SRV02 User Manual - University of Hawaii
Contents
1. 10 10 10 20 20 Document Number 700 Revision 2 3 Page 11 SRVO2 User Manual Description Matlab Unit Variati Variable on mg Mass of disc load m d 0 04 kg La Radius of disc load rd 0 05 m Kp Potentiometer sensitivity K POT 35 2 deg V 2 Kene SRV02 E encoder resolution K ENC 4096 counts rev Kese SRV02 EHR encoder resolution K ENC 8192 counts rev Kac SRWVO2 T tachometer sensitivity K TACH 1 50 krpm V 12 Mmax Maximum output shaft load 5 0 kg fmx Maximum input voltage frequency 50 0 Hz Inx Maximum input current 1 0 A max Maximum motor speed 628 3 rad s Table 5 SRVO2 system specifications 5 System Configuration and Setup As discussed in Section 5 1 the SRVO2 can be setup with two different gear configurations depending on the experiment being performed Also Section 5 2 shows how the SRVO02 can be fitted with different loads 5 1 Gear Configuration 9 1 1 Description The SRV02 can be setup in the low gear configuration or the high gear configuration as pictured in Figure 12 and Figure 13 respectively The low gear ratio is recommended when performing the modeling position control and speed control experiments with or without the bar and disc loads The high gear setup is required to be used with additional modules such as the ball and beam device the flexible link module and the gyroscope Document Number 700 Revision 2 3 Page 12 SRVO2 User Manual Figure 122. 1 Nominal voltage LU 4 5 6 9 12 18 24 Volt 2 Terminal resistance R 12 1 4 2 6 ST 10 0 23 5 38 0 LZ 3 Output power Pa mar 3 39 3 23 3 29 3 31 3 18 3 50 W 4 Efficiency U ra 70 69 67 66 67 67 0 5 No load speed M 12 7 200 7 200 7 400 7 800 7 400 7 600 rpm 6 No load current with shaft e 0 12 in I 50 0 100 0 080 0 060 0 050 0 030 0 025 A 7 Stall torque Nu 2 55 242 2 41 2 29 2 32 2 49 oz in amp Friction torque Np 0 082 0 086 0 095 0 099 0 095 0 102 oz in 9 Speed constant kn 1 650 1 240 855 678 428 330 rpm 10 Back EMF constant kg 0 606 0 304 1 170 1 470 2 340 3 030 mvirpm 11 Torque constant Ku 0 818 1 084 1 586 1 997 3 158 4 107 oz intA 12 Currant constant ki 1 222 0 919 0 630 0 501 0 317 0 244 Afoz in 13 Slope of n M curve AnJAM 2 824 2 975 3 071 3 406 3 190 3 052 rpmoz in 14 Rotor inductance L 100 180 380 630 1 400 2 600 HH 15 Mechanical time constant TE 20 17 17 17 17 17 mis 16 Rotor inertia J 6 797 101 5 523 105 5 240 104 4 815 105 5 098 10 5 381 105 0z in sec 17 Angular acceleration CL max 38 44 46 48 46 47 10 rad s 18 Thermal resistance Reh 1 4 Rth 3 24 CN 19 Thermal time constant TL 5 7 645 5 0 Operating temperature range motor 30 to 485 E22to 185 SC PE rotor max permissible 4125 4257 SC F Note Special operating temperature models Tor 55 C to 125 67 to 257 F available on request 21 Shaft bearings sintered bronze sleeves ball bearings ball bearings preloaded 22 Shaft lo
3. Page 10 SRVO2 User Manual J m rotor Ka Kee low Kee high K T120 Jeg Ly Description Motor nominal input voltage Motor armature resistance Motor armature inductance Motor torque constant Motor efficiency Back emf constant Motor shaft moment of inertia Internal gearbox ratio External low gear configuration ratio External high gear configuration ratio Low gear Total gearbox ratio High gear total gearbox ratio Gearbox efficiency Tachometer moment of inertia Mass of 24 tooth gear Mass of 72 tooth gear Mass of 120 tooth gear Radius of 24 tooth gear Radius of 72 tooth gear Radius of 120 tooth gear Equivalent high gear moment of inertia without external load Equivalent high gear moment of inertia without external load Low gear viscous damping coefficient found experimentally High gear viscous damping coefficient found experimentally Mass of bar load Length of bar load from end to end Matlab Variable k t Eff M k m Jm rotor Kgl Kge Kge Kg Eff G Jtach m24 m72 m120 r24 r72 r120 Jeq Jeq Beq Beq L b 6 0 V 2 6 Q 0 18 mH 7 68E 03 Nm 0 69 7 68E 03 V rad s 3 90E 7 kgm 14 l 5 14 70 0 90 7 06E 08 kg m 0 005 kg 0 030 kg 0 083 kg 6 35E 03 m 0 019 m 0 032 m lg m 9 76E 05 kg m 2 08E 03 N m rad s 1 50E 04 0 015 N m rad s 2 0 038 kg 0 1525 m Variati on 12 12 5 12 10 10
4. as depicted by connection 3 in Figure 24 and Figure 25 This carries the load shaft angle measurement and is denoted by the variable 0 Connect the TACH connector on the SRV02 to the S S2 socket on the SRV02 using the 6 pin mini DIN to 6 pin mini DIN cable This connection is labeled 3 in Figure 25 It carries the measured load shaft rate from the tachometer and is denoted by the variable Connect the free S7 amp S2 connector on the SRVO2 to the Analog In socket on the Q3 board using the 6 pin mini DIN to 6 pin mini DIN cable See connection 4 in Figure 24 and Figure Document Number 700 Revision 2 3 Page 19 SRVO2 User Manual 25 This carries the voltage signals from both the potentiometer and the tachometer that is proportional to the load shaft angle and rate respectively The load shaft position measurement is represented by variable 6 and the rate is denoted by the variable DIGITAL IN ENCODERS o 4 e E GITAL OUT e a x e MOTORS DIGITAL OUT Pd P A A HS CY a _ i MOTOR ENCODER 51852 Figure 25 Connections on SRVO2 from Q3 Cable l Q3 SRV02 Motor Power leads to the SRV02 DC motor Motors 0 connector 2 Q3 SRV02 Encoder Encoder load shaft angle measurement Encoders 0 connector Document Number 700 Revision 2 3 Page 20 SRVO2 User Manual Cable SRV02 Tach SRV02 Sl amp S2 Tachometer load shaft rate measurement connector connector SRV02 51 amp S2 Q
