processor IOCNET IOCNET DS100x Gigalink I/O Subrack I/O Subrack IOCNET Processor IOCNET PHS I/O Board PHS I/O Subrack I/O Subrack PHS I/O Board Router Router I/O Board I/O Board I/O Subrack I/O Board I/O Board IOCNET Router I/O Board I/O Board I/O Board I/O Board. FIU/PowerSwitch I/O Board. FIU/PowerSwitch I/O Board. FIU/PowerSwitch 12

13 SCALEXIO / Introduction Power Supply Control for Battery Simulation With the SCALEXIO system, the battery simulation can be addressed from directly within the simulation model. No additional I/O is needed. The battery simulation consists of three components: Battery simulation controller (e.g., DS2907 Battery Simulation Controller, p. 42) to control the power supply unit by current and voltage values Power supply unit to generate current and voltage A switch for the power supply to the ECU (e.g., DS2642 FIU & Power Switch Board, p. 38) In the DS2680 I/O Unit (p. 20), the control for the power supply and the power switch are already integrated. You can read out and check the latest current and voltage values at any time during simulation. The voltage behavior is specified in the model. Battery simulation controller (e.g., DS2907) Controls current and voltage supply SCALEXIO System Switches the power supply to the ECU Power supply unit Switch for power supply (e.g., DS2642) ECU Configuration Software ConfigurationDesk (p. 48) is the configuration and implementation software for SCALEXIO and intensifies the system's flexibility. You can perform all configuration tasks in a single tool, in an easy-to-read 3-column window: Describing the connected devices Assigning I/O functions and hardware Connecting to the model ConfigurationDesk supports the open Functional Mock-up Interface (FMI) standard. This enables the users to use different modeling approaches by using functional mock-up units (FMUs). In HIL projects, FMUs can be integrated together with V-ECUs and Simulink models. 13

14 SCALEXIO / Introduction Failure Simulation Hardware Components The SCALEXIO Failure Insertion Unit (FIU) consists of several components: An onboard failure routing unit (FRU) on the I/O channels prepares failure simulation by switching the I/O channels to failrails. The FRU is available for each channel on the MultiCompact and HighFlex boards and uses relays to provide the features of the central failure simulation unit to each channel. Depending on their properties, the channels are connected to the failure simulation system by the high-current (up to 80 A) or the low-capacitance (up to 1 A) failrail. The low-capacitance failrail for an optimized signal quality connects signal generation channels and bus channels to the central FIU. The high-current failrail connects signal measurement channels to the central FIU. The central FIU is located on either the DS2642 FIU & Power Switch Board or the DS2680 I/O Unit. The central FIU uses semiconductor switches for switching the failures. It switches very fast (pulsed switching), which makes it possible to simulate loose contacts or insert faults for a very precise duration. The failrail segment switch is used to switch selected segments into the failrails for failure simulation. This way, the conducting capacity can be minimized to avoid signal corruption, even for large simulation systems that have a high number of inputs/outputs or that are distributed across several cabinets. Available Failure Types Failure Type Failure on Single Signals Failure on Several Signals 1) Open Circuit 1 channel All channels 1) Short circuit to ground or U BAT 1 channel Up to 10 channels 1)2) Short between channels 2 channels Up to 10 channels 1)2) Failure with pulsed switching 1) Requires the option Activation by FRU relay and is only possible on I/O channels without current enhancement. 2) Depending on the ampacity of the failrail. License Concept The SCALEXIO HighFlex and MultiCompact boards include a failure simulation (FS) function. You need an additional FS license to activate the failure simulation. The FS license will be checked at the host PC. Each license can be used for one SCALEXIO system. The licenses are scaled for failure simulation with different numbers of I/O channels capable of failure simulations. The failure simulation is configured in ConfigurationDesk, so you need the appropriate SCALEXIO failure simulation license for the number of I/O functions that are mapped to channels with an FRU that you use in your real-time application. The FS license is needed only for running the simulation, not for configuring the I/O channels with ConfigurationDesk. Tracing FIU States The diagnostic functions of ECUs have to detect each failure within a specified time. To help test an ECU s diagnostic functions, SCALEXIO provides FIU state tracing. This enables you to measure or plot FIU states and therefore to monitor the time from a change in FIU state to any other event, such as the detection of the failure. Multiple Failures SCALEXIO supports the simultaneous insertion of multiple failures during simulation to allow failure classes such as broken wire, short circuit to ground or U BAT, or short between channels. This function can be enabled in ConfigurationDesk for channels without current enhancement. 14

15 SCALEXIO / Introduction SCALEXIO DS2671 Bus Board DS2621 Signal Generation Board DS2601 Signal Measurement Board failrail ECU connection DS2642 FIU & Power Switch Board DS2671 Bus Board I/O unit DS2621 Signal Generation Board DS2601 Signal Measurement Board DS2642 FIU & Power Switch Board Lowcapacitance failrail I/O unit Highcurrent failrail failrail DS2908 Failrail Segment Switch DS2908 Failrail Segment Switch Battery power supply unit failrail DS2908 Failrail Segment Switch Connection to another HIL system The SCALEXIO FIU concept with an example selection of HighFlex I/O boards. Order Information SCALEXIO Failure Simulation Order Number SCLX_FS_100 (for 100 functions) SCLX_FS_200 (for 200 functions) SCLX_FS_300 (for 300 functions) SCLX_FS_1000 (for 1000 functions) SCLX_FS_UNLTD (for an unlimited number of functions) 15

16 SCALEXIO / Introduction Special Applications Tests for Electric Motors For testing ECUs for electric motors, which require short simulation cycles, fast calculations and quick I/O access, SCALEXIO offers the DS2655 FPGA Base Board (p. 25) with a freely programmable FPGA and a high level of I/O. Used in combination with the XSG Electric Components Library, the DS2655 provides the fast reaction times required for simulating electrical machines in closed-loop operation with a controller. The FPGA computes parts of the simulation model for the electrical machine, e.g., from the XSG Electric Components Library. You can also connect electronic load modules to the SCALEXIO system to inject real phase currents into power electronics test devices. SCALEXIO emulates electric motors together with the Electronic Load Module and DS2655 FPGA Base Board. HIL Simulation with Virtual ECUs If an ECU's hardware prototype is not yet available for HIL testing, a virtual ECU (V-ECU) can be used with the SCALEXIO system instead. A V-ECU usually has the same software components as the final ECU and is generated using the SystemDesk V-ECU Generation Module. A V-ECU can be used either alone with the SCALEXIO or together with other V-ECUs or real ECUs. The combination of V-ECUs and ECUs in a network enables high-quality restbus simulation early in the development process. For using a V-ECU during HIL simulation, a SCALEXIO Real- Time license is needed (p. 19). To configure V-ECUs, you can integrate them into a realtime application in ConfigurationDesk (p. 48) just like any other behavior model. The generation of V-ECUs is based on AUTOSAR-compliant ECU software development. 16

