Operators Manual Izod
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OPERATOR’S MANUAL - IZOD MACHINE
Prepared by: 2018 - MNE 520 - Dr. Guven
Impact Test Setup to Measure Fracture Toughness of Materials
Abdullah Almarri
Arnaud Debraine
Gregory Nelson
Stephanie Fulenwider
Senior Design - Capstone Project
May 7, 2018
CONTENTS
Contents
1 Operation Instructions
4
1.1 Install Software on New Computer . . . . . . . . . . . . . . . . . . . . . . . . . . .
4
1.1.1 Install Anaconda on Windows . . . . . . . . . . . . . . . . . . . . . . . . .
4
1.1.2 Import Arduino Environment . . . . . . . . . . . . . . . . . . . . . . . . . .
5
1.2 Start Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6
1.2.1 On Windows Using Anaconda Prompt . . . . . . . . . . . . . . . . . . . . .
6
1.2.2 On Raspbian Using Terminal . . . . . . . . . . . . . . . . . . . . . . . . . .
9
1.3 Find Zero Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.4 Load a Specimen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.5 Perform a Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.6 Reset Arm Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.7 Software Interface Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.7.1 Windows Desktop Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.7.2 Raspbian Touchscreen Version . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.8 Text File Output Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2 Troubleshooting
20
2.1 Swap Computer/Touchscreen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.2 Swap Weights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.3 Invert Touchscreen Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.4 Incorrect Arm Starting Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2.4.1 Arm Before ZERO Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2.4.2 Arm After ZERO Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.5 Unresponsive Software Buttons/Arduino Communication Malfunction . . . . . 26
2.6 Bypass Software Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
2.7 Reset File Count to Default . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.8 Modify Constants (Weight, Arm Length, etc...) . . . . . . . . . . . . . . . . . . . . 29
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CONTENTS
2.9 Anaconda Starter Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2.10 Conda Cheat Sheet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3 Electrical Components
34
3.1 Arduino DUE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3.2 Raspberry Pi 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3.3 L298N V3 Motor Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
3.4 Dytran 4110C Current Source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
3.5 NEMA17 100:1 Stepper Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
3.6 Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
3.7 Electro-Magnet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
3.8 Dytran Accelerometers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
3.8.1 General Accelerometer Specifications . . . . . . . . . . . . . . . . . . . . . 52
3.8.2 3056B4-15742 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
3.8.3 3056B4-15819 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
3.8.4 3056B1-15849 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
3.8.5 3056B1-15909 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
3.8.6 3056D4-18611 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
3.9 Wiring/Electrical Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
4 ASTM Methodologies
63
4.1 Measuring Effective Weight of the Hammer . . . . . . . . . . . . . . . . . . . . . . 63
4.2 Measuring Effective Length of the Hammer . . . . . . . . . . . . . . . . . . . . . . 64
4.3 Specimen Failure Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
4.4 Specimen Dimensions for IZOD-type test . . . . . . . . . . . . . . . . . . . . . . . 66
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LIST OF FIGURES
List of Figures
1.1 Install Arduino Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5
1.2 Start Spyder Using Anaconda Prompt . . . . . . . . . . . . . . . . . . . . . . . . .
6
1.3 Start Software from Spyder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7
1.4 Start Software from Anaconda Prompt . . . . . . . . . . . . . . . . . . . . . . . . .
8
1.5 Open Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9
1.6 Start Software from Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.7 Windows GUI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.8 Raspbian Touchscreen GUI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.9 Output Text File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.1 Invert Touchscreen Display 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.2 Invert Touchscreen Display 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.3 Arm before ZERO position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2.4 Arm after ZERO position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.5 Software Bypass Output Text File . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.1 Arduino DUE Schematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3.2 Raspberry Pi 3 Schematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3.3 L298N v3 Schematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
3.4 NEMA 17 Schematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.1 Specimen Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
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Chapter 1
Operation Instructions
1.1
I NSTALL S OFTWARE ON N EW C OMPUTER
1.1.1 Install Anaconda on Windows
NOTE: All information in this section is taken from:
https://conda.io/docs/user-guide/install/index.html
1. DOWNLOAD Anaconda for Python 3: https://www.anaconda.com/download/
2. Double-click the .exe file
3. Follow the instructions on the screen. Accept default options if unsure about any
settings
4. Open Anaconda Prompt
5. Test your installation by typing: conda list a list of packages should appear
6. Type conda update conda to update Anaconda.
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1.1. INSTALL SOFTWARE ON NEW COMPUTER
1.1.2 Import Arduino Environment
NOTE: All information in this section is taken from:
https://conda.io/docs/user-guide/tasks/manage-environments.html
Fig. 1.1
1. Extract IZOD.zip where you wish to run the software
2. open Anaconda Prompt
3. Navigate to the adequate directory using cd:
Type: cd "PASTE PATH HERE"
Example: cd "C:\Users\Adebraine\Documents\AA - VCU\A - Senior Design\IZOD"
4. type conda env create -f arduino.yml
5. Ready to start the software
Figure 1.1: Install Arduino Environment
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1.2. START SOFTWARE
1.2
S TART S OFTWARE
1.2.1 On Windows Using Anaconda Prompt
OPTION 1: Using Spyder (Fig. 1.2 & 1.3)
1. Connect the Arduino USB to the computer
2. Start Anaconda Prompt
3. Activate the arduino environment:
Type activate arduino
4. Navigate to the adequate directory using cd:
Type: cd "PASTE PATH HERE"
Example: cd "C:\Users\Adebraine\Documents\AA - VCU\A - Senior Design\IZOD"
5. Launch Spyder
6. Open app.py
7. press F5 or Click Run
Figure 1.2: Start Spyder Using Anaconda Prompt
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1.2. START SOFTWARE
Figure 1.3: Start Software from Spyder
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1.2. START SOFTWARE
OPTION 2: Direct Launch through Anaconda Prompt(Fig. 1.4)
1. Connect the Arduino USB to the computer
2. Start Anaconda Prompt
3. Activate the arduino environment:
Type activate arduino
4. Navigate to the adequate directory using cd:
Type: cd "PASTE PATH HERE"
Example: cd "C:\Users\Adebraine\Documents\AA - VCU\A - Senior Design\IZOD"
5. Launch the Software:
Type python app.py
Figure 1.4: Start Software from Anaconda Prompt
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1.2. START SOFTWARE
1.2.2 On Raspbian Using Terminal
Fig. 1.5 & 1.6
1. Open the Terminal
Figure 1.5: Open Terminal
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1.2. START SOFTWARE
2. Navigate to the adequate directory using cd:
Type: cd Desktop/izod
3. Launch the Software:
Type python appPI.py
Figure 1.6: Start Software from Terminal
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1.3. FIND ZERO POSITION
1.3
F IND Z ERO P OSITION
1. Press CALIBRATION
2. The arm will move a few degrees, disengage the magnet and wait until next command
is given
3. Wait until the hammer stops moving
4. Press CALIBRATION again
5. the software will record the current position of the hammer before moving and set it as
ZERO
6. The arm will come down and move the hammer to the position recorded in the prior
step
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1.4. LOAD A SPECIMEN
1.4
L OAD A S PECIMEN
1. Press LOADING
2. the arm will lift the hammer 30 degrees and wait until next command is given
3. Pressing LOADING again will return the hammer to the ZERO position or pressing
RUN will perform a test
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1.5. PERFORM A TEST
1.5
P ERFORM A T EST
NOTE: Can be done from the LOADING position or from the ZERO position
1. Press RUN
2. the arm will lift the hammer to the required 610mm +/- 2mm vertical height and
disengage the magnet
3. The hammer will come down and the software will record DATA for the first swing.
4. DATA is then automatically transformed, displayed on the GUI and saved in a text file
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1.6. RESET ARM POSITION
1.6
R ESET A RM P OSITION
NOTE: Only press the RESET button when the hammer is not moving to avoid damages
1. Press RESET
2. The arm engages the magnet and comes down to the ZERO position
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1.7. SOFTWARE INTERFACE DETAILS
1.7
S OFTWARE I NTERFACE D ETAILS
1.7.1 Windows Desktop Version
1. FILE Let’s the user access the CHANGE DIRECTORY function to decide where the next
Output text files will be saved
2. The Accelerometer output graph
3. Functions to manipulate and save the above graph
4. The Previous Test results (Identical to the output text file)
5. User input functions to enter BEFORE a test is performed, see below
6. User input function to enter AFTER a test is performed, see below
Figure 1.7: Windows GUI
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1.7. SOFTWARE INTERFACE DETAILS
User Inputs BEFORE a Test is Performed:
NOTE: Make sure to properly press ENTER after writing anything in the different text boxes.
• Test File Name: Let’s the user edit the default output text file name.
Default format: IZOD{File count}_Date_{MM_DD_YYYY}_Time_{HH_MM_SS}
Example: IZOD6_Date_05_06_2018_Time_11_17_41
Edited format: {User Input}_IZOD{File count}_Date_{MM_DD_YYYY}_Time_{HH_MM_SS}
Example: USERINPUT_IZOD6_Date_05_06_2018_Time_11_17_41
• Operator Name: Let’s the user add the name of the operator to the output text file
Appears in the text file as: Operator Name: User Input
Example: Operator Name: Dr. Guven
• Added Mass: Choose between 4 default options: No added mass, small plates, medium
plates, and large plates
• Specimen Material: Let’s the user add the specimen material to the output text file
Appears in the text file as: Specimen Material: User Input
Example: Specimen Material: ABS
• Specimen Width (mm): Let’s the user specify the width of the specimen
Appears in the text file as: Specimen Width (mm): User Input
Example: Specimen Width (mm): 12.3
• Specimen Depth (mm): Let’s the user specify the Depth of the specimen at the notch
Appears in the text file as: Specimen Depth (mm): User Input
Example: Specimen Depth (mm): 12.3
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1.7. SOFTWARE INTERFACE DETAILS
User Inputs AFTER a test is performed:
NOTE: Pressing ENTER does NOT save the note but allows the user to add a multi-line note.