5. ETS pictured in Figure 10 is an SRV02 ET system with a slip ring mounted on the load gear This allows an external load attached on top of the slip ring unit to rotate 360 degrees freely without any cable entanglements In addition to the components listed in Table 3 Table 4 lists some components found on the SRV02 ETS unit alone Figure 10 SRV02 ETS The components in Table 4 are shown and identified in Figure 11 Document Number 700 Revision 2 3 Page 9 SRVO2 User Manual Component Component Slip ring module chassis Right connector on slip ring Slip ring Left connector on SRV02 Slip ring top plate Right connector on SRV02 Left connector on slip ring 19 16 oa MOTOR dd K ZL Taa 51452 Figure 11 Components on the SRV02 ETS 3 3 1 Slip Ring Description The eight contact slip ring channels the signals attached to the Left and Right connectors on the slip ring ID 27 and ID 28 depicted in Figure 11 to the Left and Right connectors on the SRV02 base ID 27 and ID 28 shown in Figure 11 This allows the load attached to the load gear atop the slip ring ID 8 to move freely 360 degrees without any cable entanglements This 1s especially useful for instance when used with the inverted rotary pendulum experiments 4 SRV02 Specifications Table 5 below lists and characterizes the main parameters associated with the SRV02 Some of these are used in the mathematical model Document Number 700 Revision 2 3
6. SRV02 in low gear configuration Figure 13 SRV02 in high gear configuration 5 1 2 Changing Gear Configuration Follow this procedure to change between high gear and low gear ratio 1 Using the supplied Allen keys loosen the set screws on the three gear shafts 2 Remove the gears from the shafts 3 Slide the new gears into place as described below e Low gear configuration shown in Figure 12 place the 72 tooth gear ID 5 in Figure 2 onto the load shaft ID 8 in Figure 2 and the 72 tooth pinion gear ID 4 in Figure 2 on the motor shaft e High gear configuration depicted in Figure 13 slide the 120 tooth gear ID 20 in Figure 5 followed by the 72 tooth gear ID 8 in Figure 5 on the load shaft and place the 20 tooth pinion gear ID 19 in Figure 5 on the motor shaft Note The potentiometer gear component 6 in Figure 5 is an anti backlash gear and special precaution need to be taken when installing it In order to insert 1t properly rotate 1ts two faces against each other such that the springs are partially pre loaded Do not fully extend the springs when you pre load the gears 4 Ensure the teeth of all the three gears are meshed together Remark that in the high gear setup the top 72 tooth load gear is meshed with the potentiometer gear ID 6 in Figure 5 5 Tighten the set screws on each shaft with the supplied Allen keys 9 2 Load Configuration 5 2 1 Description The SR VUZ is supplied with two external loads
7. listing of the hardware components used in this experiment e Power Amplifier Quanser UPM 1503 2405 or equivalent e Data Acquisition Board Quanser Q8 Q4 Q3 ControlPaQ FW or equivalent e Rotary Servo Plant Quanser SRV02 SRV02 T SRV02 E SRV02 EHR SRV02 ET or SRV02 ETS See the references listed in Section 9 for more information on these components The cables supplied with the SRV02 are described in Section 6 1 and the procedure to connect the above components is Document Number 700 Revision 2 3 Page 14 SRVO2 User Manual given in Section 6 2 6 1 Cable Nomenclature Table 6 below provides a description of the standard cables used in the wiring of the SRV0O2 system Cable Designation 5 pin DIN to RCA Figure 16 From Digital To Analog Cable 4 pin DIN to 6 pin DIN Figure 17 To Load Cable Of Gain 1 5 pin stereo DIN to 5 pin stereo DIN Figure 18 Encoder Cable Description This cable connects an analog output of the data acquisition terminal board to the power module for proper power amplification This cable connects the output of the power module after amplification to the desired DC motor on the servo One end of this cable contains a resistor that sets the amplification gain For example when carrying a label showing 5 at both ends the cable has that particular amplification gain Typically a load cable gain of 1 is used for most SRV02 experiments This
