QUBE-Servo User Manual
Contents
1. OD X F National Instruments F E RoHS AES E WK ni com environment rohs china For information about China RoHS compliance go to ni com environment rohs china CE Compliance Ce This product meets the essential requirements of applicable European Directives as follows e 2006 95 EC Low Voltage Directive safety e 2004 108 EC Electromagnetic Compatibility Directive EMC Warning This is a Class A product In a domestic environment this product may cause radio interference in which case the user may be required to take adequate measures CONTENTS 1 Presentation 2 System Hardware 2 1 System Schematic 2 2 Hardware Components 2 3 System Parameters 3 System Setup 3 1 Components 3 2 QUBE Servo USB Interface Hardware Setup 3 3 QUBE Servo myRIO Interface Hardware Setup 3 4 QUBE Servo Direct I O Interface Hardware Setup QUANSER O INNOVATE EDUCATE 1 PRESENTATION The Quanser QUBE Servo pictured in Figure 1 1 is a compact rotary servo system that can be used to perform a variety of classic servo control and inverted pendulum based experiments The QUBE Servo comes in three versions the USB Interface Direct I O Interface and NI myRIO Interface The QUBE Servo USB Interface has its own built in power amplifier and data acquisition device The QUBE Servo Direct I O Interface also has an integrated amplifier but allows an external data acquisition DAQ device to interface to its I O The QUBE Serv2. QUANSER NS INNOVATE EDUCATE USER MANUAL QUBE Servo Experiment set Up and Configuration CAPTIVATE MOTIVATE GRADUATE 2014 Quanser Inc All rights reserved Quanser Inc 119 Spy Court Markham Ontario L3R 5H6 Canada info quanser com Phone 1 905 940 3575 Fax 1 905 940 3576 Printed in Markham Ontario For more information on the solutions Quanser Inc offers please visit the web site at http www quanser com This document and the software described in it are provided subject to a license agreement Neither the software nor this document may be used or copied except as specified under the terms of that license agreement All rights are reserved and no part may be reproduced stored in a retrieval system or transmitted in any form or by any means electronic mechanical photocopying recording or otherwise without the prior written permission of Quanser Inc FCC Notice This device complies with Part 15 of the FCC rules Operation is subject to the following two conditions 1 this device may not cause harmful interference and 2 this device must accept any interference received including interference that may cause undesired operation Industry Canada Notice This Class A digital apparatus complies with Canadian ICES 003 Cet appareil num rique de la classe A est conforme a la norme NMB 003 du Canada Japan VCCI Notice This is a Class A product based on the standard of the Voluntary Control Council for
3. Interference VCCI If this equipment is used in a domestic environment radio interference may occur in which case the user may be required to take corrective actions COREL QIAA ERBNRE CT COREE RHR CHEATS CBRSS S SHOT CEMHVET COMBICIMERAD BUR eT OLIDBRENSCEMHVET VCCI A Korea Communications Comission KCC Notice This equipment is Industrial Class A electromagnetic wave suitability equipment and seller or user should take notice of it and this equipment is to be used in the places except for home ol AVE TEMAS AAAS 72 E OAL EE ASAE O SS TOA Het H APS QlO AAAA ASE AS SRLS 2 L C Waste Electrical and Electronic Equipment WEEE This symbol indicates that waste products must be disposed of separately from municipal household waste according to Directive 2002 96 EC of the European Parliament and the Council on waste electrical and electronic equipment WEEE All products at the end of their life cycle must be sent to a WEEE collection and recycling center Proper WEEE disposal reduces the environmental impact and the risk to human health due to potentially hazardous substances used in such equipment Your cooperation in proper mo WEEFE disposal will contribute to the effective usage of natural resources For information about the available collection and recycling scheme in a particular country go to ni com citizenship weee EE E nS ee EIA CHE RoHS PER National Instruments 6 E HE PIS ll PI A S2 mi ts CRoHS
