Linear Servo Base With Pendulum Quick Start Guide (MATLAB)

Linear%20Servo%20Base%20with%20Pendulum-Quick%20Start%20Guide%20(MATLAB)

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Quick Start Guide: Linear Servo Base Unit and Pendulum
STEP 1 Check Components and Details
Make sure your Linear Servo Base Unit and Pendulum module includes the following components:
Optional

2
Computer

DAQ

Amplifier

Servo Base Unit

Module

1. Linear Servo Base Unit
2. Set of two 5-pin DIN to 5-pin DIN encoder cables

3. Long (0.6m) pendulum
4. Medium (0.34m) pendulum
Standardized for ABET * Evaluation Criteria

Instructor Workbook
Developed by:

Jacob Apkarian,
Ph.D., Quanser for LabVIEW ™ users
IP02 base Hervé
unit
Experiment
Lacheray, M.A.SC., Quanser
*
Peter Martin, for
M.A.SC.,
Quanser
Standardized
ABET
Evaluation Criteria

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Jacob Apkarian, Ph.D., Quanser
Hervé Lacheray, M.A.SC., Quanser
Peter Martin, M.A.SC., Quanser

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Set Up and Configuration
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TO SET UP QUANSER WORKSTATIONS
Course material
complies with:

For use with

For MATLAB®/Simulink®

On this DVD:
• Quick start Guides
• Pre-designed Controllers
• User Manuals
• Instructor and Student Workbooks
or Laboratory Guides

R2011a,b and R2012a,b

For installation procedure please
refer to the Installation Guide on this DVD.
For assistance, contact tech@quanser.com

Quanser educational solutions
are powered by:

5. 7/64’ Allen key
6. Quanser Workstations Resources DVD*
(includes controllers; digital versions of User
Manuals, Quick Start Guide and courseware;
and other files)

Captivate. Motivate. Graduate.
CaPtIVate. MotIVate. Graduate.
*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.

caPtIVatE. MotIVatE. GraduatE.

*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.

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*DVD supplied with the QUARC Real-Time Rapid
Control Prototyping Software, see Step 2

STEP 2 Additional Components Required for Set Up

Use
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RESOURCES DVD

TO SET UP QUANSER WORKSTATIONS
For use with

For MATLAB®/Simulink®

On this DVD:
• Quick start Guides
• Pre-designed Controllers
• User Manuals
• Instructor and Student Workbooks
or Laboratory Guides

R2011a,b and R2012a,b

For installation procedure please
refer to the Installation Guide on this DVD.
For assistance, contact tech@quanser.com

1. QUARC Real-Time Rapid Control Prototyping
Software Installation DVD

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REAL-TIME RAPID CONTROL
PROTOTYPING SOFTWARE v2.3

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To complete the Linear Servo Base Unit and Pendulum set up, you will also need the following:

2. Power Amplifier (VoltPAQ-X1 pictured)

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3. One of the following data acquisition devices:
a. Quanser Q2-USB, or
b. Q8-USB, or
c. NI PCI/PCIe with Terminal Board
4. RCA to RCA cable
5. 4-pin DIN to 6-pin DIN motor cable

5
Note: These components must be purchased separately.

STEP 3 Install and Test QUARC
A. Make sure you have all required software, as listed in the QUARC Compatibility Table document located in the QUARC DVD folder.
B. See the QUARC Installation Manual for details on how to install the software.
C. Make sure you test the system using the Sine and Scope demo. You can access this by typing qc_show_demos in the Matlab prompt.

STEP 4 Set Up the Hardware
To set up your Linear Servo Base Unit and Pendulum, please read the following instructions carefully. For full details, see the Linear
Servo Base Unit and Pendulum User Manual (enclosed with shipment).

Remove the T-fitting and
additional weight from
the top of the Linear
Servo Base Unit cart,
if installed.

Insert the long pendulum rod inside its T-fitting.
Ensure that it sits properly. Tighten set screw as
required.
Long Pendulum

T-fitting

Attach the pendulum, pointing
downwards, at the end of the
Linear Servo Base Unit cart’s
pendulum axis. Tighten the
T-fitting set screw as required.

Linear Servo Base Unit

Ensure that he track is located at the
edge of a table so that the pendulum
is free to rotate 360-degrees in front of the cart.
It is recommended to clamp down the Linear
Servo Base Unit to the table (clamp not included).

STEP 5 Wiring
The connections shown below are illustrated using a generic data acquisition (DAQ) device and a VoltPAQ-X1 amplifier (you may have a
different DAQ or amplifier). For detailed instructions, see the Linear Servo Base Unit and Pendulum User Manual (enclosed with shipment).

A
C

Before proceeding, set up and test your Linear Servo
Base Unit. For detailed instructions, see the Linear
Servo Base Unit Quick Start Guide or User Manual.

Analog
Output
(AO)

Analog Sensor
Inputs
S1&S2

Make sure everything is powered OFF before
making any connections. This includes turning
off your PC and the amplifier.

Using the RCA to RCA cable,
connect Analog Output
Channel #0 (AO #0) on the
data acquisition (DAQ) device
to the Amplifier Command
socket on the amplifier.