8. on the Quanser Q4 Q8 terminal board should be bright red If not then the DAC board fuse may be burnt and need replacement e Measure the voltage across the potentiometer Ensure the potentiometer is powered with a 12V at the 6 pin mini DIN connector and 5V at the potentiometer terminals as described in Section 3 2 2 If the voltage from the wiper does not change when you rotate the potentiometer shaft your potentiometer needs to be replaced Please see Section 8 for information on contacting Quanser for technical support 7 3 Tachometer 7 3 1 Testing Test the tachometer on the SRV02 by performing the following 1 Apply a 2 0 V signal to Analog Output Channel 0 in order to drive the motor 2 Measure Analog Input Channel 2 to read the tachometer When applying 2 0 V to the motor the tachometer should be measuring a value of approximately 3 0 V 7 3 2 Troubleshooting If no signals are received from the tachometer go through this method e Verify that the power amplifier is functional For example when using the Quanser UPM device is the red LED in the top left corner lit Recall that the analog sensor signal goes through the UPM before going to the data acquisition device It needs to be turned on to read from the tachometer Document Number 700 Revision 2 3 Page 22 SRVO2 User Manual e Check that the data acquisition board is functional e g the red LED on the Quanser Q4 Q8 terminal board should be bright red If not
9. such as a tachometer in the SRV02 T system or an encoder in the SRV02 E model The different options enable users to work with both analog and digital position measurements as well as measuring the angular rate using a tachometer Document Number 700 Revision 2 3 Page 1 SRVO2 User Manual SRV02 Option Sensor SRV02 Potentiometer SRV02 E Potentiometer Encoder 1024 line SRV02 EHR Potentiometer High resolution encoder 2042 line SRV02 T Potentiometer Tachometer SRV02 ET Potentiometer Encoder 1024 line Tachometer SRV02 ETS Potentiometer Encoder 1024 line Tachometer Slipring Table 1 Summary of SRV02 Options 2 Module Options and Experiment Overview The SRV02 rotary plant can be used stand alone for several experiments but it also serve as a base component for several add on modules Table 2 below lists these modules and the corresponding experiments that are supplied with them Thus a new plant is obtained by adding a module which presents new modeling and control challenges Module Experiment Experiment Name Description Name N A 0 SRV02 Quarc Describes how to use Quarc to drive the SRV02 Integration motor and read its sensors N A l Modeling Model the speed of the SRV02 using a first order transfer function N A 2 Position Control Regulate position of the SRV02 load gear to a desired angle using PID N A 3 Speed Control Control the angular rate of the SRV02 load gears using a PI and a lead compens
10. the red LED on the Quanser Q4 Q8 terminal board should be bright red If not then the terminal board or DAC board fuses may be burnt and need replacement e Check that both the A and B channels from the encoder are properly generated and fed to the data acquisition device Using an oscilloscope there should be two square waves signals A and B with a phase shift of 90 degrees If this is not observed then the encoder may be damaged and need to be replaced Please see Section 8 for information on contacting Quanser for technical support 8 Technical Support To obtain support from Quanser go to http www quanser com and click on the Tech Support link Fill in the form with all the requested software and hardware information as well as a description of the problem encountered Also make sure your e mail address and telephone number are included Submit the form and a technical support person will contact you Document Number 700 Revision 2 3 Page 23 SRVO2 User Manual Note Depending on the situation a support contract may be required to obtain technical support 9 References 1 Quanser 04 08 User Manual 2 Quanser SRV02 User Manual 3 Quanser Rotary Experiment 0 SRVO2 Quarc Integration Document Number 700 Revision 2 3 Page 24 SRVO2 User Manual Appendix A Motor Specification Sheet Series 2338 S See beginning of the Motor Section for Ordering Information 2338 5 4 55 006 5 009 5 0125 0185 024 5
11. 3 Potentiometer load shaft angle measurement connector Analog In and tachometer load shaft rate measurement Table 8 SRV02 system wiring summary when using the Q3 7 Testing and Troubleshooting This section describes some functional tests to determine if your SRV02 is operating normally It is assumed that the SRV02 is connected as described in the Section 6 2 above To carry out these tests it is preferable if the user can use a software such as Quarc or LabVIEW to read sensor measurements and feed voltages to the motor See Reference 3 to learn how to interface the SRV02 with Quarc Alternatively these tests can be performed with a signal generator and an oscilloscope 7 1 Motor 7 1 1 Testing Ensure the SRV02 motor is operating correctly by going through this procedure 1 Apply a voltage to analog output channel 0 of the terminal board using for example the Quarc software 2 The motor gear component 4 shown in Figure 2 should rotate counter clockwise when a positive voltage is applied and clockwise when a negative voltage is applied Remark that the motor shaft and the load shaft turn 1n opposite directions 7 1 2 Troubleshooting If the motor is not responding to a voltage signal go through these steps e Verify that the power amplifier is functional For example when using the Quanser UPM device is the red LED in the top left corner lit e Check that the data acquisition board is functional e g the red LED on