17 SCALEXIO Processing Unit The newest processor technology Highlights x86 processor technology Intel XEON E3 High bandwidth for I/O communication via IOCNET Multiprocessor support SCALEXIO connectable to DS100x-based HIL systems (via Gigalink) The SCALEXIO Processing Unit is based on an industrial PC with an Intel XEON E3 quad-core processor, a real-time operating system (RTOS), and a PCIe plug-on card developed by dspace for communication with the I/O and with other real-time processors. Because the processor and motherboard components are standard components, they can be updated regularly to benefit from performance ments in processor technology. improve- To ensure communication between the real-time application running on the processor and the I/O, dspace offers the SCALEXIO Real-Time Library, which is based on the QNX real-time operating system. Host interface Real-time processor Processing Unit PCI Express IOCNET Link Board IOCNET/ Gigalink The IOCNET Link Board connects the real-time processor to the SCALEXIO I/O. The Ethernet host interface is connected to the service core of the real-time processor. Multicore Support for Large Models Large, complex simulation models can be distributed across three processor cores instead of one to ensure that they can be computed in real time. One core is reserved for internal system services. A configuration software is used to distribute model parts to the cores and to configure the communication behavior, the simulation hardware, and the model connections (see ConfigurationDesk, p. 48). Large Test Systems via Multiprocessor Support With the multiprocessor support for SCALEXIO, two or more SCALEXIO systems can be coupled to increase computational power. To provide large bandwidths, SCALEXIO systems can be coupled to Processing Units via IOCNET. To ensure convenient modeling, you still have just one overall project in ConfigurationDesk. 17

18 IOCNET SCALEXIO's communication network IOCNET (I/O Carrier Network) uses a proprietary dspace protocol to guarantee the simulator's real-time capability. It is the interface to I/O boards and SCALEXIO Processing Units, providing a flexible network topology and high bandwidth to connect a large number of I/O boards, even when they are far apart (p. 12). IOCNET Link Board The DS2502 IOCNET Link Board is used to connect I/O units or couple SCALEXIO system with other dspace HIL simulator systems. It is available in two versions: one with 4 and one with 8 IOCNET connectors. The DS2502 also has angular processing unit (APU) functionality for highly precise angle-based simulation, for example, to measure injection and ignition signals. Up to six independent APUs can be used. Host PC Interface Communication with the host PC runs via Gigabit Ethernet, so the SCALEXIO system can be used in any company network. When more than two SCALEXIO Processing Units are used, they are coupled via the SCALEXIO MP Switch to ensure communication with the host PC. The IP address for the connection can be assigned via a DHCP server or stored on the SCALEXIO system itself. Connection to SCALEXIO LabBox Together, SCALEXIO LabBox (p. 8) and the Processing Unit provide a fully adequate HIL system for function developers and function testers. For this, the desktop version of the Processing Unit is used. The two devices are connected via IOCNET. The desktop and the rack-mount versions of the SCALEXIO Processing Unit provide the same technical features. The only difference is the rubber pads on the desktop version and the rack brackets on the rack-mount version. 18

19 Technical Details Parameter Processor Memory Angular processing unit (APU) Interfaces for I/O boards Host interface Angular resolution Speed range Speed resolution Specification Intel XEON E3-1275v3 with 3.5 GHz L1 cache: kb (data + instructions) L2 cache: 256 kb L3 cache: 8 MB 4 GB RAM memory 6 APUs on the DS2502 IOCNET Link Board ± 28,610 rpm rpm 4 or 8 IOCNET connectors on the DS2502 IOCNET Link Board (optionally usable as Gigalink connectors) Gigabit Ethernet Physical data Physical size 19-inch subrack 3 HU Cooling Voltage supply Rack-mount version: 483 x 132 x 400 mm (19.0 x 5.2 x 15.7 in) Desktop version: 428 x 132 x 400 mm (16.9 x 5.2 x 15.7 in) Active cooling Operating temperature 0 C C (32 F F) V AC, 50/60 Hz Order Information Software SCALEXIO Real-Time Library for downloading and handling real-time applications for the SCALEXIO system SCALEXIO Real-Time Library SCALEXIO Real-Time Library for Multicore Systems SCALEXIO Real-Time Library for Multiprocessor Systems SCALEXIO Real-Time Library for virtual ECUs Order Number SCLX_RTLib SCLX_RTLib_MC SCLX_RTLib_MP SCLX_RTLib_VECU Hardware SCALEXIO Real-Time PC (Rack-Mount Version) SCALEXIO Real-Time PC (Desktop Version) DS2502 IOCNET Link Board SCALEXIO MP Switch Order Number SCLX_RTPC_RACK_3HU/E31275 Please inquire if you use a SCALEXIO Real-Time PC with a different processor SCLX_RTPC_DESK_3HU/E31275 DS2502_4P (with 4 IOCNET connectors) DS2502_8P (with 8 IOCNET connectors) SCLX_SWITCH SG300_10 Relevant Software Required ConfigurationDesk (p. 48) 19

20 DS2680 I/O Unit MultiCompact unit for powertrain and vehicle dynamics scenarios Highlights 140 channels for extensive I/O functions Galvanically isolated as a unit Compact half 19" unit Attractive price The DS2680 I/O Unit is a MultiCompact unit for the SCALEXIO system that provides all the I/O channels required for the hardware-in-the-loop simulation of transmission or vehicle dynamics ECUs. Most of the I/O channels have a fixed function, i.e., they are dedicated analog or digital channels. With its predefined channels, the DS2680 has an attractive price, and is ideal for specific application scenarios. I/O Functionality The DS2680 has numerous I/O channels, each with a mostly predefined function. You can choose between analog and digital inputs and outputs, resistance simulation channels, and special I/O channels. Signal measurement and generation can be time-triggered or angle-triggered. Testing Electrical Failures The DS2680 includes a Failure Insertion Unit (FIU) for testing ECU behavior in the event of a failure. It can be used as a central FIU for the SCALEXIO system. Each channel has a failure routing unit (FRU) for switching the connection to the FIU via the fail rails. For further information, please refer to Failure Simulation on p. 14. Real Loads Substitute loads can be plugged onto the DS2680 internally if required. An exchangeable load board is available for you to mount different plug-on loads. Real loads or large substitute loads can be connected externally via the load connector provided for them. Component Variants The DS2680 is available with and without an integrated bus board. The integrated bus board provides two channels for each of the bus protocols LIN, CAN and FlexRay. If you need more or different bus channels, for example, four CAN channels, you can use a HighFlex bus board in addition or as an alternative. 20

21 Technical Details Parameters Signal measurement Signal generation Special I/O channels Voltage supply 20 analog inputs (Analog In 1) 30 digital inputs (Digital In 1) 18 variable inputs (Flexible In 2) 15 analog outputs (DC) (Analog Out 1) 8 analog outputs (DC) (Analog Out 4) 7 analog outputs (DC) (Analog Out 3) 12 resistance simulation channels (Resistance Out 1) 28 digital outputs (Digital Out 1) 2 analog input and output groups, e.g., for lambda probe simulation (Analog In 2, Analog Out 2, Load 1) 1 channel to control the power unit (Power Control 1) 6 power switches without current measurement (Power Switch 2) Specification Max. 6 A per channel Substitute loads pluggable, up to 2 W per measurement channel Connector for real loads Channel bundling to increase current carrying capacity Multifuse for electrical safety Only voltage measurement Measurement range V Resolution 16 bit Voltage measurement Trigger value V Voltage range V Voltage measurement digital Voltage range V Trigger value V Current measurement analog and digital Measurement range ±18 A Resolution 16 bit (analog) Only voltage generation Output voltage V Output current ma Resolution 14 bit Output voltage V Output current ma Resolution 14 bit Current sink: Current range ma Only voltage generation Output voltage V Resolution 14 bit Effective inner resistance 250 Ω Resistance range 16 Ω... 1 MΩ Voltage range V to GND Current range ma Power max. 250 mw Configurable as low-side/high-side switch or push/pull Low-side = GND High-Side V BAT or Dig-Out-Ref High-side voltage range: V Current range ma 1 ADC 1 DAC 1 load (component channel) Voltage range V Current range ma Control of TDK-Lambda Genesys TM power supply Up to 60 V Continuous current 4 x 6 A per channel (but a maximum total of 50 A for all channels) 21