1. Operator Note: Let’s the user add a note to the previous test’s output text file
Appears in the text file as: Operator Note: User Input
Example: Operator Note: Full break
2. Press PRINT to print the above note to the text file
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1.7. SOFTWARE INTERFACE DETAILS
1.7.2 Raspbian Touchscreen Version
Refer to 1.6.1 for User Inputs Instructions
Figure 1.8: Raspbian Touchscreen GUI
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1.8. TEXT FILE OUTPUT DETAILS
1.8
T EXT F ILE O UTPUT D ETAILS
The text file will display N/A if the user did not enter required inputs.
The data is also saved below a dashed line in four columns:
• Time corresponding to the encoder data point in milliseconds
• Position of the hammer from 0 to 10,000 corresponding to 0 to 360 degrees.
• Time corresponding to the accelerometer data point in milliseconds
• accelerometer data point in g
Figure 1.9: Output Text File
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Chapter 2
Troubleshooting
2.1
S WAP C OMPUTER /T OUCHSCREEN
Unplugging the Arduino USB cable from the Raspberry Pi and plugging it into a computer
that has the IZOD software installed allows the user to change the device that operates the
machine.
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2.2. SWAP WEIGHTS
2.2
S WAP W EIGHTS
IMPORTANT: Each plate has its corresponding set of screws. Selecting the wrong set of
screws can lead to weights falling off, especially the large plates.
The user can switch the weights attached to the machine or remove all weights and select the
corresponding option on the GUI.
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2.3. INVERT TOUCHSCREEN DISPLAY
2.3
I NVERT T OUCHSCREEN D ISPLAY
Fig. 2.1 & 2.2
1. Open Terminal
2. Type sudo nano /boot/config.txt
3. Type lcd_rotate=0 or lcd_rotate=2 depending on what is already there (DO NOT PRESS
ENTER)
4. Press CTRL + X
5. Press Y
6. Press CTRL + T
7. Press ARROW DOWN until you reach config.txt then press ENTER
8. type sudo reboot
Figure 2.1: Invert Touchscreen Display 1
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2.3. INVERT TOUCHSCREEN DISPLAY
Figure 2.2: Invert Touchscreen Display 2
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2.4. INCORRECT ARM STARTING POSITION
2.4
I NCORRECT A RM S TARTING P OSITION
2.4.1 Arm Before ZERO Position
If the arm is located between the ZERO position and the INITIAL MAXIMUM HEIGHT
position upon starting the software. Fig. 2.3
Figure 2.3: Arm before ZERO position
1. Press CALIBRATION on the GUI
2. Wait for the hammer to stabilize at the ZERO position (Full stop)
3. Press CALIBRATION again
4. Immediately move the hammer to the magnet on the arm.
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2.4. INCORRECT ARM STARTING POSITION
2.4.2 Arm After ZERO Position
If the arm is located between the ZERO position and the FINAL MAXIMUM HEIGHT
position upon starting the software. Fig. 2.4
Figure 2.4: Arm after ZERO position
1. Press CALIBRATION on the GUI
2. Wait for the arm to stop
3. Press CALIBRATION
4. Wait for the arm to stop
5. Repeat until the hammer reaches a position close to the ZERO position
6. Follow the calibration procedure, Section 1.3
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2.5. UNRESPONSIVE SOFTWARE BUTTONS/ARDUINO COMMUNICATION
MALFUNCTION
2.5
U NRESPONSIVE S OFTWARE B UTTONS /A RDUINO C OMMU NICATION
M ALFUNCTION
Typically, when the software is unresponsive or if it isn’t able to communicate with the
arduino it will return an error like the following:
could not open port ’com8’: FileNotFoundError(2, ’The system cannot find the file specified.’, None, 2)
It can be solved by first shutting down the software and unplugging/replugging the USB
connected to the Arduino from either the Raspberry Pi or the Computer used for operation.
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2.6. BYPASS SOFTWARE INTERFACE
2.6
B YPASS S OFTWARE I NTERFACE
The machine can be operated while bypassing the software, however the output text file
is minimal. See Fig. 2.5 for an example of the Output text file for this method.
1. Open Terminal on Raspbian or Anaconda Prompt on Windows
2. Type python Communication.py
3. Type B,C,D,E,Q adequately following:
(a) B: RUN
(b) C: RESET
(c) D: LOADING
(d) E: CALIBRATION
(e) Q: QUIT
Figure 2.5: Software Bypass Output Text File
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2.7. RESET FILE COUNT TO DEFAULT
2.7
R ESET F ILE C OUNT TO D EFAULT
To reset the file count to default, delete preferences.txt in the IZOD Directory. This will
reset file count to 0 but also reset all values in preferences.txt to default.
