QNET DCMCT User Manual
Contents
1. 150 0 150 5 151 0 ISES 152 0 Figure 7 12 Y axis of scope has been adjusted Similarly the minimum range of the y axis can be changed as well as the range of the x axis For example to see a time range of 10 seconds instead of 5 seconds the x axis range can be changed from 0 0 5 0 to 0 0 10 0 However when changing the x axis i e the time scale it is recommended to do the following 1 Pause the scopes or stop the VI and clear the chart right click on scope select Data Operation Clear Chart 2 Apply the same scale change to both the output and input scopes Otherwise the data plotted in each scope will not be synchronized with each other 7 2 SAVING RESPONSE Read the following to save a scope response 1 Right click on the scope and select Export Simplified Image as shown in Figure 7 13 Q QNET DCMCT User Manual QUANSER EBHEBBER Visible Items Change to Control Description and Tip Find Create Replace Data Operations Advanced Fit Control to Pane Scale Object with Pane t Simplified Image x Scale Scale Transpose Array Ignore Attributes Stack Plots Chart History Length Properties Figure 7 13 Right click on scope and select Export Simplified Image 2 The dialog box shown in Figure 7 14 opens and gives various image export options One way is to export the image to the clipboard as a bitmap This can then be pasted in a graphical software e g MS Paint Irfanview and sa2. ARDWARE ISSUES Q1 None of the LEDs on the QNET board are lit Make sure both the System Power switch which is located on the back of the ELVIS and Il units and the Prototyping Board Power switch which is situated on the front panel of the ELVIS and on the top right corner of the ELVIS Il are ON See the QNET Setup Guide for more information Q2 On the QNET board the 15V 15V and 5V LEDs are bright green but the B LED is not lit Ensure the QNET power connector on the QNET board is connected with the supplied QNET power cable See the QNET Setup Guide for more information Q3 At least one of the B 15V 15V and 5V LEDs on the QNET board is not lit e See Q2 if only the B is not lit e f one or more of the 15V 15V and 5V LEDs is not lit then a 15V or 5V fuse s on the Protection Board of the NI ELVIS is burnt Similarly if the B LED is still not lit after connecting the QNET power then the Variable Power Supplies Fuses on the ELVIS Protection Board are burnt See the Protection Board Fuses in the NI ELVIS User Manual and replace the fuses as directed Q4 The Ready LED on the ELVIS II does not go on QNET DCMCT User Manual 1 Go through the ELVIS II setup procedure outlined in the QNET Setup Guide 2 Once completed launch the Measurement amp Automation Explorer software 3 As illustrated in Figure 8 16 expand the Devices and I
3. An example of an installed system using the QNET DC Motor Control Trainer DCMCT module is pictured in Figure 6 6 Some of the components used in the installation procedure are located and marked by an ID number in Figure 6 6 and described in Table 5 6 1 1 ELVIS Il Components QUANSER NI ELVIS TRAINER wo AUEN Description Description 1 NI ELVIS II 6 USB Connection between PC and ELVIS II 2 Prototyping board power switch 7 QNET DCMCT 3 Power LED 8 QNET Power LEDs 4 Ready LED 9 QNET Power Cable 5 Power Cable for ELVIS II Table 5 ELVIS Il and QNET components QNET DCMCT User Manual v 1 0 QUANSER 6 1 2 ELVIS II Setup Procedure Follow these instructions to setup a QNET board on an ELVIS Il E Caution Do NOT make the following connections while power is supplied to the hardware 1 Place the small opening on the front of the QNET board over the mounting bracket on the NI ELVIS II 2 Slide the PCI connector of the QNET module end into the female connector on the NI ELVIS Il Make sure it is connected properly 3 Connect the ELVIS II power cable 4 Connect the ELVIS II USB cable to the PC 5 Connect the supplied QNET transformer to the QNET power jack on the QNET module Note Not required for the QNET mechatronic sensors trainer 6 Power the NI ELVIS II by turning ON the System Power Switch on the rear panel 7 Turn ON the Prototyping Board Power switch ID 2 shown in Figure 6 6 E Cau