12. CH K Figure 5 Top view of the components on the SRVO2 in Figure 4 Connectors view of the SR V02 high gear configuration 23 PP Figure 6 Inertial loads supplied with SRVO2 system 3 2 Component Description 3 2 1 DC Motor Component 9 The SRV02 incorporates a Faulhaber Coreless DC Motor model 23385006 and is shown in Figure 3 with ID 9 This is a high efficiency low inductance motor with a small rotor inductance Therefore it can obtain a much faster response than a conventional DC motor The complete specification sheet of the motor is included in Appendix A Document Number 700 Revision 2 3 Page 6 SRVO2 User Manual CAUTION High frequency signals applied to a motor will eventually damage the gearbox and or the motor brushes The most likely source for high frequency noise 1s derivative feedback If the derivative gain 1s set too high a noisy voltage will be fed into the motor To protect your motor you should always band limit your signal especially derivative feedback to a value of 50Hz A N CAUTION Input 15V 3A peak 1A continuous AN CAUTION Exposed moving parts 3 2 2 Potentiometer Component 11 All SRV02 models are equipped with a Vishay Spectrol model 132 potentiometer shown in Figure 3 with label 11 It 1s a single turn 10 kQ sensor with no physical stops and has an electrical range of 352 degrees The total output range of the sensor is 5 V over the full 352 degree range Note th
13. PM To A D Terminal Board Carries the analog signals connected to the connector S1 to Analog Input 0 S1 amp S2 S3 and S4 connectors on the UPM S2 to Analog Input 1 to the data acquisition board S3 to Analog Input 2 S4 to Analog Input 3 UPM Sl amp S2 SRV02 Sl amp S2 Potentiometer load shaft angle measurement connector connector UPM S3 SR V02 Tach Tachometer load shaft rate measurement connector connector Table 7 SRV02 system wiring summary when using the UPM 6 3 Typical Connections with the Q3 This section describes the typical connections used to connect the SRVO02 plant to the Q3 ControlPaQ FW data acquisition board which has its own built in amplifier The connections are described in detail in the procedure below and summarized in Table 8 Follow these steps to connect the SRV02 to the Q3 l Ze Make sure everything is powered off before making any of these connections This includes turning off your PC and the Q3 Connect the 4 pin stereo DIN to 6 pin stereo DIN from Motors 0 on the Q3 to the Motor connector on the SRVO02 See connection 1 shown in Figure 24 and Figure 25 The cable transmits the controlled current that is applied to the SRV02 motor and is denoted Z If the SRVO02 has the E option then the encoder can be used to measure the load shaft angle Connect the 5 pin stereo DIN to 5 pin stereo DIN cable from the Encoder connector on the SRV02 panel to Encoders 0 on the Q3 board
14. a bar and a disk These can be attached to the SRV02 load gear to vary the moment of inertia seen at the output The SRV02 with the end of the bar load Document Number 700 Revision 2 3 Page 13 A SRVO2 User Manual connected is pictured in Figure 14 Either the end of the bar or the center of the bar can be used In Figure 15 the SRV02 with the disk load attached is shown Figure 15 SRV02 with disk load Figure 14 SRV02 with end of bar load attached attached 5 2 2 Installing Load Follow this procedure to connect either the bar or disc load to the load gear 1 Slide the center hole of the load on the output shaft of the SRV02 component 8 in Figure 2 For the bar load ID 21 in Figure 6 use either the center hole in the middle of the bar or the center hole at the an end of the bar onto the output shaft 2 Align the two holes adjacent to the center hole with the screw holes of the load gear 3 Using the two 8 32 thumb screws provided ID 23 in Figure 6 fasten the inertial load to the output gear The SRVO02 with the bar load and the disk load attached is shown in Figure 14 and Figure 15 respectively Make sure all the screws are properly tightened before operating the servo unit CAUTION Do not apply a load greater than 5 kg at any time For instructions on how to install one the SRV02 modules e g rotary flexible joint see the user manual corresponding to that module 6 Wiring Procedure The following 1s a
15. ad max standard optional optional with shaft diameter 0 1181 0 1181 0 1181 in radial at 3 000 rpm 0 12 in from bearing q 72 72 Oz axial at 3 000 rpm 1 08 7 2 7 2 oz axial at standstill 72 72 72 oz 23 Shaft play radial 0 0012 0 0006 0 0006 in axial lt 0 0079 0 0079 0 in 24 Housing material steel zinc galvanized and passivated 25 Weight 2 47 Oz 26 Direction of rotation clockwise viewed from the front face Recommended values 27 Speed up to Me max 6 000 6 000 6 000 6 000 6 000 6 000 rpm 28 Torque up to NL 0 566 0 566 0 566 0 566 0 566 0 566 oz in 29 Current up to thermal limits le max 1 380 1 000 0 680 0 510 0 330 0 260 A Document Number 700 Revision 2 3 Page 25 SRVO2 User Manual Appendix B Tachometer Specification Sheet Series 2251 5 See beginning of the Section for Ordering Information Characteristics of the DC Motor Tacho Combination Series mechanical time moment of angular frequency weight constant inertia acceleration response J D a 2251 U 455156 4 93 10 oz in sec 52 103 rads 1 500 Hz 3 21 oz 2251 U 006 5 1 56 3 68 10 oz in sec 56 107 rads 1 500 Hz 3 21 oz 2251 U01251 56 4 12 10 oz in sec 56 10 rads 1 500 Hz 3 21 oz 2251 U 0245 1 56 2 65 10 oz insec 59 10 rads 1 500 Hz 3 21 oz Tachogenerator EME constant Ke mvirom 14 325 mWirad s Tolerance of EMF constant 2 My Load resistance Ry 2 25 KO Operatin