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2.8. MODIFY CONSTANTS (WEIGHT, ARM LENGTH, ETC...)
2.8
M ODIFY C ONSTANTS ( W EIGHT, A RM L ENGTH , ETC ...)
Open preferences.txt to modify constant parameters.
NOTE: Do NOT modify File Count
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2.9. ANACONDA STARTER GUIDE
2.9
A NACONDA S TARTER G UIDE
ANACONDA DISTRIBUTION
STARTER GUIDE
See full documentation for Anaconda Distribution
docs.anaconda.com/anaconda/
BEFORE YOU START
Why do I need
Anaconda Distribution?
Installing Python in a terminal is no joy. Many scientific packages require a specific version
of Python to run, and it's difficult to keep them from interacting with each other. It is even
harder to keep them updated. Anaconda Distribution makes getting and maintaining
these packages quick and easy.
What is
Anaconda Distribution?
It is an open source, easy-to-install high performance Python and R distribution, with the
conda package and environment manager and collection of 1,000+ open source packages
with free community support.
Then what is Miniconda?
It’s Anaconda Distribution without the collection of 1,000+ open source packages.
With Miniconda you install only the packages you want with the conda command,
conda install PACKAGENAME
Example: conda install anaconda-navigator
GET IT
Will it work on
my machine?
Yes, Anaconda Distribution is available for Windows, macOS or Linux x86 or POWER8,
32- or 64‑bit, 3GB HD available. Miniconda is the same but needs only 400 MB HD.
Quick install it
docs.anaconda.com/anaconda/install
Get your conda cheat sheet
conda.io/docs/using/cheatsheet.html
Take the test drive
conda.io/docs/test-drive.html
NOW PLAY WITH THE WORLD'S MOST AWESOME SCIENTIFIC PACKAGES
Included in Anaconda 4.4+, or get with "conda install PACKAGENAME"
1. NumPy
numpy.org
N-dimensional array for numerical computation
7. Scikit-Learn
scikit-learn.org/stable
Python modules for machine learning and data mining
2. SciPy
scipy.org
Scientific computing library for Python
8. NLTK
nltk.org
Natural language toolkit
3. Matplotlib
matplotlib.org
2D Plotting library for Python
9. Jupyter Notebook
jupyter.org
Web app that allows you to create and share
documents that contain live code, equations,
visualizations and explanatory text
4. Pandas
pandas.pydata.org
Powerful Python data structures
and data analysis toolkit
5. Seaborn
seaborn.pydata.org/
Statistical graphics library for Python
10. R essentials
conda.pydata.org/docs/r-with-conda.html
R with 80+ of the most used R packages for data science
“conda install r-essentials”
R package list
docs.anaconda.com/anaconda/rlanguage-pkg-docs
6. Bokeh
bokeh.pydata.org
Interactive web visualization library
CONTINUED ON BACK →
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2.9. ANACONDA STARTER GUIDE
ANACONDA NAVIGATOR
CHEAT SHEET
See full documentation for Anaconda Navigator
docs.anaconda.com/anaconda/navigator/
Before you Start
What is
Anaconda Navigator?
Anaconda Navigator is an easy way to use graphical Python programs without having to
use command line commands.
Get It
Will it work on
my machine?
Anaconda Navigator is available for Windows, macOS or Linux, 32- or 64-bit, 3GB HD
available. Navigator is automatically installed when you install Anaconda Distribution.
Follow the graphical
install instructions
docs.anaconda.com/anaconda/install
Open
Anaconda Navigator
After install, look on your desktop or programs menu for Anaconda Navigator and click it.
NOW PLAY WITH THE WORLD'S MOST AWESOME SCIENTIFIC PACKAGES
MORE RESOURCES
Free email group support
http://bit.ly/anaconda-community
Paid support
anaconda.com/anaconda-support
Training
anaconda.com/training
Consulting
anaconda.com/anaconda-consulting
Follow us on Twitter @anacondainc and join the #AnacondaCrew!
Connect with talented, like-minded data scientists and developers while contributing to the open source movement. Visit
anaconda.com/community.
anaconda.com · info@anaconda.com · 512-776-1066
8/20/2017
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2.10. CONDA CHEAT SHEET
2.10
C ONDA C HEAT S HEET
CONDA CHEAT SHEET
Command line package and environment manager
Learn to use conda in 30 minutes at bit.ly/tryconda
TIP: Anaconda Navigator is a graphical interface to use conda.