22 Parameters Buses 1) 2 CAN (CAN 1) 2 LIN (LIN 1) 2 FlexRay (FlexRay 1) Failure Insertion Unit General Failure types Internal communication interface Specification Configurable as high-speed or low-speed CAN Conventional CAN V BAT Configurable as K-Line Conventional LIN V BAT Only 4 bus lines, i.e., 1 fault-tolerant FlexRay bus (channels A + B) or 2 FlexRay buses (channel A) Conventional FlexRay V BAT Voltage ±60 V Failure switch for up to 48 A Continuous current for high-current fail rail 48 A Continuous current fail rail with low capacitance 1 A Broken wire Short circuit to GND or U BAT Crossed wire between two channels All failures with optional bouncing IOCNET Physical data Physical size 475 x 132 x 215 mm (18.7 x 5.2 x 8.5 in) Voltage supply 24 V 1) Only for DS2680 with bus support Order Information DS2680 I/O Unit (without bus support) DS2680 I/O Unit (with bus support) Order Number DS2680_ONLY DS2680_2672 Additional Hardware DS2680-IL Load Board (exchangeable load board) DS2680_IL OBD to Sub-D Adapter Cable SCLX_OBD_CAB1 Relevant Software Required ConfigurationDesk (p. 48) Optional for DS2680 I/O Unit with bus support RTI CAN MultiMessage Blockset RTI LIN MultiMessage Blockset dspace FlexRay Configuration Package Bus Manager (p. 54) 22

23 DS2690 Digital I/O Board MultiCompact board for vehicle body scenarios Highlights Large number of digital I/O channels Signal measurement or generation Connection of real loads Seamless integration into SCALEXIO FIU concept Attractive price Application Area The DS2690 Digital I/O Board is the tailored SCALEXIO solution for hardware-in-the-loop (HIL) simulation of body electronics ECUs. Vehicle body applications such as electric window lift and windscreen wipers require many high-current digital I/O channels, as well as the ability to simulate failures. Key Benefits The DS2690 offers a large number of dedicated digital I/O channels for signal generation and measurement. Their supported I/O functionalities cover exactly the ones needed for body electronic ECUs. Real loads can be connected to each channel individually. An on-board failure routing unit (FRU) enables failure simulation on all channels. For further information on the failure simulation function, please refer to Failure Simulation on p. 14. I/O Functionality The DS2690 offers digital channels that are either predefined for signal measurement or signal generation, or can be individually configured for either. Channels for signal measurement and generation are usable as Digital In, PWM In or Digital Out, PWM Out. The signal types and channel bundling are configured with ConfigurationDesk (p. 48). Real Loads for Real Currents Testing ECUs under realistic circumstances sometimes requires real currents, so real loads can be connected externally. Substitute loads are available internally as well. IOCNET connector Controller Status LED Digital In PWM In I/O connector Fuse FRU Fuse Internal load I/O Digital Out PWM Out... 23

24 Technical Details Parameters Specification General Multifuse for electrical safety Channels bundling to increase the continuous current Signal measurement 10 channels (Digital In 2) Supported I/O functions Multi Bit In PWM/PFM In Measurement range V Max. 6 A per channel Substitute loads pluggable, up to 2 W per measurement channel Real loads can be wired externally FIU via high-current failrail Signal generation 10 channels (Digital Out 2) Supported I/O functions Multi Bit Out PWM/PFM Out Configurable as low-side/high-side switch or push/pull Low-side = GND High-side = external reference for each channel Voltage range high-side: V Current range ma FIU via low-capacitance failrail Signal measurement or generation 10 channels (Digital In/Out 1) Supported I/O functions Multi Bit In PWM/PFM In Multi Bit Out PWM/PFM Out FIU via low-capacitance failrail Digital In Measurement range V Max. 100 ma per channel Substitute loads pluggable, up to 2 W per measurement channel Real loads can be wired externally Digital Out Configurable as low-side/high-side switch or push/pull Low-side = GND High-side = external reference for each channel Voltage range high-side: V Current range ma Failure simulation On-board failure routing unit (FRU) Signal forwarding to central FIU Based on relays Available for each channel Internal communication interface IOCNET Physical data Physical size 402 x 100 x 58 mm (15.8 x 3.9 x 2.3 in) Requires 3 slots Voltage supply 24 V Order Information DS2690 Digital I/O Board Order Number DS2690 Relevant Software 24 Required ConfigurationDesk (p. 48)

25 DS2655 FPGA Base Board HighFlex board with user-programmable FPGA Highlights User-programmable FPGA Flexible board for special I/O solutions Up to 5 piggyback modules for I/O can be added Application Area The DS2655 FPGA Base Board has been designed for applications that require very fast, high-resolution signal processing, for example: Hybrid vehicle applications Electric drive applications Wind energy converters Processor-based motor simulation FPGA-based motor simulation Protocols Key Benefits The DS2655 includes a powerful, freely programmable fieldprogrammable gate array (FPGA), the Xilinx Kintex T. To include I/O channels, you connect up to five I/O modules to the board. Together with dspace electronic load modules and/or the XSG Electric Components Library, the DS2655 provides the fast reaction times required for simulating electrical machines in closed-loop operation with a controller. Programming the FPGA Programs for the DS2655 FPGA Base Board's FPGA are programmed with the RTI FPGA Programming Blockset and with XSG-based solutions. The programs are downloaded to the FPGA via dspace ConfigurationDesk (p. 48). You can test the program in offline simulation before implementing it on the real-time hardware. This enables you to react flexibly to new requirements, such as new interfaces or having to accelerate the execution of submodels. DS2655 I/O Modules For expanding the I/O channels of the DS2655 there are two I/O modules available: the DS2655M1 Multi-I/O Module and the DS2655M2 Digital I/O Module. They provide a high number of the digital and analog I/O channels needed for applications such as electric drives, for example. For more information, please see the tables on page

26 Technical Details DS2655 Parameter General FPGA Number of connectors for I/O Modules Device timing Internal communication interface Specification User-programmable FPGA Xilinx Kintex T Logic cells: 162,240 (DSP slices: 600) Distributed RAM: 480 kbits Block RAM: 11,700 kbits MHz IOCNET Physical characteristics Physical size 100 x 18 x 210 mm ( 3.9 x 0.7 x 8.3 in) Power supply 24 V Order Information Order Number Required DS2655 FPGA Base Board DS2655 7K160 Optional DS2655M1 Multi-I/O Module DS2655_M1 DS2655M2 Digital I/O Module DS2655_M2 Adapter for two Sub-D 50 connectors to one Hypertac connector HYPERTRONICS_CON90_FP1_QT Relevant Software Required Optional RTI FPGA Programming Blockset ConfigurationDesk (p. 48) XSG Electric Components Library XSG Utils Library XSG AC Motor Control Library 26

