Download Quick Start Guide: QUBE-Servo Direct I/O Interface

Quick Start Guide: QUBE-Servo Direct I/O Interface
STEP 1 Check Components and Details
Make sure your QUBE-Servo experiment includes the following components:
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INSTRUCTOR WORkbOOk
QUbE-Servo Experiment for MATLAb /Simulink Users
Standardized for ABET * Evaluation Criteria
6
Student Workbook
Qube-Servo experiment for MAtLAb /Simulink users
Standardized for ABET * Evaluation Criteria
Developed by:
Jacob Apkarian, Ph.D., Quanser
Michel Lévis, M.A.SC., Quanser
10
uSer MaNuaL
QuBe-Servo experiment
Set Up and Configuration
Developed by:
Jacob Apkarian, Ph.D., Quanser
Michel Lévis, M.A.SC., Quanser
QUBE educational solutions
are powered by:
QUBE educational solutions
are powered by:
Course material
complies with:
Course material
complies with:
CApTIvATE. MOTIvATE. GRAdUATE.
CAptivAte. MotivAte. GrAduAte.
Solutions for teaching and research. Made in Canada.
*ABET Inc., is the recognized accreditor for college and university programs in applied science, computing, engineering, and technology, providing 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, providing leadership and quality assurance
in higher education for over 75 years.
1. Quanser QUBE-Servo Direct
I/O Inferface
2. Inertia disc module
3. Pendulum module
4. Power cable
5. RCA to RCA cable
6. Set of two 5-pin DIN to 5-pin
DIN encoder cables
7. 15V 2.0 A power supply
8. Instructor Workbook*
9. Student Workbook*
10. User Manual*
*Provided in digital form on the Workstation Resources DVD and online at
www.quanser.com/courseware
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1. QUARC Real-Time Rapid Control Prototyping
Software Installation DVD*
TO SET UP QUANSER
TO WORKSTATIONS
SET UP QUANSER WORKSTATIONS
For use with
For MATLAB®/Simulink®
R2011a,b and R2012a,b
R2011a,b and R2012a,b
For installation procedure please
refer to the Installation Guide on this DVD.
For assistance, contact [email protected]
For installation procedure please
refer to the Installation Guide on this DVD.
For assistance, contact [email protected]
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STEP 2 Additional Components Required for Set Up
To complete the Quanser QUBE-Servo Direct I/O Interface set up, you will also need the following:
On this DVD:
• Quick start Guides
• Pre-designed Controllers
• User Manuals
• Instructor and Student Workbooks
or Laboratory Guides
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For use with
On this DVD:
• Quick start Guides
• Pre-designed Controllers
• User Manuals
• Instructor and Student Workbooks
or Laboratory Guides
2. Quanser Workstations Resources DVD
(includes controllers, User Manual, Quick Start
Guide, courseware and other files)
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3. One of the following data acquisition devices*:
a. Quanser Q2-USB, or
b. Quanser Q8-USB, or
c. NI PCI/PCIe with NI M and X Series Terminal Board
* 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 QUBE-Servo Direct I/O Interface, please read the following instructions carefully. The connections shown below are
illustrated using a generic data acquisition (DAQ) device (you may have a different DAQ). For detailed instructions, see the QUBEServo User Manual (enclosed with shipment).
A
Before proceeding, set up and test your DAQ device (e.g., Q2-USB). For detailed instructions, see the Quick
Start Guide or User Manual supplied with your DAQ device.
B
C
Place the QUBE-Servo on a flat
surface with enough space so
that the modules will not be
obstructed.
Connect the inertia disc moduleQUBE
to the
ROTARY SERVO EXPERIMENT
Interface
QUBE-servo base by aligning Direct
theI/Oinertia
disc magnets with the magnets on the
QUBE-Servo module connector.
The
Amplifier
Input 0
module should snap into
place.
WWW.QUANSER.COM
Made in Canada
Power
D
Encoder 0
Analog
Output
(AO)
QUBE
WWW.QUANSER.COM
Made in Canada
Amplifier
Input 0
Power
Encoder 0
Encoder 1
15V
15V
Using the RCA to RCA cable, connect
Analog Output Channel #0 (AO #0)
on the data acquisition (DAQ) device
to the Amplifier Input 0 socket on
the QUBE-Servo.