Double-click the Navigator icon on your desktop or in a Terminal or at
the Anaconda prompt, type anaconda-navigator
Conda basics
Verify conda is installed, check version number
conda info
Update conda to the current version
conda update conda
Install a package included in Anaconda
conda install PACKAGENAME
Run a package after install, example Spyder*
spyder
Update any installed program
conda update PACKAGENAME
Command line help
COMMANDNAME --help
conda install --help
*Must be installed and have a deployable command,
usually PACKAGENAME
Using environments
Create a new environment named py35, install Python 3.5
conda create --name py35 python=3.5
Activate the new environment to use it
WINDOWS:
activate py35
LINUX, macOS: source activate py35
Get a list of all my environments, active
environment is shown with *
conda env list
Make exact copy of an environment
conda create --clone py35 --name py35-2
List all packages and versions installed in active environment
conda list
List the history of each change to the current environment
conda list --revisions
Restore environment to a previous revision
conda install --revision 2
Save environment to a text file
conda list --explicit > bio-env.txt
Delete an environment and everything in it
conda env remove --name bio-env
Deactivate the current environment
WINDOWS: deactivate
macOS, LINUX: source deactivate
Create environment from a text file
conda env create --file bio-env.txt
Stack commands: create a new environment, name
it bio-env and install the biopython package
conda create --name bio-env biopython
Finding conda packages
Use conda to search for a package
conda search PACKAGENAME
See list of all packages in Anaconda
https://docs.anaconda.com/anaconda/packages/pkg-docs
CONTINUED ON BACK →
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2.10. CONDA CHEAT SHEET
Installing and updating packages
Install a new package (Jupyter Notebook)
in the active environment
conda install jupyter
Run an installed package (Jupyter Notebook)
jupyter-notebook
Install a new package (toolz) in a different environment
(bio-env)
conda install --name bio-env toolz
Update a package in the current environment
conda update scikit-learn
Install a package (boltons) from a specific channel
(conda-forge)
conda install --channel conda-forge
boltons
Install a package directly from PyPI into the current active
environment using pip
pip install boltons
Remove one or more packages (toolz, boltons)
from a specific environment (bio-env)
conda remove --name bio-env toolz boltons
Managing multiple versions of Python
Install different version of Python in
a new environment named py34
conda create --name py34 python=3.4
Switch to the new environment that has
a different version of Python
Windows:
activate py34
Linux, macOS:
source activate py34
Show the locations of all versions of Python that are
currently in the path
Windows:
where python
Linux, macOS: which -a python
NOTE: The first version of Python in the list will be executed.
Show version information for the current active Python
python --version
Specifying version numbers
Ways to specify a package version number for use with conda create or conda install commands, and in meta.yaml files.
Constraint type
Specification
Result
Fuzzy
numpy=1.11
1.11.0, 1.11.1, 1.11.2, 1.11.18 etc.
Exact
numpy==1.11
1.11.0
Greater than or equal to
"numpy>=1.11"
1.11.0 or higher
OR
"numpy=1.11.1|1.11.3"
1.11.1, 1.11.3
AND
"numpy>=1.8,<2"
1.8, 1.9, not 2.0
NOTE: Quotation marks must be used when your specification contains a space or any of these characters: > < | *
MORE RESOURCES
Free Community Support
Online Documentation
Command Reference
Paid Support Options
Anaconda Onsite Training Courses
Anaconda Consulting Services
groups.google.com/a/continuum.io/forum/#!forum/conda
conda.io/docs
conda.io/docs/commands
anaconda.com/support
anaconda.com/training
anaconda.com/consulting
Follow us on Twitter @anacondainc and join the #AnacondaCrew!
Connect with other talented, like-minded data scientists and developers while
contributing to the open source movement. Visit anaconda.com/community
anaconda.com · info@anaconda.com · 512-776-1066
8/20/2017 conda cheat sheet Version 4.3.24
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Chapter 3
Electrical Components
3.1
A RDUINO DUE
Figure 3.1: Arduino DUE Schematics
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3.2. RASPBERRY PI 3
3.2
R ASPBERRY P I 3
Figure 3.2: Raspberry Pi 3 Schematics
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3.3. L298N V3 MOTOR CONTROLLER
3.3
L298N V3 M OTOR C ONTROLLER
Figure 3.3: L298N v3 Schematics
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3.4. DYTRAN 4110C CURRENT SOURCE
3.4
DYTRAN 4110C C URRENT S OURCE
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3.4. DYTRAN 4110C CURRENT SOURCE
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3.4. DYTRAN 4110C CURRENT SOURCE
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3.4. DYTRAN 4110C CURRENT SOURCE
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3.4. DYTRAN 4110C CURRENT SOURCE
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3.4. DYTRAN 4110C CURRENT SOURCE
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3.4. DYTRAN 4110C CURRENT SOURCE
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3.4. DYTRAN 4110C CURRENT SOURCE
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3.4. DYTRAN 4110C CURRENT SOURCE
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3.4. DYTRAN 4110C CURRENT SOURCE
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3.5. NEMA17 100:1 STEPPER MOTOR
3.5
NEMA17 100:1 S TEPPER M OTOR
Electrical Specification:
* Manufacturer Part Number: 17HS19-1684S-PG100
* Motor Type: Bipolar Stepper
* Step Angle: 0.018 deg.