16. at a potentiometer provides an absolute position measurement as opposed to a relative measurement from for instance an incremental encoder See Appendix C for a full listing of the potentiometer specifications ELP SCKT MDIN 6 ELP PUTP YLL W 10K ELP SCKT MDIN 6 Figure 7 SRV02 potentiometer wiring As illustrated in Figure 7 the potentiometer 1s connected to a 12 V DC power supply through two 7 15 kQ bias resistors Under normal operations terminal should measure 5 V while terminal 3 should measure 5 V The actual position signal is available at terminal 2 3 2 3 Tachometer Component 13 The SRV02 T and SRV02 ET models come equipped with a tachometer that is directly attached to the DC motor and is depicted with ID 13 in Figure 3 This prevents any latencies in the timing of the Document Number 700 Revision 2 3 Page 7 SRVO2 User Manual response and ensures that the speed of the motor 1s accurately measured Refer to Appendix B for the tachometer specification sheet ELP SCKT RDIN 4 el6 Figure 8 SRV02 Tachometer wiring The motor and tachometer wiring diagram is shown in Figure 8 The 4 pin DIN motor connector component 19 connects the power amplifier to the positive and negative motor leads This is the motor input voltage signal that drives the motor The 6 pin mini DIN tachometer connector component 18 in 1s directly wired to the positive and negative tachometer terminals This supplies a voltag
17. ator Ball and 4 Balance Control Model the system and develop a cascade PD beam controller to stabilize the ball to a position along the beam Document Number 700 Revision 2 3 Page 2 SRVO2 User Manual Module Name Experiment Experiment Name H Description Flexible Joint Flexible Link Single Pendulum Single Pendulum Double Pendulum Gyroscope 1 DOF Torsion 2 DOF Torsion 2 DOF Robot 2 DOF Pendulum 2 DOF Pendulum 10 11 12 13 14 15 Vibration Control Vibration Control Gantry Control Self Erecting Single Inverted Pendulum Control Double Inverted Pendulum Balance Control Heading Control Vibration Control Vibration Control 2D Task Based Position Control 2 DOF Gantry Control 2 DOF Inverted Pendulum Balance Control Derive the plant dynamics and design a controller that compensates for the flexibilities in the joint while regulating the position of the arm tip to desired location Model the plant and identify the natural frequency of the beam Then develop a system that controls the tip of beam to a desired position Obtain the dynamics of the rotary pendulum system and control the tip of the pendulum to a set angular position Design a nonlinear energy based swing up controller and a linear balance compensator to swing up the pendulum from the resting downward position to the upright vertical position Model the system and then desi
18. cable carries the encoder signals between an encoder connector and the data acquisition board to the encoder counter Namely these signals are 5 VDC power supply ground channel A and channel B Document Number 700 Revision 2 3 Page 15 SRVO2 User Manual Designation Description 6 pin mini This cable carries analog signals e g from DIN joystick plant sensor to the UPM where to the signals can be either monitored and or 6 pin mini used by acontroller The cable also carries a DIN 12VDC line from the UPM in order to power a sensor and or signal conditioning circuitry 5 pin DIN This cable carries the analog signals to unchanged from the UPM to the Digital To 4AxRCA Analog input channels on the data acquisition terminal board i Fis gure 20 To Analog To Digital Cable o Table 6 Cable Nomenclature 6 2 Typical Connections using UPM This section describes the typical connections used for to connect the SRV02 plant to a data acquisition board and a power amplifier The connections are described in detail in the procedure below and summarized in Table 7 Follow these steps to connect the SRV02 system l It is assumed that the Quanser Q4 or Q8 board is already installed as discussed in the Reference 1 If another data acquisition device is being used e g NI M Series board then go to its corresponding documentation and ensure it is properly installed Make sure everything is powered off befo