27 Technical Details DS2655M1 Parameter Digital I/O Input Output Specification 10 channels, usable as input or output Maximum input voltage: 15 V Threshold for each channel adjustable from 1 V to 7.5 V Push-pull drivers One output voltage can be selected for all channels: 3.3 V or 5 V Analog I/O Input 5 channels Resolution 14 bit Sampling rate 4 MSPS SAR Input voltage range selectable for each channel: ±5 V or ±30 V Physical characteristics Output Physical size Power supply 5 channels Resolution 14 bit Update rate 7.8 MSPS Output voltage range: ±10 V 208 x 100 x 18 mm (8.2 x 3.9 x 0.7 in) 24 V Technical Details DS2655M2 Parameter Specification Digital I/O 32 channels, usable as input or output Input Maximum input voltage: 15 V Threshold for each channel adjustable form 1 V to 7.5 V Output Push-pull drivers One output voltage can be selected for all channels: 3.3 V or 5 V UART 16 channels extended with RS232/RS485 transceivers RS232: max. 250 kbaud RS485: max. 16 MBaud Configuration Maximal configuration of the functions 32 x digital input 32 x digital output, (push/pull or push or pull) 16 x digital output, (push/pull/tristate) 8 x RS232 RX, (24 digital I/O or 8 x RS232 TX channels are free) 8 x RS232 TX, (24 digital I/O or 8 x RS232 RX channels are free) 8 x RS485 RX, (16 digital I/O channels are free) 8 x RS485 TX, (16 digital I/O channels are free) 8 x RS485 RX/TX, (8 digital I/O channels are free) Physical characteristics Physical size Power supply 208 x 100 x 18 mm (8.2 x 3.9 x 0.7 in) 24 V 27

28 DS6101 Multi-I/O Board I/O hardware with signal conditioning for automotive systems Highlights 69 channels for comprehensive I/O functions Signal conditioning for signal levels of 12-V, 24-V, and 48-V automotive systems Ideally suited for engine, powertrains, and vehicle dynamic applications Application Area The DS6101 comprises a large variety of I/O functions needed for hardware-in-the-loop simulation and can be used for generating and measuring typical automotive signals. This makes the DS6101 ideally suited for applications with extensive I/O requirements. For failure simulation, you can connect additional hardware to your system. The same holds true for bus communication. There you can use the DS2671 Bus Board. Key Benefits The DS6101 Multi-I/O Board offers 69 I/O channels for voltage-related functions, including analog, digital, resistance, and special input/output groups, for example for lambda probe simulation. The integrated signal conditioning is tailored to automotive project requirements, such as voltages of 12 V, 24 V, and 48 V. I/O Functionality The I/O channels of the DS6101 offer software-configurable I/O functions. You can choose between analog and digital inputs and outputs, resistance simulation channels, and special I/O channels. All channels are defined and configured graphically in the dspace ConfigurationDesk software. 28

29 Technical Details Parameter General Signal Measurement 10 analog inputs (Analog In 4) 12 digital inputs (Digital In 3) 10 variable inputs (Flexible In 3) Specification All I/O channels are software-configurable 3 x 50-pin Sub-D connectors Voltage measurement range V Resolution 16 bit Voltage measurement range V Voltage measurement digital Voltage range V Fast threshold adaptation (useful for ignition/injection signal measurement) Voltage measurement analog Voltage range V Resolution 16 bit Signal generation 8 analog outputs (DC) (Analog Out 6) Only voltage generation Output voltage V Output current ma Resolution 14 bit 4 analog outputs (DC) (Analog Out 9) Output voltage V Output current ma Resolution 14 bit Current sink: Current range ma 3 analog outputs (AC) (Analog Out 8) Only voltage generation Output voltage V Resolution 14 bit 6 resistance simulation channels (Resistance Out 2) Effective inner resistance range 16 Ω... 1 MΩ Voltage range V to GND Current range ma Power max. 250 mw 14 digital outputs (Digital Out 3) Configurable as low-side/high-side switch or push/pull Low-side = GND High-side Dig-Out-Ref 1 or 2 Voltage range high-side: V Current range 0... ±150 ma 150 ma per channel and 1 A in sum per group Special I/O channels 1 analog input and output group, e.g., for lambda probe simulation (Analog In 4, Analog Out 7) 1 ADC, 12 bit 1 DAC, 14 bit Voltage range V Current range ma Internal communication interface IOCNET Physical data Physical size 100 x 58 x 238 mm (3.9 x 2.3 x 9.4 in) Requires 3 slots Voltage supply 24 V Order Information DS6101 Adapter for two Sub-D 50 connectors to one Hypertac connector Order Number DS6101 HYPERTRONICS_CON90_FP1_QT Relevant Software Required ConfigurationDesk (p. 48) 29

30 DS6201 Digital I/O Board SCALEXIO I/O board with 96 bidirectional digital I/O channels Highlights 96 channels for high I/O requirements Signal conditioning up to 60 V Measures and generates automotive signals and TLL signals All channels configurable as input or output Software-configurable channels Application Area The DS6201 Digital I/O Board comprises a large number of digital I/O channels that can all be configured as input or output channels. The available I/O functions cover digital, PWM, and PFM functions for hardware-in-the-loop simulation in automotive projects, such as the test of body electronics ECUs. Additionally the DS6201 includes an onboard signal conditioning unit. This makes the DS6201 a cost-efficient way to start a HIL simulation project. Key Benefits The DS6201 Digital I/O Board offers 96 I/O channels for signal measurement and signal generation. The onboard signal conditioning is tailored to automotive project requirements, such as voltages of 12 V, 24 V, 36 V, and 48 V, as well as to customary TLL levels. I/O Functionality The 96 digital channels of the DS6201 can be configured for signal measurement or signal generation. They can be used as Multi Bit In or Out PWM In or Out PFM In or Out The channels are software-configurable and are defined and configured graphically in the dspace ConfigurationDesk software. 30

31 Technical Details Parameter Specification General Supported I/O functions Multi Bit In PWM/PFM In Multi Bit Out PWM/PFM Out 3 x 50-pin Sub-D connectors Digital signal measurement Digital inputs Measurement range V or generation Digital outputs Configurable as low-side/high-side switch or push/pull (Digital In/Out 3) Low-side = GND High-side = 2 independent external high-side references per group (Sub-D connector / 32 channels) Voltage range high-side: V Current max. 150 ma 150 ma per channel and 2 A in sum per group Internal communication interface IOCNET Physical data Physical size 100 x 58 x 238 mm (3.9 x 2.3 x 9.4 in) Requires 3 slots Voltage supply 24 V Order Information DS6201 Adapter for two Sub-D 50 connectors to one Hypertac connector Order Number DS6201 HYPERTRONICS_CON90_FP1_QT Relevant Software Required ConfigurationDesk (p. 48) 31

32 NEW: DS6301 CAN/LIN Board SCALEXIO I/O board for interfacing simulators with CAN/CAN FD and LIN bus systems Highlights For CAN, CAN FD and LIN bus systems Support of ISO and non-iso CAN FD Low power modes Software-configurable termination and CAN feedthrough mode Application Area The DS6301 CAN/LIN Board is the interface between a dspace SCALEXIO hardware-in-the-loop (HIL) system and CAN, CAN FD and LIN bus systems. It has eight channels, four of which are dedicated for CAN/CAN FD communication and the other four for LIN communication. All features and settings of this board can be configured with the dspace configuration software ConfigurationDesk. Key Benefits With its support of CAN and LIN networks, the DS6301 is tailored to typical applications for automotive projects. With 8 channels per board, it offers a high channel density. Its integrated FPGA provides high flexibility and low I/O response times. I/O Functionality All of the I/O functions are software-configurable via ConfigurationDesk, so there is no need for hardware changes. This comprises functions such as termination and CAN feedthrough mode. The DS6301 supports the standards typically used in automotive applications, such as high-speed CAN and CAN low power modes (Wake-up and Sleep). 32