4. CQ QUANSER fat LabVIEW User Manual 2011 Quanser Inc All rights reserved Quanser Inc 119 Spy Court Markham Ontario L3R 5H6 Canada info quanser com Phone 1 905 940 3575 Fax 1 905 940 3576 Printed in Markham Ontario For more information on the solutions Quanser Inc offers please visit the web site at http www quanser com This document and the software described in it are provided subject to a license agreement Neither the software nor this document may be used or copied except as specified under the terms of that license agreement All rights are reserved and no part may be reproduced stored in a retrieval system or transmitted in any form or by any means electronic mechanical photocopying recording or otherwise without the prior written permission of Quanser Inc Contents 1 2 5 GUANSER Introduction System Description 2 1 DCMCT Components System Schematic Specifications Environmental Setup Guide 6 1 QNET and NI ELVIS II Setup 6 2 QNET and NI ELVIS Setup QNET LabVIEW Hints 7 1 Scaling Scopes 7 2 Saving Response Troubleshooting 8 1 General Software Issues 8 2 General Hardware Issues 8 3 DCMCT Issues Technical Support 1 INTRODUCTION The DC Motor Control Trainer DCMCT is a versatile unit designed to teach and demonstrate the fundamentals of motor servo control in a variety of ways The system can readily be configured to control motor position and spe
5. annel 0 on the DAQ The maximum output voltage of the amplifier is 24 V Its maximum peak current is 5 A and the maximum continuous current is 4 A The amplifier gain is 2 3 V V QNET DCMCT User Manual v 1 0 Figure 2 3 QNET DC motor components 2 1 3 Analog Current Measurement Current Sense Resistor A series load resistor of 0 1 Q is connected to the output of the PWM amplifier The signal is amplified internally to result in a sensitivity of 1 0 V A The obtained current measurement signal is available at the Analog to Digital i e A D of channel 0 Such a current measurement can be used to monitor the current running in the motor 2 1 4 Digital Position Measurement Optical Encoder Digital position measurement is obtained by using a high resolution quadrature optical encoder This optical encoder is directly mounted to the rear of the motor The encoder count measurement is available at Digital Input i e Dl channel 0 of the DAQ 2 1 5 Analog Speed Measurement Tachometer An analog signal proportional to motor speed is available at the Analog to Digital i e A D Input channel 4 on the DAQ It is digitally derived from the encoder signal on the QNET DCMCT board 2 1 6 Fuse The QNET power amplifier has a 250 V 3 A fuse 2 1 7 QNET Power Supply The DCMCT module has a 24 Volt DC power jack to power the on board PWM amplifier It is called the QNET power supply The B LED on the QNET board turns bright green when the am
6. coder Encoder line count 360 lines rev Encoder resolution in quadrature mode 0 25 deg count Encoder type TTL Encoder signals A B Tachometer calibration at QNET A D input 2987 RPM V Table 3 DCMCT sensor parameter specifications 5 ENVIRONMENTAL The DC motor control trainer environmental operating conditions are given in Table 4 Description Value Unit Operating temperature 15 to 35 C Humidity 20 to 90 Table 4 QNET DC motor control trainer environmental operating conditions E Caution Ensure the unit is operated under the temperature and humidity conditions given in Table 4 Otherwise there may be some issues with the motion control results 9 GUANSER GS SETUP GUIDE As illustrated in Figure 6 5 the QNET boards can easily be connected to an NI ELVIS system The instructions in Section 6 1 detail the setup procedure for using a QNET with an NI ELVIS II For the setup procedure when using the NI ELVIS platform please refer to Section 6 2 Figure 6 5 Connecting a QNET Trainer E Caution Do not position the ELVIS II so that it is difficult to disconnect the main power E Caution If the equipment is used in a manner not specified by the manufacturer the protection provided by the equipment may be impaired 6 1 QNET AND NI ELVIS II SETUP The procedure to install a Quanser Engineering Trainer QNET module on the NI ELVIS Il is detailed in this section