* Holding Torque: 4Nm
* Rated Current/phase: 1.68A
* Phase Resistance: 1.65ohms
* Inductance: 2.8mH+/-20%(1KHz)
Gearbox Specifications:
* Gearbox Type: Planetary
* Gear Ratio: 99.05:1
* Efficiency: 73%
* Backlash at No-load: <=1 deg.
* Max.Permissible Torque: 4Nm(566oz-in)
* Moment Permissible Torque: 6Nm(850oz-in)
* Shaft Maximum Axial Load: 50N
* Shaft Maximum Radial Load: 100N
Physical Specifications:
* Frame Size: 42 x 42mm
* Motor Length: 48mm
* Gearbox Length: 42.7mm
* Shaft Diameter: 8mm
* Shaft Length: 20mm
* D-cut Length: 15mm
* Number of Leads: 4
* Lead Length: 500mm
* Weight: 630g
Connection:
Black(A+), Green(A-), Red(B+), Blue(B-)
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3.5. NEMA17 100:1 STEPPER MOTOR
May 7, 2018
Figure 3.4: NEMA 17 Schematics
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3.6. ENCODER
3.6
E NCODER
Wachendorff Automation GmbH & Co. KG
Industriestraße 7 • D-65366 Geisenheim
Tel.: +49 (0) 67 22 / 99 65 -25 • Fax: +49 (0) 67 22 / 99 65 -70
E-Mail: wdg@wachendorff.de • www.wachendorff-automation.com
Encoder WDG 58B
•
•
•
•
•
•
•
Rugged industrial standard encoder
Up to 25000 PPR by use of high grad electronics
Protection to IP67, shaft sealed to IP65
Maximum mechanical and electrical safety
Full connection protection with 10 VDC up to 30 VDC
With light reserve warning
Optional: -40 °C up to +80 °C
Protection to IP67 all around
www.wachendorff-automation.com/wdg58b
Available PPR
up to 25000 PPR
Mechanical Data
Housing
- Clamping flange:
- Cap:
- Cam mounting:
Further technical information on:
www.wachendorff-automation.com/gtd
Matching accessories on: www.wachendorff-automation.com/acs
Aluminium
Aluminium, powder coated
pitch 69 mm
Shaft
- Material:
- Permitted load
on shaft end:
- Starting torque:
Ø 10 mm
stainless steel
max. 220 N radial
max. 120 N axial
approx. 1 Ncm at ambient temperature
Cable connection K2, K3, L2, L3 with 2 m cable
Bearings
- Type:
- Service life:
2 precision ball bearings
1 x 10 9 revs. at 100 % rated shaft load
1 x 1010 revs. at 40 % rated shaft load
1 x 1011 revs. at 20 % rated shaft load
Max. operating speed: 8000 rpm
Weight:
approx. 250 g
Connections:
cable or connector
Protection rating:
(EN 60529)
IP67, shaft sealed to IP65
Connector (M16x0.75) SI, SH, 5-, 6-, 8-, 12-pin and S2, S3, 7-pin
Operating temperature: -20 °C up to +80 °C, 1 Vss: -10 °C up to +70 °C
Storage temperature: -30 °C up to +80 °C
Machinery Directive: basic data safety integrity level
MTTFd:
200 a
25 a
Mission time (TM):
Nominale service life
1 x 1011 revss. at 8000 rpm and 20 % rated
(L10h):
shaft load
Diagnostic coverage (DC): 0 %
Electrical Data
Power supply/
Open circuit current
consuption:
4.75 VDC up to 5.5 VDC: max. 100 mA
5 VDC up to 30 VDC:
max. 70 mA
10 VDC up to 30 VDC:
max. 100 mA
Output circuit:
TTL, RS422 compatible
HTL
1 Vss Sin/Cos
Pulse frequency:
TTL ≤ 5000 PPR:
HTL ≤ 5000 PPR:
TTL > 5000 PPR:
HTL > 5000 PPR:
1 Vss Sin/Cos:
Channels:
AB, ABN and inverted signals
Load:
max. 40 mA / channel,
@ 1 Vss Sin/Cos: 120 Ohm termination
Circuit protection:
circuit type F24, G24, H24, I24, P24, R24 only
Accuracy:
Phase offset:
max.
max.
max.
max.
max.
Connector (M23) S4, S5, S4R, S5R, 12-pin
200 kHz
200 kHz
2 MHz
600 kHz
100 kHz
MIL-connector S6, 6-pin
pulse-/pause-ratio:
90° ± max. 7.5 %
of the pulse length
50 % ± max. 7 %
27.04.2010 / Specifications without engagement, subject to errors and modifications.