33 Technical Details Parameter General Specification 8 bus channels in total 4 CAN/CAN FD channels 4 LIN channels CAN communication Buses CAN/CAN FD (ISO ) High-speed CAN (ISO ) Fault-tolerant CAN (ISO ) LIN communication Internal communication interface High-speed CAN / CAN FD Fault-tolerant CAN Resistance Transceiver Resistance NXP TJA1145T/FD high-speed CAN transceiver Data phase baud rate for CAN 40 kbd... 1 MBd Data phase baud rate for CAN FD: 40 kbd... 4 MBd Use of customer-specific transceiver possible NXP TJA1055 fault-tolerant CAN Data rate 40 kbaud kbaud Software-configurable termination High-speed CAN: 120 Ω Fault-tolerant CAN: 560 Ω or 5.6 kω Support of LIN standards (1.3, 2.0, 2.1, 2.2) Software-configurable master/slave termination Overcurrent protection 20 ma Infineon TLE 7257SJ Data rate: 0 Bd kbd 1 kω (software-configurable master termination) IOCNET Physical data Physical size 128 x 162 x 20 mm (5 x 6.4 x 0.8 in) Requires 1 slot Voltage supply 24 V Order Information DS6301 CAN/LIN Board Adapter for two Sub-D 50 connectors to one Hypertac connector Order Number DS6301 HYPERTRONICS_CON90_FP1_QT Relevant Software Required ConfigurationDesk (p. 48) Optional Bus Manager (p. 54) RTI CAN MultiMessage Blockset RTI LIN MultiMessage Blockset 33

34 DS2601 Signal Measurement Board HighFlex board for measuring ECU output signals Highlights Current and voltage measurement Channel bundling to increase current carrying capacity Configurable fuses Onboard failure routing unit Onboard loads or external loads via 2 nd connector Galvanically isolated channels Application Area The DS2601 Signal Measurement Board measures ECU output signals and passes the measurement values to the realtime processor. Signal measurement can be time-triggered or event-triggered, and the execution of signal measurement can be voltage- or current-triggered. For information on the failure simulation function, see Failure Simulation on p. 14. I/O Functionality The DS2601 has 10 flexibly configurable input channels, which can connect analog (analog-digital converter) and also digital (comparator) measurement units to measure the current and voltage. For example, the measurement units can be combined to trigger analog current measurement if a specified voltage is exceeded. The channels are defined and configured in the ConfigurationDesk software. The 10 channels on the DS2601 can be connected in parallel. This channel bundling increases the current-carrying capacity up to 80 A (RMS). ConfigurationDesk displays the bundled channels as one single I/O function. The DS2601 supports the use of loads for the ECU. You can either plug substitute loads IOCNET interface Controller Status LED onto the board itself or connect real loads via a cable harness to the externally accessible load connector. DC DC LED I/O connector Fuse FRU Fuse Measurement circuit Internal load Load connector Voltage measurement Current measurement Analogdigital converter Comparator 34

35 Technical Details Parameter General Specification 10 galvanically isolated channels for signal measurement Load connections for plugging loads of up to 2 W on the board External load connection (for real loads or substitute loads > 2 W) Up to 10 channels connected in parallel to increase the continuous current to max. 80 A Status LED for overall board status 10 channel-specific LEDs to indicate channel voltage Electrical capacity Voltage ±60 V per channel Continuous current ±10 A per channel Maximum continuous current of 80 A when all 10 channels bundled Signal measurement (Flexible In 1) Adjustable digital filtering for analog measurements Current/voltage measurement: Sampling rate up to 250 khz Voltage measurement Voltage measurement ±60 V per channel Voltage, analog and digital (settable trigger value) ADC resolution 16 bit Current measurement Current measurement ±30 A per channel Current measurement, analog and digital (settable trigger value) ADC resolution 16 bit Trigger Time-, angle- and event-driven signal measurement Voltage-driven current measurement Control from within the model Failure simulation Onboard failure routing unit (FRU) Signal forwarding to central FIU Relay-based Available for each channel Electronic fuses Software-configurable and software-resettable Fuse trip settable A eff Internal communication interface IOCNET Physical data Physical size 410 x 100 x 41 mm (16.1 x 4.2 x 1.6 in) Requires 2 slots Voltage supply 24 V Order Information DS2601 Signal Measurement Board Order Number DS2601 Relevant Software Required ConfigurationDesk (p. 48) 35

36 DS2621 Signal Generation Board HighFlex I/O board for simulating ECU input signals Highlights Signal generation for simulating voltage, current, resistance and switches Channel bundling to increase output voltage Onboard failure routing unit Galvanically isolated channels Application Area The DS2621 Signal Generation Board stimulates ECU inputs. It mimics sensors or switches such as door contact switches, Hall sensors, and sensors for wheel speed and oil temperature. Each of the DS2621's 10 channels can be softwareconfigured as a voltage source, a current sink, a digital output simulation or a resistance simulation. For information on the failure simulation function, please refer to Failure Simulation on p. 14. I/O Functionality The DS2621 has 10 flexibly configurable output channels to make analog and digital signal generators available. To IOCNET connection I/O connector increase the current or voltage range, up to 10 channels can be bundled in parallel or in series. For example, two voltage sources can be switched in sequence, or two current sinks in parallel, to increase the output voltage or current. The digital output can be used as a switch and can generate time- and frequency-dependent signals (such as PWM). For example, the resistance simulation can be used to pass the specified temperature changes to an ECU via the environment model. Channel bundling is supported by the software. Configu- Controller Status LED DC DC Fuse FRU Fuse Signal generator circuits Current sink Voltage source Digital output Resistance simulation rationdesk displays the bundled channels as one single I/O function. 36

37 Technical Details Parameter Specification General 10 galvanically isolated channels Up to 10 channels can be connected in sequence or in parallel to increase the current range to max. ±320 ma and the voltage range to max. ±60 V Status LED for overall board status Signal generation (Flexible Out 1) Voltage source Output voltage ±20 V Output current ±40 ma DAC resolution 16 bit Signal frequency khz (sine) Current sink Voltage range ±60 V Current range ±40 ma DAC resolution 15 bit Signal frequency khz (sine) Resistance simulation Resistance range 17.5 Ω... 1 MΩ Voltage range ±20 V Current range ±40 ma Digital output Voltage range ±60 V Current range ±40 ma Signal frequency MHz Failure simulation Onboard failure routing unit (FRU) Signal forwarding to central FIU Relay-based Available for each channel Electronic fuses 100 ma RMS ECU (effective value) On ECU side tripping at I = 100 ma On sensor side with configurable trip range I = ma Internal communication interface IOCNET Physical data Physical size 410 x 100 x 15 mm (16.1 x 3.9 x 0.6 in) Requires 1 slot Voltage supply 24 V Order Information DS2621 Signal Generation Board Order Number DS2621 Relevant Software Required ConfigurationDesk (p. 48) 37