7. ed In particular the system can be used to teach PID control fundamentals This is done using a PC with real time control capabilities and either the NI ELVIS I and the NI ELVIS II The hardware of the DCMCT is described in Section 2 A schematic of the hardware components is included in Section 3 and the specifications are listed in Section 4 and Section 5 Some helpful LabVIEW hints when using the QNET VIs are given in Section 7 along with a troubleshooting guide in Section 8 N ENISI L OTMENTS sr NSIR Figure 1 1 QNET DC motor control trainer DCMCT QNET DCMCT User Manual 2 SYSTEM DESCRIPTION 2 1 DCMCT COMPONENTS The components comprising the DC Motor Trainer are labeled in Figure 2 2 and Figure 2 3 and are described in Table 1 Description Description 1 DC Motor 6 QNET PWM Encoder board 2 High resolution encoder 7 24V QNET power jack 3 Motor metal chamber 8 Fuse 4 Inertial load 9 B 15V 15V 5V LEDs 5 PCI connector to NI ELVIS for interfacing QNET module with DAC Figure 2 2 General layout of QNET DCMCT 2 1 1 DC Motor The 12 Volt DC motor has 5 commutator segments 64 windings per pole and has a flux ring The Coulomb friction of the motor corresponds to a voltage between 0 5 and 1 5 V 2 1 2 Pulse Width Modulated Power Amplifier A PWM power amplifier is used to drive the motor The input to the amplifier is the output of the Digital to Analog converter i e D A of ch
8. er cable is connected The four LEDs B 15V 15V and 5V on the QNET board should all be bright green Q QNET DCMCT User Manual v1 0 QUANSER 9 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
9. htly Take extra care when powering the QNET module to avoid causing any damage 8 The System Power Prototyping Board and Communications LEDs situated on the front panel of the NI ELVIS unit should all be lit 9 As pictured in Figure 6 8 verify that the 15V 15V 5V and B LEDs on the QNET module are lit They indicate that the board has been properly connected to the ELVIS unit Note For the QNET MECHKIT ensure the 15V 75V and 5V LEDs are lit it does not require QNET power supply 9 GUANSER 7 QNET LABVIEW HINTS 7 1 SCALING SCOPES This section describes a handy method of changing the x or y axis in a LabVIEW scope using QNET_DCMCT_Swing_Up_Control VI as an example Read the steps below to reduce the y axis range of the Angle deg scope shown in Figure 7 10 in order to see the blue trace more up close Figure 7 10 Scope needs to be scaled 1 As illustrated in Figure 7 11 to decrease the positive range of the scope down to 40 double click on 100 in the y axis type in 40 and press ENTER Figure 7 11 Changing scale of LabVIEW scope QNET DCMCT User Manual 2 The resulting scope is depicted in Figure 7 12 The blue trace is now more visible Arm Angle deg 7 Angle des Pend nge do 40 30 10 20 30 40 1 1 1 1 1 1 1 1 1 u 147 0 147 5 148 0 148 5 149 0 149 5
10. ion Description 1 NI ELVIS Benchtop Workstation ELVIS I 5 68 Pin E Series or M Series DACB Cable 2 Prototyping board power switch 6 QNET DCMCT 3 Communications Switch 7 QNET Power Cable 4 Power Cable for ELVIS Table 6 ELVIS and QNET components 6 2 2 ELVIS Setup Procedure Follow these instructions to setup a QNET board on an traditional ELVIS ELVIS 1 E Caution Do NOT make the following connections while power is supplied to the hardware 1 Place the small opening on the front of the QNET board over the mounting bracket on the NI ELVIS note that some ELVIS workstations may not have mounting brackets 2 Slide the PCI connector of the QNET module end into the female connector on the NI ELVIS Make sure it is connected properly 3 Connect the NI ELVIS power cable shown as ID 4 in Figure 6 9 4 Connect the QNET power cable labeled ID 7 in Figure 6 9 Note Not required for the QNET mechatronic sensors trainer 5 Ensure the Prototyping Board Power switch ID 2 is set to the OFF position and the Communications switch ID 3 is set to the BYPASS mode 6 Power the NI ELVIS Benchtop Workstation by turning the Standby Switch on the rear panel of the system to ON 7 Turn ON the Prototyping Board Power switch E Caution Turn OFF the Prototyping Board Power switch if e On the QNET DCMCT QNET ROTPENT or QNET VTOL Trainer the DC motor begins to turn e On the QNET HVACT the halogen light turns on brig