19. e signal that is proportional to the rotational speed The tachometer connector is typically connected to the S3 analog input connector on the Universal Power Module 3 2 4 Encoder Component 12 The SRV02 E and SRV02 EHR options have an optical encoder installed that measures the angular position of the load shaft It is pictured in Figure 3 with the label 12 In the SRV02 E system the encoder used is a US Digital S1 single ended optical shaft encoder that offers a high resolution of 4096 counts per revolution in quadrature mode 1024 lines per revolution The complete specification sheet of the S1 optical shaft encoder is given in Appendix D The encoder in the SRV02 EHR system has a resolution of 8192 counts per revolution in quadrature mode 2042 lines per revolution Remark that incremental encoders measure the relative angle of the shaft as opposed to the potentiometer which measures the absolute angle Document Number 700 Revision 2 3 Page 8 SRVO2 User Manual ELP EON EMCODER ELP SERT1 RDIN 3 140 ELP ENC U5D0 E2 1084 Figure 9 SRV02 encoder wiring The position signal generated by the encoder can be directly connected to the data acquisition device using a standard 5 pin DIN cable The internal wiring of the encoder and the 5 pin DIN connector on the SRV02 component 17 is illustrated in Figure 9 AN CAUTION Never connect the encoder to the Quanser Universal Power Module 3 3 SRV02 ETS Components The SRV02
20. er 132 only Minimum Voltage 0 5 maximum Temperature Coefficient of Resistance 132 Refer to standard resistance element data 138 500ppnv C maximum 139 100ppmv C maximum Document Number 700 Revision 2 3 Page 27 SRVO2 User Manual Appendix D Encoder Specification Sheet Mechanical Drawing 2 109 zy i078 3 holes equally spaced on Z 823 boh cirie Lot 5497 045 9 4358 096 x Mba for 072 deep internal use priy EA i n FETI L 025 square pirs l P j COLES Mechanical Specifications Pin out Parameter Dimension Unite Pin Description Moment of Inertia a0 x 107 oz In 5 1 Ground Hub Set Screw Size 3 48 or 4 48 In Z Index Hex Wirench Size 050 Im E A channel Encoder Base Plate Thictness 135 Im d HIWDC power 3 Mounting Screw Size 0 80 In Z B channel 2 z Momin SEW Aiia 2 a or 4 20 Im z E E i Electrical Specifications 3 Screw Salk Trde Dana KOS JE In For complete details ses ihe EMI HEDS data sheet Required Shaft Lengih 445 to S70 In a With E option 445 to 795 in Phase Relationship With H opilon gt 445 In bads A for doctae chaf rotation and A leads B forcounterciocia lee rotation viewed Add 125 to the required shaf engin when using R opiion from the coveriabel skie of ihe encoder see ie EMT 7 HEDS daia sheet Document Number 700 Revision 2 3 Page 28
21. g speed max continuous T sms 3 5 000 rom Tarminal resistance R 260 O Ripple peak peak typical T My Ripple fraquency cycles 14 par turn Linearity without load between 500 and 5 000 rpm 02 w Reversion error 02 Mo Temperature coefficient of EMF 0 02 B C Temperature coefficient of armature resistance 0 4 Yo PG Rotor inductance L 3 000 uH Direction of rotation reversible Polarity dependent on direction of rotation Document Number 700 Revision 2 3 Page 26 SRVO2 User Manual Appendix C Potentiometer Specification Sheet ELECTRICAL SPECIFICATIONS MIL PRF 12934 MIL PRF 39023 TEST PROCEDURES APPLY STANDARD SPECIAL Total Resistance Model 132 Wirewound Ba to 20K to 35K Tolerance 500 and above 3 1 Below 500 5 3 Model 138 Conductive Plastic 1Ka to 50Ka Tolerance 10 5 Model 139 Cermet 5001 to Mo Tolerance Linearity Independent STANDARD BEST PRACTICAL Total Resistance 132 450 to 200 200 to 2000 004 and above 5 138139 0 5 125 Noise 132 1000 ENR Output Smoothness 138 amp 139 0 1 maximum Power Rating 40 C Ambient Model 132 2 75 watts Model 136 2 Waits Model 139 5 waits All Models derated to zero at 125 C Electrical Rotation MODEL 132 MODEL 138 MODEL 139 Continuous aoe Z 345 4 345 49 Stops 336 2 336 4 336 4 Insulation Resistance 1000MQ minimum at 500W DC Dielecinic Strength Absolute Minimum Resistance 1 0 of total resistance or 0 50 whichever is great
22. gn a controller that balances the pendulum while the servo 19 tracking a reference position Design a feedback loop that can maintains the position of the SRVO2 load gear 1 e the heading while the rotary base underneath is manually perturbed Control the position of the output shaft to desired setpoint by rejecting the vibrations introduced by the torsional member Control the position of the output shaft to desired setpoint by rejecting the vibrations introduced by both torsional members Control the position of the end effector given a desired planar x y position This involves servo position control as well as developing the forward and inverse kinematics of the plant Control the position of the pendulum tip to a desired x y position while dampening the motions of the pendulum Develop a balance controller that keeps the 2 DOF pendulum in the upright vertical position Document Number 700 Revision 2 3 Page 3 SRVO2 User Manual Module Experiment Experiment Name Description Name Transfer function parameters are found using frequency response and the obtained model 1s used to design a servo position control The light sensor characteristics are identified and then used to perform light tracking 2D Ball Position Control Control the position of a ball that 1s free to move on Balancer a swiveling 2 DOF plate The plate angles are controlled by attached servo units and the ball position is measured using an over