4. EFERENCES 1 Quanser Inc Q2 USB Data Acquisition System User s Guide 2010 A QUANSER INNOVATE EDUCATE niversity of Toronto Monash University e Kyoto U niversity of Manchester e California Institute of Tec olytechnic School of Lausanne Hong Kong Univers niversity of Waterloo e Carnegie Mellon Universit niversity of Melbourne e ETH Zurich e Yale Univers niversity of Houston e KAIST e Karlsruhe Universit Alberta e Gifu University e Loughborough Universi niversity of California Berkeley e KTH e McMaster niversity Munich e Rice University Kyoto Institute niversity of Auckland e MIT e Imperial College Lond he Chinese University of Hong Kong e Virginia Tech Cincinnati e McGill University e Australian National niversity of Bristol e Purdue University Osaka Uni ing Soud University e 1 T Kharagpur Memorial Uni niversity of British Columbia e Delft University of Tg niversity of Texas at Austin Beijing Institute of Te Tokyo Princeton University e Hebei University o niversity of Wisconsin Madison Holon Institute of f Klagenfurt e Harvard University e Tokyo Institute niversity of Reading Tsinghua University e Cornel niversity of Michigan Korea University e Queen s niversity of Stuttgart e Georgia Tech e Ben Gurion niversity Eindhoven e Ajou University e Kobe Un niversity of Maryland College Park e Nanyang Tech niversity of New South Wales e Washington Univers ational University of Singapore Harbin Institut
5. al disc and ROTPEN modules setup in Figure 3 1 4 ROTPEN Users If you are using the pendulum attachment connect the encoder cable from the pendulum module encoder to the Encoder 1 connector on the top panel of the QUBE Servo connector shown in Figure 2 3e The QUBE Servo with the attached pendulum and connected cable is pictured in Figure 3 1b 3 4 QUBE Servo Direct I O Interface Hardware Setup This section describes how to connect the QUBE Servo Direct I O Interface system to your data acquisition DAQ device The connection procedure is given below summarized in Table 3 1 and illustrated in Figure 3 2 In addition the cables needed to connect the QUBE Servo Direct I O Interface are shown in Figure 3 3 Follow these steps to connect the QUBE Servo Direct I O Interface to your data acquisition device 1 Before proceeding make sure your data acquisition DAQ device has been setup and successfully tested Refer to the documentation supplied with your DAQ system for set up and testing instructions 2 Make sure the everything is powered off before making any of these connections This includes turning off your DAQ or your PC 3 Using the RCA cable connect the Analog Output 0 on the DAQ to the Amplifier Input O socket on the QUBE Servo 4 Using the 5 pin DIN to 5 pin DIN cable connect the Encoder O connector on the QUBE Servo to Encoder Input 0 on the DAQ device This carries the motor angle measurement 5 Attach the inertial di
6. ay not have installed all the required software to support the device including either QUARC or Quanser Rapid Control Prototyping Toolkit Connect the Power connector on the QUBE Servo to the power supply Ensure the power supply is connected to a wall outlet using the appropriate power cable Attach the inertial disc or ROTPEN module to the motor hub using the magnets The QUBE Servo is shown with the inertial disc and ROTPEN modules setup in Figure 3 1 ROTPEN Users If you are using the pendulum attachment connect the encoder cable from the pendulum module encoder to the Encoder 1 connector on the top panel of the QUBE Servo connector shown in Figure 2 3e The QUBE Servo with the attached pendulum and connected cable is pictured in Figure 3 1b 3 3 QUBE Servo myBiIO Interface Hardware Setup To setup the QUBE Servo myRIO Interface follow these steps 1 Connect NI myRIO MXP interface cable from the back cover of QUBE Servo to either of the two MXP con nectors A or B on the NI myRIO o QUBE SERVO User Manual MEN a QUBE Servo with Inertial Disc Module b QUBE Servowith Pendulum Module Figure 3 1 QUBE Servo with different modules 2 Connect the Power connector on the QUBE Servo to the power supply Ensure the power supply is connected to a wall outlet using the appropriate power cable 3 Attach the inertial disc or ROTPEN module to the motor hub using the magnets The QUBE Servo is shown with the inerti