ROTARY SERVO EXPERIMENT
Direct I/O Interface
Data Acquisition Device
Encoder 1
2.0A
E
QUBE
Encoders
(EI)
Using the 5-pin DIN to 5-pin DIN
encoder cable, connect the Encoder 0
socket on the QUBE-Servo panel to the
Encoder Input #0 socket on the data
acquisition device.
ROTARY SERVO EXPERIMENT
Direct I/O Interface
WWW.QUANSER.COM
Made in Canada
Amplifier
Input 0
Power
0
Data Acquisition Device
F
Encoder 0
Encoder 1
QUBE
ROTARY SERVO EXPERIMENT
Direct I/O Interface
ROTARY SERVO EXPERIMENT
WWW.QUANSER.COM
Made in Canada
Amplifier
Input 0
Power
Encoder 0
Encoder 1
2.0A
G
H
QUBE-Servo
ROTARY SERVO EXPERIMENT
WWW.QUANSER.COM
Made in Canada
QUBE-Servo
15V
15V
2.0A
Connect the power
connector on the
QUBE-Servo to the
supplied 15V power
supply.
WWW.QUANSER.COM
Made in Canada
Connect the power
supply to a wall outlet
using the appropriate
power cable.
Power
The green Power
LED on the QUBE
should turn ON.
Power
2.0A
STEP 5 Testing the QUBE-Servo
Follow the procedure below to test your QUBE-Servo experiment.
A
B
Make sure your PC
is powered ON.
On the Resources DVD (supplied with the QUARC package), locate the
Quick Start folder: Rotary\QUBE-Servo\Quick Start. Copy the Quick
Start folder to your local hard drive.
Note: Browse online for the latest QUBE-Servo resources at
www. quanser.com/courseware
C
E
G
Open the Simulink model file (.mdl) found under
the Quick Start folder on your hard drive.
D
F
Click on the Build Model
button on the Simulink
model toolbar.
Double-click on the HIL Initialize block and
choose the board that is installed on your
system (e.g. Q2-USB).
Once the model code
has been compiled,
click on the Connect
To Target button.
Click on the Run button to start the QUARC real-time model.
H
The scopes should look similar to those shown here.
The measured servo angle (in purple) should be
tracking the desired angle (in yellow) in the Servo
Angle (deg) scope. The motor voltage is displayed
in the Motor Voltage (V) scope. If not, consult the
Troubleshooting section at the end of this guide.
Servo Angle (deg)
I
Motor Voltage (V)
Click on the Simulink Stop button to stop the running model
TROUBLESHOOTING
Review the following recommendations before contacting Quanser’s technical support engineers.
1. Check the connections outlined in Step 4 of this guide.
2. Make sure cables are firmly connected.
Getting an error
when trying to
build or run the
Quick Start Simulink model (.mdl)
You get an ’An
operating system
specific kernellevel driver for
the specified
card could not be
found’ message.
The Motor is
not responding.
STILL NEED HELP?
LEARN
LEARN MORE
MORE
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.
A. Make sure your Data Acquisition (DAQ) device has been properly connected to
(or installed on) your PC/laptop. Note that some DAQ devices need to be powered
externally, e.g., Quanser Q8-USB.
B. Ensure you selected the correct board type in the HIL Initialize block, as outlined
in Steps 5D.
C. Verify that your Data Acquisition device shows up in Device Manager (e.g., when
using the Quanser Q2-USB DAQ, the Q2-USB A and Q2-USB B should appear under
the Universal Serial Bus controllers).
D. Refer to the User Manual or Quick Start Guide that is supplied with your Data
Acquisition (DAQ) device for more specific troubleshooting information and testing
procedures.
A. Ensure the green Power LED on the QUBE-Servo is lit. If not, make sure the power
supply is operational and properly connected.
B. Verify that the data acquisition (DAQ) device used to connect to the QUBE-Servo
is functional. Refer to the Data Acqusition (DAQ) Device User Manual or Quick Start
Guide for specific troubleshooting guidelines and testing procedures.
For further assistance from a Quanser engineer, contact us at
[email protected] or call +1-905-940-3575.
To find
out about
full range
Quanser
Control modules,
To browse
andthe
download
theoflatest
QUBE-Servo
resources, visit
visitwww.
www.quanser.com
quanser.com/courseware
©2014 Quanser Inc. All rights reserved. MATLAB® and Simulink® are registered trademarks of The MathWorks, Inc.
V.1.2