23. head digital camera with image processing software Table 2 Modules in the rotary family package 3 SRV02 Components The SRV02 components are identified in Section 3 1 Some of the those components are then described in Section 3 2 3 1 SRV02 Component Nomenclature The SRV02 components listed in Table 3 below are labeled in figures 2 3 4 5 and 6 Note that Figure 2 shows the SRV02 in the low gear configuration and Figure 6 is the SRV02 in the high gear configuration These different gear setups will be explained later in Section 5 1 ID Component ID Component l Top plate 13 Tachometer 2 Bottom plate 14 Ball bearing block 3 Posts 15 Motor connector 4 Motor pinion gear 72 teeth low gear 16 Tachometer connector 5 Load gear 72 teeth low gear 17 Encoder connector 6 Potentiometer anti backlash gear 18 S1 amp S2 connector 1 e potentiometer 7 Anti backlash springs 19 Motor pinion gear 24 teeth high gear 8 Load shaft 1 e output shaft 20 Load gear 120 teeth high gear 9 Motor 21 Bar inertial load 10 Gearbox 22 Disc inertial load Document Number 700 Revision 2 3 Page 4 SRVO2 User Manual Component Component Potentiometer Thumb screws Encoder Table 3 SRV02 components Figure 2 Top view of components on the SRVO2 in low gear configuration Figure 3 Front view of the SRV02 components Document Number 700 Revision 2 3 Page 5 SRVO2 User Manual mole mics lt 16 9 TA
24. qe Rotary Motion Servo Plant SRV02 SUX NS ER SRVO2 User Manual SRVO2 User Manual Table of Contents le PRESENTATION A RAS 1 MAD e e Un e eo II ne anaaataaioes l ID ODO rca 2 MODULE OPTIONS AND EXPERIMENT OVERVIEW sssccsssccccsssssscccccsssssscccccssssssccccsssssssccccsssssscccccssssssccsssscosesees 2 Doc ER UZ COMPONENTS tdi d E SRVOZ Component Nomenclatit T 4 32 OmMponent DESH PMO di A lt iaa 6 2 DC Motor CAMADA nd e de 6 322 Poten omete r COMpPOnent T TT 7 3 202 Tachometer C OmpOnent 71 3 iii 7 A me oder aT eee a I2 scx ccna eas carapace te ae tease cue aia E E AN any eevee 8 IN UL EAS O A eos lll Odo 9 Ile SU IMO DES CAPO ati dt asias 10 de SRV 02 SPECIFICATION ETT 10 S SYSTEM CONFIGURATION AND NETO aaa aE ASE Ea EEEE TE RS 12 dl Gear Con H EUr Te eg a 12 Ss A A A eae aa 12 5 12 Dane ne Gear CO A o 13 DZ koad EA AIN A SSA AA 13 SS A TTT 13 122 Stalin de el 14 6 WIRING Ao eos EEA EEEE ERES 14 Document Number 700 Revision 2 3 Page i SRVO2 User Manual 6 1 Cable Nomenclature sese eee eee 15 0 2 Typical Connections using UPM id AA 16 00 Lypical Connections Mitin 19 Te FESTING AND TROUBLESHOO INC 21 C p o A A A O 21 C H A O E setae 21 PL2 AA A lache tea easnass 21 12 Testing the Potentiometer sia 22 KeA TeS N raneomadaccmnaatateacveneasaei segue a ae aE Ie 22 AA PROUD ele 22 INS AAA O 22 Toly A A ssureeme east Gates e eee cea asa ae eager 22 Teo OEA OA bos 22 e L A A 23 TAREAS cota
25. re making any of these connections This includes turning off your PC and the UPMs Connect the 5 pin DIN to RCA cable from the Analog Output Channel 0 on the terminal board to the From D A Connector on the Quanser Universal Power Module or UPM See cable 1 shown in Figure 21 and Figure 22 This carries the attenuated motor voltage control signal V K where K is the UPM amplifier gain Connect the 4 pin stereo DIN to 6 pin stereo DIN that is labeled Gain 1 from To Load on the UPM to the Motor connector on the SRV02 See connection 2 shown in Figure 22 and Figure 23 This cable sets the gain of the amplifier to 1 and the connector on the UPM side 1s black in colour The cable transmits the amplified voltage that is applied to the SRV02 motor and is Document Number 700 Revision 2 3 Page 16 SRVO2 User Manual denoted E 5 Ifthe SRV02 has the E option then the encoder can be used to measure the load shaft angle Connect the 5 pin stereo DIN to 5 pin stereo DIN cable from the Encoder connector on the SRV02 panel to Encoder Input 0 on the terminal board as depicted by connection 3 in Figure 21 and Figure 23 This carries the load shaft angle measurement and is denoted by the variable 6 CAUTION Any encoder should be directly connected to the Quanser terminal board or equivalent using a standard 5 pin DIN cable DO NOT connect the encoder cable to the UPM 6 Connect the To A D socket on the UPM to Analog Inputs 0 3 on the te