7. chematic 16 bit Quadrature Decoder 2 2 Hardware Components The main QUBE Servo components for the USB Direct I O and NI myRIO interfaces are listed in Table 2 1 The components on the QUBE Servo USB Interface are labeled in Figure 2 3a the components on the QUBE Servo Direct I O Interface are shown in Figure 2 3b and the components on the QUBE Servo myRIO Interface are in Figure 2 3c fia ESD Warning The internal components are sensitive to electrostatic discharge Before handling the QUBE Servo make sure you touch something metal to ground yourself O Component Component Aluminum chassis Rotary arm hub Module connector Rotary pendulum magnets Module connector magnets Pendulum encoder USB DAQ connector DC motor Module encoder connector Motor encoder Power connector QUBE Servo DAQ amplifier board Power LED Encoder 0 connector Inertial disc Encoder 1 connector Pendulum link Amplifier Input O connector Rotary arm rod NI myRIO MXP connector 1 2 3 4 5 6 T 8 9 1 Table 2 1 QUBE Servo Components t only on QUBE Servo myRIO Interface t only on QUBE Servo USB Interface only on QUBE Servo Direct I O Interface Amplifier Input 0 b QUBE Servo Direct I O Interface Encore noran BE Seny MYRIO INT RERERIMENT ERFA Www a UA MADE IN cana COM Mector AIB MYRIO Co Power 9 c QUBE Servo myRIO Interface d QUBE Servo Modules Encoder 1 e QUBE Servo Top V
8. e of niversity of Victoria e Boston University e Donghua orthwestern University Tongji University e Royal niversity of Quebec Clemson University e Fukuoka delaide University University of Barcelona e SUN ueen s University Belfast Istanbul Technical Unive e Los Andes e Louisiana Tech e Norwegian Universi nited States Military Academy CINVESTAV e Drex Ww Gu SF VE Wi DE L w i U WUS A 4 A TALJAA RIC AAR OS oz PRE A Fs eR TE gt A Su A RIfAF emer gt TF mh F N ff AVA N o ak IJ fa 5 W Fm E Cs SAIA BE JA JUJ Le L i Fikes Ws it Sw he Gy Gy Qu fe mune Gu Qu UM Eus E W For over two decades Quanser has focused solely on the development of solutions for advanced control education and research Today over 2 500 universities colleges and research institutions around the world rely on a growing portfolio of Quanser control systems Our Rotary Control solutions offer quality convenience ease of use ongoing technical support and affordability They are part of a wider range of Quanser control lab solutions designed to enhance students academic experience They come as complete workstations and can captivate undergraduate and graduate students motivate them to study further and encourage them to innovate Engineering educators worldwide agree that Quanser workstations are reliable and robust Choose from a variety of mechatronics experiments and control design tools appropriate f
9. haracterizes the main parameters associated with the QUBE Servo Symbol Description Value Rm 0 042 N m A Inertia Disc Module 0 0248 m Rotary Pendulum Module my 0 024 kg L 0 429 m Encoder resolution in quadrature 0 176 deg count Amplie OOOO O O E PM DO PekCwret O O O a o O f Continuous Current 5a 7 Ouputvoltagerange fHov Table 2 2 QUBE Servo System Parameters QUANSER 8 INNOVATE EDUCATE 3 SYSTEM SETUP AN Caution Ifthe equipment is used in a manner not specified by the manufacturer the protection pro vided by the equipment may be impaired 3 1 Components To setup the QUBE Servo system you need the following components A O N O1 QUBE Servo USB Direct I O or NI myRIO version USB version shown in Figure 1 1 Inertial disc module shown in Figure 1 1 Rotary Pendulum ROTPEN module shown in Figure 1 1 15V 2 0 A power supply Note Only the power supply provided should be used with the QUBE Servo Power cable USB 2 0 A B cable an RCA cable and two 5 pin DIN cables or NI myRIO MXP interface cable provided with your QUBE Servo depending on the version 3 2 QUBE Servo USB Interface Hardware Setup To setup the QUBE Servo USB Interface follow these steps Connect USB 2 0 cable from back cover of QUBE Servo to an enabled USB 2 0 port on your desktop PC or laptop The QUBE Servo USB Interface driver should install automatically If not then you m