38 DS2642 FIU & Power Switch Board HighFlex board for power-switching with Failure Insertion Unit Highlights Central FIU Switched battery voltage Failure feedforward High-precision current measurement on each channel Application Area The DS2642 FIU & Power Switch Board combines two components: Central Failure Insertion Unit (FIU) for simulating failures for the I/O channels of the SCALEXIO HighFlex boards and MultiCompact units Power switches for simulating up to 10 switched potentials, for example, on terminal K15 Central FIU The central FIU on the DS2642 is connected to the failure routing units of the I/O boards via the fail rails. It switches the failures for the channels on the boards. The following options are available: Broken wires on each individual channel, with or without bouncing as selected Crossed wire between two channels, with or without bouncing Short circuit to a fixed potential such as the supply voltage, with or without bouncing The failures are prepared on the I/O boards by relays, and failure insertion is performed by semiconductor switches on the central FIU. The result is a fast switching frequency that enables loose contacts to be simulated. For information on the failure simulation function, please refer to Failure Simulation on p. 14. Power Switch The power switch provides 10 switchable channels, which supply current to the external devices such as ECUs and loads. The current can be measured simultaneously. The central FIU can also use the power switch channels to simulate short circuits to the supply to the ECU. The channels can be bundled to increase the current, and are selected in ConfigurationDesk. Several DS2642s can be used in one SCALEXIO system. Current Measurement The power consumption of the connected components can be measured precisely on each power switch channel. 38

39 Technical Details Parameter Specification Power switches (Power Switch 1) General 10 channels for the ECU's current supply Voltage 60 V Continuous current 10 A per channel Channel parallelization to increase the measurement range to max. 80 A (RMS) Status LED for overall board status 10 channel-specific LEDs for channel status (power switch open/closed) Current Measurement Electronic fuses Current measurement on each channel Precision mode Resolution 6.25 µa Sampling time 135 ms Measurement range A Dynamic mode Resolution 150 µa Sampling time 262 µs Measurement range 0 A A 10 A RMS ECU (effective value) Software-configurable and software-resettable Failure Insertion Unit General Voltage ±60 V Failure switch for up to 80 A Continuous current for high-current fail rail 80 A Continuous current fail rail with low capacitance 1 A Status LED for the FIU component Internal communication interface Failure types Broken wire Short circuit to GND or U Bat Crossed wire between two channels All failures with optional bouncing IOCNET Physical data Physical size 410 x 100 x 41 mm (16.1 x 3.9 x 1.6 in) Requires 2 slots Voltage supply 24 V Order Information DS2642 FIU & Power Switch Board Order Number DS2642 Relevant Software Required ConfigurationDesk (p. 48) 39

40 DS2671 Bus Board HighFlex board for interfacing to different bus systems Highlights Supports CAN, LIN, CAN FD, and FlexRay bus systems 4 flexibly configurable channels Onboard failure routing unit Application Area The DS2671 Bus Board is the interface between dspace Simulator and various bus systems. It has 4 multifunctional channels, each of which can support a bus system that is assigned to it by software. The following buses and protocols are supported: FlexRay CAN (high-speed & fault-tolerant) CAN FD LIN/K-Line RS232, RS422, RS485 TLL based protocols With its freely configurable channels, the DS2671 can serve different bus systems. The selected bus system can easily be changed from project to project because the channels can be completely configured by software. Other bus systems and protocols can be added on request. I/O Functionality Each channel on the DS2671 has the circuit parts for supporting various bus systems, comprising a FPGA for the core and assorted transceivers. The bus system controllers, which include certified IP cores such as the Bosch E-Ray controller for FlexRay, are implemented on the bus FPGA. To use a bus system or protocol that is not yet standardly supported, you can install the necessary transceiver in the channel's piggyback slot. A different bus system can be used on each of the 4 channels on the DS2671. For information on the failure simulation function, please refer to Failure Simulation on p

41 Technical Details Parameter Specification General 4 independent bus channels Onboard failure routing unit (FRU) (p. 14) Overvoltage and undervoltage protection for transceivers Parallel termination resistors with overcurrent protection Status LED for overall board status Channel-specific LEDs for individual bus channels (inactive, ready for data transfer, data transfer running, error message) One piggyback module slot per channel for a customer-specific transceiver Supported protocols/bus systems FlexRay 2.1 (based on Bosch E-Ray) High-speed CAN (ISO ), incl. CAN FD (ISO and non-iso) Fault-tolerant CAN (ISO ) LIN 2.0/K-Line (ISO 9141) RS232, RS422 and RS485 TTL driver Internal communication interface IOCNET Physical data Physical size 410 x 100 x 15 mm (16.1 x 3.9 x 0.6 in) Requires 1 slot Voltage supply 24 V Order Information DS2671 Bus Board Order Number DS2671 Relevant Software IOCNET connection DC DC Fuse I/O connector Required ConfigurationDesk (p. 48) Optional RTI CAN MultiMessage Blockset RTI LIN MultiMessage Blockset dspace FlexRay Configuration Package Bus Manager (p. 54) FRU Termination Controller Bus transceivers or Piggyback Bus FPGA Status LED LED 41

42 DS2907 Battery Simulation Controller Power supply control for battery simulation Highlights Supports different power supply units for battery simulation Wiring simplified by adapter Application Area The DS2907 Battery Simulation Controller is used to control the current and voltage values of battery simulation in a SCALEXIO system. Control is performed by software. Two battery simulation modules can be plugged onto the DS2907 to support up to two power supply units from different manufacturers like TDK-Lambda and Delta. Other power supply units can also be used. Supported Power Supply Units Two adapter modules are available for easier connection and wiring of different power supply units. No slot is needed for mounting it in SCALEXIO. An optical IOCNET connection acts as an internal interface. Battery Simulation Adapter Module Supported Power Supply Units DS2907M1 Adapter Module TDK-Lambda Genesys 20V76A TDK-Lambda Genesys 40V38A TDK-Lambda Genesys 60V25A DS2907M2 Adapter Module Delta SM35/45 (with RS232 option P183) 1) Delta SM15/100 (with RS232 option P183) 1) 1) Example of custom-specific solution. Further power supplies can be supported on request. Order Information DS2907 Battery Simulation Controller (Base Board) DS2907M1 Adapter Module for TDK-Lambda power supply units DS2907M2 Adapter Module for Delta power supply units Order Number DS2907 DS2907_M1 DS2907_M2 Relevant Software Required Confi gurationdesk (p. 48) 42

43 Additional Solutions SCALEXIO Interface Solution for ARINC 429 The SCALEXIO Interface Solution for ARINC 429 enables the connection of a dspace real-time system to an ARINC 429 network. ARINC 429 is typically used in commercial aircraft projects. The solution is based on PMC modules from AIT, a fullfeatured and aerospace-industry-proven hardware. The PMC modules are on a carrier board that is plugged into the SCALEXIO processing unit (p. 17), providing the optimal bandwidth to the real-time model. dspace specifically developed QNX device drivers to ensure real-time simulation capability. Configuration with the well-known and established AIT Flight Simulyzers is seamlessly integrated into the configuration process via dspace ConfigurationDesk (p. 48). Technical Details Parameter General Features Specification AIT ARINC 429 module on PCI carrier board 4, 8, 16, or 32 software-programmable Tx/Rx channels per PMC module AIT Flight Simulyzer used for fieldbus configuration Code generation by ConfigurationDesk Programmable high-speed and low-speed operation Transmission and reception of multiple labels per channel Multiple transmission rates for individual labels Configuration of the labels based on the data formats and scaling factors Transmission of same labels with different SDI values possible Scheduled transfers and block transfers supported Data buffers for individual labels for scheduled and block transfers Continuous and counter-based transfers Order Information SCALEXIO Interface Solution for ARINC 429 Order Number Please inquire 43