26. rminal board using the 5 pin DIN to 4xRCA cable as illustrated in Figure 21 and Figure 22 The RCA side of the cable is labeled with the channels Note that the cable with label 1 1s goes to Analog Input Channel 0 7 Connect the S7 amp 2 connector on the SRV02 to the S7 S2 socket on the UPM using the 6 pin mini DIN to 6 pin mini DIN cable See connection 5 in Figure 22 and Figure 23 This carries the voltage signal from the potentiometer that 1s proportional to the load shaft angle and is represented by variable 6 8 Connect the TACH connector on the SRV02 to the S3 socket on the UPM using the 6 pin mini DIN to 6 pin mini DIN cable This connection is labeled 6 in Figure 22 and Figure 23 It carries the measured load shaft rate from the tachometer and is denoted by the variable Document Number 700 Revision 2 3 Page 17 SRVO2 User Manual PINHOVATE EDUCATE i Ww 014 6 8 6 P com Figure 21 Connections on the Ouanser Q8 Terminal Board 1603 120 vac FUGE JA Figure 22 Connections on the Quanser UPM 1503 Figure 23 Connections on the Quanser SRV02 device Document Number 700 Revision 2 3 Page 18 SRVO2 User Manual Cable Terminal Board UPM From D A Control signal to the UPM Analog Output 0 connector UPM To Load SRV02 Motor Power leads to the SRV02 DC motor connector connector Terminal Board SRV02 Encoder Encoder load shaft angle measurement Encoder Input 0 connector U
27. s 23 E R K AST aa eee eat ene ea ee eens ee eae NG eee cies 23 S TECHNICAL SUPPORT rr as UR a ea Re TE 23 OD TREE BRE NCE D ici 24 APPENDIX A MOTOR SPECIFICATION SHEET cdsikcc sucecscctscicesseesesecedestasssvesssedesecsecscescsdevelec aecevesseddeseatccsseiessec 25 APPENDIX B TACHOMETER SPECIFICATION SHEET cccccccscscccccccccccccccccccccccccccccccccccccccsccccccccccccccccccccccccccccccces 26 APPENDIX C POTENTIOMETER SPECIFICATION SHEET cccccccccccccccsccccccccsccccccccccsccccccccccccccccccccccccccccsccccccccccscsecs 27 APPENDIX D ENCODER SPECIFICATION SHEET id 28 Document Number 700 Revision 2 3 Page ii SRVO2 User Manual 1 Presentation 1 1 Description The Quanser SRV02 rotary servo plant pictured in Figure 1 consists of a DC motor that is encased in a solid aluminum frame and equipped with a planetary gearbox That 1s the motor has its own internal gearbox that drives external gears The basic SRV02 units comes with an potentiometer sensor that can be used to measure angular position of the load gear The SRVO02 device can also be fitted with an encoder to obtain a digital position measurement and a tachometer to measure the speed of the load gear Figure 1 SRV02 system 1 2 SRVO2 Options As summarized in Table 1 there are six different SRVO2 options available In any of the options SRV02 always includes the motor gearbox actuator and a potentiometer The different SRV02 options feature additional sensors
28. the Quanser Q4 Q8 terminal board should be bright red The DAC board fuse may be burnt and need replacement e Make sure the voltage is actually reaching the motor terminals use a voltmeter or oscilloscope e Ifthe motor terminals are receiving the signal and the motor is still not turning your motor might be damaged and will need to be repaired Please see Section 8 for information on contacting Quanser for technical support Document Number 700 Revision 2 3 Page 21 SRVO2 User Manual 7 2 Testing the Potentiometer 7 2 1 Testing Test the SRV02 potentiometer with the following procedure 1 Using a program such as Quarc measure the analog input channel 0 2 The potentiometer should output a positive voltage when the potentiometer gear component 6 in Figure 2 is rotated counter clockwise The measurement should increase positively towards 5V until the discontinuity is reached at which point the signal abruptly changes to 5V and begins to increase again 7 2 2 Troubleshooting Follow the steps below if the potentiometer is not measuring correctly e Verify that the power amplifier is functional For example when using the Quanser UPM device is the red LED in the top left corner lit Recall that the analog sensor signal goes through the UPM before going to the data acquisition device Therefore the UPM needs to be turned on to read the potentiometer e Check that the data acquisition board is functional e g the red LED
29. then the DAC board fuse may be burnt and need replacement e Measure the voltage across the tachometer When moving the load gear back and forth is the voltage being measured changing If not then the tachometer needs to be replaced Please see Section 8 for information on contacting Quanser for technical support 7 4 Encoder 7 4 1 Testing Follow this procedure to test the SRV02 encoder 1 Measure Encoder Input Channel 0 using for instance the Quarc software 2 Rotate the SRV02 load gear component 5 in Figure 2 one rotation and the encoder should measure 4096 counts or 8192 when using the SRV02 EHR option in quadrature mode Note Some data acquisition systems do not measure in quadrature and in this case one quarter of the expected counts are received 1 e 1024 counts in the SRV02 E or 2048 in the SRV02 EHR In addition some data acquisition systems measure in quadrature but increment the count by 0 25 as opposed to having an integer number of counts Make sure the details of the data acquisition system being used is known The counters on the Quanser DAC boards such as the Q4 or Q8 systems measure in quadrature and therefore a total of four times the number of encoder lines per rotation e g a 1024 line encoder results in 4096 integer counts for every full rotation 7 4 2 Troubleshooting If the encoder is not measuring properly go through this procedure e Check that the data acquisition board is functional e g
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