10. iew f QUBE Servo Interior Figure 2 3 QUBE Servo components UANSER EV LS L _ ___ _ __ _ _ aaa S E ee QUBE SERVO User Manual v 1 1 2 2 1 DG Motor The QUBE Servo includes a direct drive 18V brushed DC motor housed in a solid aluminum frame The motor specifications are given in Table 2 2 The QUBE incorporates an Allied Motion CL40 Series Coreless DC Motor model 16705 The complete specification sheet of the motor is included at http alliedmotion com Products Series aspx s 29 AN Caution Input 10 V 2 A peak 0 5 A continuous JN caution Exposed moving parts N Caution Holding the motor in a stalled position for a prolonged period of time at applied voltages of over 5V can result in permanent damage 2 2 2 Encoder The encoders used to measure the angular position of the DC motor and pendulum on the QUBE Servo is a single ended optical shaft encoder It outputs 2048 counts per revolution in quadrature mode 512 lines per revolution The encoders used to measure the angular position of the DC motor and pendulum on the QUBE is the US Digital E8P 512 118 single ended optical shaft encoder The complete specification sheet of the E8P optical shaft encoder is given in E8P Data Sheet 2 2 3 Data Acquisition DAQ Device The QUBE Servo USB Interface circuit board includes a USB data acquisition device with two 16 bit encoder chan nels with quadrature decoding and two PWM o
11. o myRIO Interface also has a built in amplifier and allows a direct connection to the NI myRIO Expansion Port MXP connector For all versions the system is driven using a direct drive 18V brushed DC motor housed in a solid aluminum frame Two add on modules are supplied with the system an inertial disc and a rotary pendulum The modules can be easily attached or interchanged using magnets mounted on the QUBE Servo module connector Single ended rotary encoders are used to measure the angular position of the DC motor and pendulum Main QUBE Servo features Compact and complete rotary servo system e 18V direct drive brushed DC motor Encoders mounted on DC motor and pendulum e Built in PWM amplifier e Built in USB data acquisition DAQ device only for QUBE Servo USB Interface Inertial disc module Rotary pendulum module Figure 1 1 Quanser QUBE Servo JN caution This equipment is designed to be used for educational and research purposes and is not intended for use by the general public The user is responsible to ensure that the equipment will be used by technically qualified personnel only o SYSTEM HARDWARE 2 1 System Schematic There are three QUBE Servo models with different I O interface options the QUBE Servo USB Interface the QUBE Servo Direct I O Interface and the QUBE Servo myRIO Interface The QUBE Servo USB Interface provides a built in data acquisition device and an integrated amplifier The QUBE Se
12. or teaching at all levels as well as advanced research Take advantage of engineering expertise that includes mechatronics electronics software development and control system design Leverage the accompanying ABET aligned courseware which have been developed to the highest academic standards Last but not least rely on Quanser s engineers for ongoing technical support as your teaching or research requirements evolve over time Learn more at www quanser com or contact us at info quanser com You Follow us on ABET Inc is the recognized accreditor for college and university programs in applied science computing engineering and technology Among the most respected accreditation organizations in the U S ABET has provided leadership and quality assurance in higher education for over 75 years LabVIEW is a trademark of the National Instruments Products and or services pictured and referred to herein and their accompanying specifications may be subject to change without notice Products and or services mentioned herein are trademarks or registered trademarks of Quanser Inc and or its affiliates LabVIEW is a trademark of the National Instruments Windows is a trademark of the Microsoft Other product and company names mentioned herein are trademarks or registered trademarks of their respective owners 2014 Quanser Inc All rights reserved v2 3