44 SCALEXIO Interface Solution for MIL-STD-1553 The SCALEXIO Interface Solution for MIL-STD-1553 enables the connection of a dspace real-time system to an MIL-STD-1553 network. MIL-STD-1553 is typically used in non-commercial aerospace projects. The solution is based on XMC modules from AIT, a fullfeatured and aerospace-industry-proven hardware. The XMC modules are on a carrier board that is plugged into the SCALEXIO processing unit (p. 17), providing the optimal bandwidth to the real-time model. dspace specifically developed QNX device drivers to ensure real-time simulation capability. Configuration with the well-known and established AIT Flight Simulyzers is seamlessly integrated into the configuration process via dspace ConfigurationDesk (p. 48). Technical Details Parameter General Features Specification AIT MIL-STD-1553 XMC module on PCIe carrier board One, two or four dual redundant MIL-STD-1553A/B databus streams Operate as bus controller, 31 remote terminals, and bus monitor operation AIT Flight Simulyzer used for fieldbus configuration Code generation by ConfigurationDesk Multi-level trigger for capture and filtering IRIG-B time code encoder/decoder FPGA-based hardware architecture Transformer or direct coupling for connection to the MIL-STD-1553A/B bus stub Order Information SCALEXIO Interface Solution for MIL-STD-1553 Order Number Please inquire 44

45 SCALEXIO Interface Solution for AFDX The SCALEXIO Interface Solution for AFDX (AFDX is a registered trademark of Airbus) enables the connection of a dspace real-time system to an AFDX network. AFDX is typically used for commercial aircraft. The solution is based on XMC modules from AIT, a fullfeatured and aerospace-industry-proven hardware. The XMC modules are on a carrier board that is plugged into the SCALEXIO processing unit (p. 17), providing the optimal bandwidth to the real-time model. dspace specifically developed QNX device drivers to ensure real-time simulation capability. Configuration with the well-known and established AIT Flight Simulyzers is seamlessly integrated into the configuration process via dspace ConfigurationDesk (p. 48). Technical Details Parameter General Features Specification AIT AFDX XMC module on PCIe carrier board Dual-channel AFDX/ARINC 664 interface AIT Flight Simulyzer used for fieldbus configuration Code generation by ConfigurationDesk Simulates up to 32 ARINC 664 end systems, including virtual link (VL) traffic shaping and input VL redundancy management Support for up to 128 output virtual links Support for up to 512 input virtual links Time stamping of all received messages with 8 ns resolution Support for transfers of the following types: UDP Sampling UDP Queuing SAP (Service Access Ports) UDP SAP IP SAP MAC Order Information SCALEXIO Interface Solution for AFDX Order Number Please inquire 45

46 SCALEXIO Interface Solution for PROFIBUS and EtherCAT The dspace SCALEXIO Fieldbus Solution lets you connect a SCALEXIO hardware-in-the-loop system to various field bus types, such as PROFIBUS and EtherCAT. The solution is based on a PCIe card, which is plugged into the SCALEXIO processing unit (p. 17) to provide the optimal bandwidth to the real-time model. Specially developed device drivers ensure real-time simulation capability. Different licenses are required according to the type of field bus. You can use ConfigurationDesk (p. 48) for the configuration process, and configure fieldbuses in Hilscher SYCON.net. Technical Details Parameter General PROFIBUS Features EtherCAT Features Specification Hilscher software-reconfi gurable boards CIFX PCI PROFIBUS board CIFX PCI Real-Time Ethernet (RTE) board SyCon.Net used for fi eldbus confi guration Code generation by Confi gurationdesk Bus master and slave supported Cyclic data exchange by selectable bus cycle time PROFIBUS-specifi c settings performed in SyCon.net Bus master and slave supported Cyclic data exchange by selectable bus cycle time Bus-synchronous interrupts Distributed clocks EtherCAT master bus cycle 500 µs or larger EtherCAT slave bus cycle depending on the EtherCAT bus master Order Information SCALEXIO Interface Solution for PROFIBUS and EtherCAT Order Number Please inquire 46

47 PSI5 Master/Slave Solution Based on the Programmable Generic Interface (PGI1) Generic interface box for decentralized connection of sensors and actuators to dspace systems via diverse serial interfaces and protocols Emulation of sensor signals (e.g., of yaw rate or crash sensors) with hardware-in-the-loop (HIL) simulation Connection to a SCALEXIO system via Ethernet PSI5 Master/Slave Solution supporting up to 4 masters and 10 slaves 47

48 Implementation Software / ConfigurationDesk Confi gurationdesk Confi guration and implementation software for SCALEXIO hardware Highlights Configure real-time applications graphically Manage signal paths between external devices (like ECUs or loads) and behavior model interfaces Implement behavior model code and I/O function code on dspace hardware Multicore and multi-processing-unit applications Import of virtual ECUs (V-ECUs) Support of Functional Mock-up Units (FMUs) Application Fields ConfigurationDesk is an intuitive, graphical configuration and implementation tool. It is ideal for handling HIL realtime applications, and for implementing behavior models and I/O function code on SCALEXIO. You can define and document external devices such as ECUs and loads, including their signal properties (descriptions, electrical properties, failure simulation settings, load settings). ConfigurationDesk displays user-defined views of the signal path between the ECU pins/load pins and the behavior model interfaces. Key Benefits With ConfigurationDesk, it is easy to implement the behavior model code (e.g., from MATLAB /Simulink /Simulink Coder ) and the I/O function code (from ConfigurationDesk) on the SCALEXIO. The entire build process for a real-time application is handled by ConfigurationDesk. Comprehensive documentation options and graphical displays give you great project transparency a great advantage with large-scale HIL project especially. You can assemble and configure the project-specific hardware offline as a "virtual system", in other words, as a purely software-based configuration. A real-time application can be executed for test runs even if parts of the necessary (and configured) I/O hardware are not physically available. In addition, you can generate a Microsoft Excel file with information on the wiring harness and on external devices. 48

49 Implementation Software / ConfigurationDesk Functionality Overview Functionality I/O configuration and documentation Real-time code generation Description WI/O configuration for connecting a behavior model to dspace SCALEXIO hardware: External device topologies (properties of ECU pins and load pins) Device port mapping (connections between the ECU/load pins and the signal ports of an I/O function) I/O functions (describe the functionality between a set of external device ports and a set of model ports independently of the hardware topology) Model port mapping (connections between function ports and model ports) Model topology (model ports used for the ConfigurationDesk application) Hardware resource assignment (mapping I/O functions to hardware resources) Hardware topology (hardware resources used by I/O functions) Documentation: External device topologies (properties of ECU pins/load pins) Model topology (describes the interface to the behavior model) Hardware topology (describes the simulator hardware: boards, internal wiring, internal loads, board locations, etc.) Microsoft Excel file with pin information for external wiring harnesses CAN and LIN signals can be configured either with the Bus Manager or with the RTI CAN MultiMessage Blockset and the RTI LIN MultiMessage Blockset. FlexRay nodes are configured with the dspace FlexRay Configuration Package. Complete build process for I/O functions (ConfigurationDesk) and the behavior model (e.g., MATLAB /Simulink / Simulink Coder) Order Information s ConfigurationDesk Loader Version (SCALEXIO) For use without license, limited function range (downloading real-time applications possible, but no changes or builds allowed) ConfigurationDesk Implementation Version (SCALEXIO) Bus Manager for CAN or LIN restbus simulation (SCALEXIO) SCALEXIO Failure Simulation (p. 14) SCALEXIO Real-Time Library for downloading and handling real-time applications for the SCALEXIO system Order Number Free of charge License for SCALEXIO Real-Time Library is needed CFD_I_100 (implementation version for 100 functions) CFD_I_200 (implementation version for 200 functions) CFD_I_300 (implementation version for 300 functions) CFD_I_1000 (implementation version for 1000 functions) CFD_I_UNLTD (for an unlimited number of functions) CFD_I_MC (implementation version for SCALEXIO multicore applications) CFD_I_MP (implementation version for SCALEXIO multiprocessor applications) License for SCALEXIO Real-Time Library is needed Please see SCLX_FS_100 (for 100 functions) SCLX_FS_200 (for 200 functions) SCLX_FS_300 (for 300 functions) SCLX_FS_1000 (for 1000 functions) SCLX_FS_UNLTD (for an unlimited number of functions) SCLX_RTLib SCLX_RTLib_MC (for multicore applications) SCLX_RTLib_MP (for multiprocessor applications) SCLX_RTLib_VECU (for applications containing V-ECUs) Relevant Software Software Required Optional Operating system Order Number MathWorks MATLAB /Simulink /Simulink Coder RTI CAN MultiMessage Blockset RTI LIN MultiMessage Blockset SCALEXIO Ethernet Solution dspace FlexRay Configuration Package Bus Manager (p. 54) RTICANMM_BS (for applications containing CAN bus configurations) RTILINMM_BS (for applications containing LIN bus configurations) SCLX_ETH_SOL (for adding Ethernet I/O functions to ConfigurationDesk) FCP (for applications containing FlexRay bus configurations) Please see Microsoft Excel 49