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3.6. ENCODER
Valve-connector S7, 4-pin
Shaft with flat:
The encoder WDG 58B can be supplied with a shaft with flat. When
ordering please add the suffix code - AAF.
Drawing 58B-AAF
Low-friction bearings:
The encoder WDG 58B is also available as a particularly smooth-running
low-friction encoder. The starting torque is thereby changed to
< 0.1 Ncm and the protection class at the shaft input to IP50. When
ordering please add the suffix code - AAC.
Sensor-connector (M12x1) SB, SC, 4-, 5-, 8-, 12-pin
Shafts sealed to IP67 (not for 1 Vss Sin/Cos):
The encoder WDG 58B can be supplied in a full IP67 version. When
ordering please add the suffix code - AAO.
Options:
Low-temperature:
The encoder WDG 58B with the output circuit types F24, G24, H24, I24,
P24, R24, F05, G05, I05, P05, 245 and 645 is also available with the
extended temperature range -40 °C up to +80 °C (measured at the flange). When ordering please add the suffix code - ACA.
Ordering information:
5 - 30
up to
5000
4,75 - 5,5
HTL
HTL inverted
TTL
Light
reserve
warning
-
•
-
TTL,
RS422 comp., inverted
•
HTL
•
HTL inverted
•
TTL, RS422 comp., inv.
TTL
TTL, RS422 comp., inv.
HTL
HTL inverted
TTL, RS422 comp., inv.
1 Vss Sin/Cos
•
-
10000 4,75 - 5,5
up to
25000 10 - 30
up to
2048
4,75 - 5,5
100 N
110 N 2500 PPR
Startingtorque
approx. 4 Ncm
Please see our general technical data at: www.wachendorff-automation.com/gtd
Output circuit
10 - 30
3500 rpm
Max.
PPR
Cable length:
The encoder WDG 58B can be supplied with more than 2 m cable.
The maximum cable length depends on the supply voltage and the
frequency; see "General Technical Data":
www.wachendorff-automation.com/gtd
Please extend the standard order code with a three figure number,
specifying the cable length in decimetres.
Example: 3 m cable = 030
Electrical connections:
ABN
Order key
Outgoing Description
inv.
Cable: (Length 2 m standard)
K2
axial
shield not connected
•
L2
shield connected to encoder housing
•
K3
radial
shield not connected
•
L3
shield connected to encoder housing
•
Connector:
SI5
axial
5-pin, connector
SH5
radial
SI6
axial
6-pin, connector
SH6
radial
SI8
axial
8-pin, connector
•
SH8
radial
SI12
axial
12-pin, connector
•
SH12
radial
S2
axial
7-pin, connector
S3
radial
S4/S4R
axial
12-pin, connector
•
S5/S5R
radial
(R = clockwise pin count)
S6
axial
6-pin, MIL-connector
S7
radial
4-pin, Valve-connector
SB4
axial
4-pin, M12-sensor-connector
SC4
radial
SB5
axial
5-pin, M12-sensor-connector
SC5
radial
SB8
axial
8-pin, M12-sensor-connector
•
SC8
radial
SB12
axial
12-pin, M12-sensor-connector
•
SC12
radial
Output circuit:
up to
1024
Permitted
Shaft-Loading
axial
radial
Amended specifications for shaft sealed to IP67.
All dimensional specifications in mm.
Reso- Power
lution supply
PPR VDC
Max.
RPM
-
Order
Key
H30
R30
G05
H05
I05
R05
G24
H24
I24
R24
245
F05
P05
F24
P24
645
SIN
Channels: AB, ABN (SIN: AB)
Pulses per revolution PPR:
2, 10, 15, 20, 24, 25, 30, 36, 40, 48, 50, 60, 64, 72, 87, 90, 100, 120,
125, 127, 128, 150, 160, 180, 200, 216, 240, 250, 254, 256, 300,
314, 320, 360, 400, 500, 512, 571, 600, 625, 720, 750, 768, 800,
810, 900, 1000, 1024, 1200, 1250, 1270, 1440, 1500, 1800, 2000,
2048, 2400, 2500, 3000, 3600, 4000, 4096, 4685, 5000, 10000,
12500, 20000, 25000.
Options:
Empty
ACA
AAF
AAC
AAO
In decimetres
1 Vss Sin/Cos 1024 PPR and 2048 PPR only
Other PPRs on request
=
=
=
=
=
=
Without option
Low-temperature -40 °C up to +80 °C
Shaft with flat
Low-friction bearings
Shaft sealed to IP67
Cable length
Order No.:
Example
WDG 58B
Your encoder
WDG 58B
5000
ABN
G24
K2
2 of 2
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3.7. ELECTRO-MAGNET
3.7
E LECTRO -M AGNET
Technical Data Sheet
Round Electromagnets, Flat-Faced
BuyMagnets.com Round electromagnets handle ferrous materials safely and
securely. Electromagnets provide an efficient and economical solution for handling
and holding parts. Available in a number of shapes and sizes, our electromagnets
require little maintenance and can be used in a variety of manual and automated
applications. (Special sizes upon request).