13. rvo Direct I O Interface and QUBE Servo myRIO Interface both have an amplifier but do not have built in DAQ systems Instead the QUBE Servo Direct I O Interface includes amplifier command and encoder ports that can be interfaced with an external DAQ device and the QUBE Servo myRIO Interface includes an MXP connector to interface directly with the NI myRIO The interaction between the different system components on the QUBE Servo is illustrated in Figure 2 1 On the data acquisition DAQ device block the motor and pendulum encoders are connected to the Encoder Input El channels 0 and 1 The Analog Output AO channel is connected to the power amplifier command which then drives the DC motor The DAQ is interfaced to the PC or laptop via USB link in the QUBE Servo USB Interface In the QUBE Servo Direct I O Interface and QUBE Servo myRIO Interface systems an external DAQ would be used to interface to the amplifier and encoders PC Laptop Inertial Disc DC Motor Rotary Pendulum Amplifier Figure 2 1 Interaction between QUBE Servo components The schematic given in Figure 2 2 illustrates the main QUBE Servo components and how they interact with a data acquisition DAQ device QUANSER O INNOVATE EDUCAT Data Acquisition Device Analog Output 0 Encoder Input 0 Encoder Input 1 16 bit Quadrature PWM Power pool Amplifier Rotary Encoder Rotary Encoder Sensor Sensor Figure 2 2 System s
14. sc or ROTPEN module to the motor hub using the magnets The QUBE Servo is shown with the inertial disc and ROTPEN modules setup in Figure 3 1 UANSER E a or S E ee QUBE SERVO User Manual v 1 1 Data Acquisition Device O O 1 Encoders El Amplifier Input O Ron 3 O t s ch 2 Encoder O Encoder 1 15V 2 0A QUBE Servo Direct I O Interface Figure 3 2 Connections between QUBE Servo Direct I O Interface and an external DAQ 6 ROTPEN Users If you are using the pendulum attachment connect the encoder cable from the pendulum module encoder to the Encoder 1 connector on the top panel of the QUBE Servo connector shown in Figure 2 3e The QUBE Servo with the attached pendulum and connected cable is pictured in Figure 3 1b 7 ROTPEN Users Using the 5 pin DIN to 5 pin DIN cable connect the Encoder 7 connector on the QUBE Servo to Encoder Input 7 on the DAQ device 0710 lt E SE al ke at To Signal DAQ Analog Output 0 QUBE Servo Amplifier Input Amplifier voltage command driv 0 connector ing motor DAQ Encoder Input 0 QUBE Servo Encoder 0 con Motor encoder measurement nector 3 DAQ Encoder Input 1 QUBE Servo Encoder 1 con Pendulum module encoder nector measurement Table 3 1 QUBE Servo wiring summary a Amplifier Input Cable RCA to RCA b Encoder Cable 5 pin DIN to 5 pin DIN Figure 3 3 Cables used to connect QUBE Servo Direct I O Interface to a DAQ device R
15. utput channels The DAQ is very similar to the Quanser Q2 USB board See the Q2 USB User Manual 1 for more information The QUBE Servo Direct I O Interface circuit board does not have the built in USB DAQ it does have the amplifier and encoder channels 2 2 4 Power Amplifier The QUBE Servo circuit board includes a PWM voltage controlled power amplifier capable to providing 2 A peak current and 0 5 A continuous current based on the thermal current rating of the motor The output voltage range to the load is between 10 V 2 2 5 Amplifier Input Connector The Amplifier Input RCA connector on the QUBE Servo Direct I O Interface is shown in Figure 2 3b It is single ended and has a range of 10V As shown in Figure 2 2 it is connected to the amplifier command which then drives the motor 2 2 6 Encoder Connector The Encoder O and Encoder 1 5 pin DIN connectors pictured on the QUBE Servo Direct I O Interface in Figure 2 3b output the measurements from the motor encoder and the add on module e g pendulum encoder respectively The encoder connector pin out is shown in Figure 2 4 5V B GND A Figure 2 4 5 pin DIN encoder pin out 2 2 7 MXP Connector The myRIO Connector A B connector pictured on the QUBE Servo myRIO Interface in Figure 2 3c is used to connect the amplifier command line and encoder readings from the QUBE Servo components to either of the two NI myRIO MXP connectors 2 3 System Parameters Table 2 2 lists and c
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