50 Implementation Software / ConfigurationDesk Application (Example) Creating and Executing a New Real-Time Application with ConfigurationDesk You can quickly create new real-time applications with ConfigurationDesk. The typical procedure is shown below, though the steps can be performed in a different order. Step Description 1. Create project and application Whole real-time applications can be managed in ConfigurationDesk. This includes not only the associated ConfigurationDesk application data, but also general files such as project plans and specifications. 2. Define external devices It takes just a few clicks to define the interfaces and signal properties of external devices such as ECUs and loads in ConfigurationDesk. 3. Select and configure I/O functions I/O ports can be connected to the external devices graphically. You can define different views to focus on specific data sets. I/O functions automatically fetch failure simulation settings and load settings from the definitions of external devices. 4. Create model ports The behavior model and ConfigurationDesk applications are connected via model port blocks. 5. Design the Simulink model The model port blocks generated by ConfigurationDesk can be integrated into the MATLAB /Simulink model to implement the inputs and outputs between the model and the hardware. You can also use Simulink inputs and outputs in the model instead (only at the topmost model level, not inside subsystems). 6. Assign hardware resources With ConfigurationDesk, the hardware resources (such as channels on the DS2601 Signal Measurement Board or the DS2621 Signal Generation Board) can be quickly assigned to the I/O functions. 7. Run the build process for the application and create the application for the dspace hardware 8. Download the application to the dspace hardware You can run the entire build process with ConfigurationDesk, both for the I/O functions and for the behavior model. The The real-time application can be transferred to the dspace hardware quickly. Failure Simulation License To use failure simulation with SCALEXIO, you have to activate it with an additional FIU license. This must match the number of configured I/O channels capable of failure simulation. For further information on failure simulation with SCALEXIO, please see p. 14. Support of Multicore or Multi-Processing-Unit Systems for Complex Models Large, complex models can be distributed across multiple processing units and processor cores to ensure the simulation runs in real time. Two different workflows are possible for this. The first is to use separate behavior models for each core and import them into ConfigurationDesk. The intermodel communication in this workflow is configured in ConfigurationDesk. In the second workflow, there is one overall Simulink model for the whole application, and a special Simulink block is used to specify which of its subsystems should be computed together on one core. The overall model is then automatically split into separate model files. The intermodel communication in this workflow is transferred from Simulink to ConfigurationDesk. One processor core executes one model. Several models are combined to processing-unit-applications. These can be assigned to processing units in ConfigurationDesk, which automatically performs the core-to-model assignment within each unit. One processing unit consists of several processor cores. One processor core in each processing unit is always reserved for communication with the host PC. The other cores can be used for behavior model calculation. 50

51 Implementation Software / ConfigurationDesk Importing Virtual ECUs In ConfigurationDesk you can integrate virtual ECUs (V-ECUs) into a real-time application just like any other behavior models. With the SCALEXIO real-time hardware, V-ECUs can be simulated alone or in combination with real ECUs. The V-ECUs can contain CAN or LIN controllers to simulate CAN or LIN bus communication between the ECUs. For information on generating V-ECUs, please refer to SystemDesk V-ECU Generation Module. Support of Functional Mock-up Units ConfigurationDesk supports the open Functional Mock-up Interface (FMI) standard. This enables the users to use different modeling approaches (e.g., based on physical modeling with Modelica) by using Functional Mock-up Units (FMUs). In HIL projects, FMUs can be integrated together with V-ECUs and Simulink models. The user workflow for importing and connecting FMUs to other model interfaces and to I/O is identical to the workflow for V-ECUs and Simulink models. Working with Simulink Models ConfigurationDesk provides two approaches for integrating Simulink models: Directly importing the MDL files generated out of MATLAB /Simulink. The direct import approach is convenient if the Simulink model has to be changed frequently, because in this approach the entire build process for a real-time application including starting Simulink Coder is handled automatically by ConfigurationDesk. Generating Simulink implementation containers (SICs) out of MATLAB /Simulink and importing these SICs into ConfigurationDesk. Once the SICs are generated, they can be reused in different projects, without having to generate the C code again, thus saving time. Therefore, this approach is more favorable, when you want to reuse models for different projects or variants. SICs are ZIP containers including the C code and other artifacts, such as precompiled libraries and a model interface description. With the two ways of importing Simulink models, ConfigurationDesk always provides the best solution for your project needs and requirement. 51

52 Implementation Software / Bus Manager Bus Manager Confi guration for LIN, CAN, and CAN FD bus simulation Highlights One configuration tool for different bus systems Work with several communication matrices for one configuration Customizable restbus configuration with tool automation interface Application Areas The dspace Bus Manager is the central tool for configuring bus communication for simulation purposes e.g., restbus simulation, and for implementing the bus communication in real-time applications for SCALEXIO. It supports different bus systems, such as LIN, CAN, and CAN FD. The Bus Manager is available as an add-on for dspace ConfigurationDesk to configure hardware-in-the-loop real-time applications for SCALEXIO. Key Benefits One tool for homogeneously configuring several bus systems at the same time Easy bus configuration via drag & drop Work with several communication matrices for one configuration Modeling-tool-independent model interface Tool automation interface Workflow The Bus Manager offers a convenient and straight-forward workflow for implementing bus simulations: Import one or more bus communication matrices. All relevant information is extracted automatically for the subsequent bus configuration. Create a bus configuration. For the configuration, different views for the dedicated tasks are available. Assign the communication matrices completely or in part to the bus configurations. Specify the real-time hardware access. If required, you can configure different parameters and properties of the simulated elements. For example, you can enable the access to signal values during run time via experiment software such as ControlDesk Next Generation. If the simulation requires signals whose values must change dynamically during run time, you can use behavior models, e.g., MATLAB/Simulink behavior models or Functional Mock-up Units (FMUs) to use behavior models modeled in another modeling tool. Finally, start the build process, and download and execute the real-time application. 52