Amplifier Gain
1X
3X
Amplifier
Command

To Load

Current
Sense (1V=1A)

E-Stop

To ADC
S3

0
Data Acquisition Device

Amplifier

MOTOR

PEN ENC

CART ENC

Amplifier Gain
1X
3X

Analog Sensor
Inputs

Amplifier
Command

To Load

Current
Sense (1V=1A)

E-Stop

S1&S2
To ADC
S3

Amplifier

MOTOR

PEN ENC

CART ENC

Linear Servo Base Unit

Encoders
(EI)
0
1

Linear Servo Base Unit

Data Acquisition Device

Using the 4-pin DIN to 6-pin
DIN motor motor cable, connect the To Load socket on
the amplifier to the Motor
socket on the Linear Servo
Base Unit.

Using the 5-pin DIN to 5-pin DIN encoder
cable, connect the Encoder Channel #0
(EI #0) on the data acquisition (DAQ) device
to the Cart Encoder connector (CART ENC)
on the Linear Base Unit Cart.

Encoders
(EI)

CART ENC

Using the 5-pin DIN to 5-pin DIN encoder cable, connect the Pendulum Encoder socket
on the Linear Servo Base Unit panel to
the Encoder Channel #1 (EI #1) socket on
the data acquisition (DAQ) device.

0
1

Data Acquisition Device

G
Amplifier
Command

S1&S2

To Load

To ADC
S3

Current
Sense (1V=1A)

FUS

Analog Sensor
Inputs

Attention VoltPAQ-X1 Users:
Make sure you set the GAIN on
the VoltPAQ-X1 to 1 when using
any Linear Servo Base Unit
experiment.

FUS

Amplifier Gain
1X
3X

FUS

Linear Servo Base Unit

FUS

PEN ENC

MOTOR

100 VAC - 132 VAC or
200 VAC - 240 VAC
47Hz - 63Hz

Turn ON the
power switch on
the VoltPAQ-X1. It
is located on the
rear of the device.

E-Stop

STEP 6 Testing the Linear Servo Base Unit and Pendulum
S4

Follow the procedure below to test your Linear Servo Base Unit and Pendulum module.

Make sure your
PC and amplifier
are powered ON.

Open the Simulink
model file (.mdl)
found under the
Quick Start folder
on your hard drive.

Check that the
pendulum is resting
perfectly vertically with the
tip towards the ground.

On the Resources DVD (supplied with the QUARC and Servo Base Unit package),
locate the Quick Start Folder: Linear\Linear Servo Base Unit\Quick Start.
Copy the Quick Start folder to your local hard drive.

Click on the Run
button to start
the QUARC realtime model.

Double-click on the HIL Initialize block and choose the
board that is installed on your system (e.g. Q2-USB).

Click on the Build Model button
on the Simulink model toolbar.

J
Scope view of the VI Front Panel

Once the model code has been
compiled, click on the Connect
To Target button.

Slowly raise the pendulum to the upright position. When the pendulum
is close to vertical, the controller will activate and attempt to balance
the pendulum. Immediately release the pendulum when you feel the
balance controller engage. If there is a problem, immediately stop the
controller by clicking on the STOP button (see Step K). Do not attempt
to lower the pendulum manually once the controller has engaged!

The pendulum should balance, and
the scopes should look similar to those
shown here. Once the pendulum is
balanced, try to disturb it as little as
possible. If the pendulum is unable to
balance, consult the Troubleshooting
section at the end of this guide.

Click on the
Simulink
Stop button to stop
the running model.

TROUBLESHOOTING

Review the following recommendations before contacting Quanser’s technical support engineers.

1. Make sure the cables are firmly connected.
2. Check the connection outlined in Step 5 in this guide.

Getting an error
when trying to
build or run the
Quick Start Simulink model (.mdl)

A. Type ver in the Matlab Command Window and verify that QUARC is on the list. If not, then
go through the QUARC Quick Installation Guide to install QUARC. If it is listed, run mex -setup
as described in the the QUARC Installation Guide.
B. If the “… specific kernel level driver for the specified card could not be found” error is
prompted when you attempt to run, then you may not have selected the correct data
acquisition (DAQ) device in the HIL Initialize block or the DAQ device has not been installed
properly (refer to the DAQ device User Manual).

A. Review connection Steps 5C tand 5D.

The Motor is
not responding.

B. Ensure the power amplifier is powered on and operational, i.e., when using VoltPAQ-X1,
verify that the green LED is lit.
C. Verify that the data acquisition (DAQ) device is functional. Go through the DAQ User Manual
for troubleshooting guidelines.
D. Ensure the voltage is actually reaching the motor terminals. See the Linear Servo Base Unit
and Pendulum User Manual for details.

The Encoder(s) is
(are) not reading.

STILL NEED HELP?

A. Review connection in Steps 5E and 5F.
B. Verify that the data acquisition (DAQ) device is functional. Go through the DAQ User Manual
for troubleshooting guidelines.

For further assistance from a Quanser engineer, contact us at
tech@quanser.com or call +1-905-940-3575.

Expand the Linear Servo Base Unit to the following popular experiments using Quanser Linear control add-on modules.
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V.1 5.3.2013

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Linear Servo Base With Pendulum Quick Start Guide (MATLAB)

Linear%20Servo%20Base%20with%20Pendulum-Quick%20Start%20Guide%20(MATLAB)

Linear%20Servo%20Base%20with%20Pendulum-Quick%20Start%20Guide%20(MATLAB)

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