Product Specifications
Shape:
Part No.
BDE-101212
Round
Diameter(A)
Height
(B)
Thread
(C)
Thread
Depth
(D)
DC
Volts
Watts
Pull
Force
Wt.
Price
1.00
1.250
10-32
.375
12
4.5
20
2.60oz
$20.00
All Measurements are in inches (unless otherwise noted)
Direction of Magnetization (DOM) is through the thickness unless noted
Unless otherwise specified, magnets will be furnished in magnetized condition
Holding forces are approximate. These are average values obtained under laboratory conditions.
Size, shape, and material of the test piece may affect actual pull forces
1150 Howard Street • Elk Grove Village, IL 60007 • 800-232-4359 or 847-593-2060
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3.8. DYTRAN ACCELEROMETERS
3.8
DYTRAN A CCELEROMETERS
3.8.1 General Accelerometer Specifications
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3.8. DYTRAN ACCELEROMETERS
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3.8. DYTRAN ACCELEROMETERS
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3.8. DYTRAN ACCELEROMETERS
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3.8. DYTRAN ACCELEROMETERS
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3.8. DYTRAN ACCELEROMETERS
3.8.2 3056B4-15742
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3.8. DYTRAN ACCELEROMETERS
3.8.3 3056B4-15819
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3.8. DYTRAN ACCELEROMETERS
3.8.4 3056B1-15849
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3.8. DYTRAN ACCELEROMETERS
3.8.5 3056B1-15909
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3.8. DYTRAN ACCELEROMETERS
3.8.6 3056D4-18611
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3.9. WIRING/ELECTRICAL CIRCUIT
3.9
W IRING /E LECTRICAL C IRCUIT
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Chapter 4
ASTM Methodologies
NOTE: Information directly extracted from ASTM D256
Refer to ASTM D256 for more in-depth details.
4.1
M EASURING E FFECTIVE W EIGHT OF THE H AMMER
Swing the pendulum to a horizontal position and support it by the striking edge in this
position with a vertical bar. Allow the other end of this bar to rest at the center of a load
pan on a balanced scale. Subtract the weight of the bar from the total weight to find the
effective weight of the pendulum. The effective pendulum weight should be within 0.4%
of the required weight for that pendulum capacity. If weight must be added or removed,
take care to balance the added or removed weight without affecting the center of percussion
relative to the striking edge. It is not advisable to add weight to the opposite side of the
bearing axis from the striking edge to decrease the effective weight of the pendulum since the
distributed mass can lead to large energy losses from vibration of the pendulum.
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4.2. MEASURING EFFECTIVE LENGTH OF THE HAMMER
4.2
M EASURING E FFECTIVE L ENGTH OF THE H AMMER
The distance from the axis of support to the center of percussion may be determined experimentally from the period of small amplitude oscillations of the pendulum by means of the
following equation:
L = (g /(4π2 )p 2
where:
L = distance from the axis of support to the center of percussion, m or ( f t )
g = local gravitational acceleration (known to an accuracy of one part in one thousand), m/s 2
or ( f t /s 2 ), π = 3.1416 (4π2 = 39.48)
p = period, s, of a single complete swing (to and fro) determined by averaging at least 20
consecutive and uninterrupted swings. The angle of swing shall be less than 5 degrees each
side of center.
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4.3. SPECIMEN FAILURE TYPES
4.3
S PECIMEN FAILURE T YPES
The type of failure for each specimen shall be recorded as one of the four categories listed as
follows:
1. C = Complete Break: A break where the specimen separates into two or more pieces.
2. H = Hinge Break: An incomplete break, such that one part of the specimen cannot
support itself above the horizontal when the other part is held vertically (less than 90Âř
included angle).
3. P = Partial Break: An incomplete break that does not meet the definition for a hinge
break but has fractured at least 90% of the distance between the vertex of the notch and
the opposite side.
4. NB = Non-Break: An incomplete break where the fracture extends less than 90% of the
distance between the vertex of the notch and the opposite side.
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4.4. SPECIMEN DIMENSIONS FOR IZOD-TYPE TEST
4.4
S PECIMEN D IMENSIONS FOR IZOD- TYPE TEST
1. A = 10.16 +/− 0.05 mm or 0.400 +/− 0.002 in
2. B = 31.8 +/− 1.0 mm or 1.25 +/− 0.04 in
3. C = 63.5 +/− 2.0 mm or 2.50 +/− 0.08 in
4. D = 0.25R +/− 0.05 mm or 0.010R +/− 0.002 in
5. E = 12.70 +/− 0.20 mm or 0.500 +/− 0.008 in
Figure 4.1: Specimen Dimensions
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