11. nterfaces and NI DAQmx Devices items and select the NI ELVIS II device 4 As shown in Figure 8 16 click on the Reset Device button 5 Once successfully reset click on the Self Test button 6 Ifthe test passed reset the ELVIS II i e shut off the Prototyping Board switch and System Power switch and turn them back on again The Ready LED on the ELVIS II should now be lit NI ELVIS Il Dev1 Measurement amp Automation Explorer File Edit View Tools Help Configuration BR Proper X Delete Test Panels fJ Reset Device 9 My System w Data Neighborhood Name Value B ga Devices and Interfaces E Serial Number 0x13D26D7 2 4 NI DAQmx Devices ENT ELYIS I Devi PX1 PXI System Unidentified Serial amp Parallel 4 Scales amp Software Fl 1V1 Drivers E 9 Remote Systems Figure 8 16 Reseting and performing the self test on the ELVIS II 8 3 DCMCT ISSUES Q1 When open a QNET DCMCT VI the scopes are all reading 0 or near 0 as shown in Figure 8 17 below Why are the scopes not responding when manually move the disk load Digital Scopes ve o BE Current moo f voltage CTE R Figure 8 17 Scopes on speed measuring QNET DCMCT VIs l The Prototyping Board switch is not ON The LED next to the switch should be bright green Please review the QNET Steup Guide Q2 The motor does not move when run the VI Ensure the QNET Pow
12. plifier is powered E Caution Please make sure you use the correct type of wall transformer or you will damage the system It should supply 24 VDC and be rated at 3 0 A QNET DCMCT User Manual 3 SYSTEM SCHEMATIC A schematic of the DCMCT system interfaced with a DAQ device is provided in Figure 3 4 DAQ SYSTEM Command Current Encoder Tachometer AO 0 Al 0 DI 0 Al 4 AMPLIFIER TACHOMETER CURRENT SENSE MOTOR ENCODER Figure 3 4 Schematic of QNET DCMCT system 5 GUANSER 4 SPECIFICATIONS The specifications of the DCMCT system model parameters are given in Table 2 Symbol Description Motor Motor armature resistance 8 7 Q K Motor current torque constant 0 03334 N m Km Motor back emf constant same as K in SI units 0 03334 Vi rad s Jm Moment of intertia of motor rotor 1 80 x 10 kg m Maximum continuous torque 0 10 N m Maximum power rating 20 0 W Maximum continuous current 1 0 A M Inertial load disk mass 0 033 kg r Inertial load disk radius 0 0242 m VMAX PWM amplifier maximum output voltage 24 V PWM amplifier maximum output current 5 A PWM amplifier gain 2 3 VN Table 2 DCMCT model parameter and PWM power amplifier specifications The specifications on the DCMCT system sensors are given in Table 3 Description Current Sense Current Calibration 1 0 AN Current sense resistor 0 1 Q Motor En
13. tion Turn OFF the Prototyping Board Power switch if e On the QNET DCMCT QNET ROTPENT or QNET VTOL Trainer the DC motor begins to turn e On the QNET HVACT the halogen light turns on brightly Take extra care when powering the QNET module to avoid causing any damage 8 The Power and Ready LEDs of the NI ELVIS II unit should be lit as shown in Figure 6 7 Figure 6 7 Ready and Power LEDs on NI ELVIS II QNET DCMCT User Manual 9 As pictured in Figure 6 8 verify that the 15V 15V 5V and B LEDs on the QNET module are lit They indicate that the board has been properly connected to the ELVIS unit Note For the QNET MECHKIT ensure the 15V 15V and 5V LEDs are lit it does not require QNET power supply Figure 6 8 QNET LEDs should all be ON QNET DCMCT User Manual v1 0 GQGUANSER 6 2 QNET AND NI ELVIS SETUP The procedure to install a Quanser Engineering Trainer QNET module on the traditional NI ELVIS ELVIS I is detailed in this section An example of an installed system using the QNET DC Motor Control Trainer DCMCT module is pictured in Figure 6 9 Some of the components used in the installation procedure are located and marked by an ID number in Figure 6 9 and described in Table 6 6 2 1 ELVIS Components a l e CD S WWW QUANSER COM rom LAbVI NI ELVIS 8 g 39 da l vee 23 Figure 6 9 ELVIS and QNET setup components 7 NATIONAL INSTRUMENTS Descript
14. ved to a desired format e g png Export Simplified Image Bitmap bmp Encapsulated Postscript eps Enhanced Metafile emF Export to clipboard O Save to file _ Hide Grid Figure 7 14 Export Simplified Image dialog box QNET DCMCT User Manual ee 3 The resulting image that is saved is shown in Figure 7 15 Potentiometer Figure 7 15 Sample saved response The scope can be saved whether or not the VI is running However typically it is easier to stop the VI when the desired response is collected and then export the image as instructed above 9 GUANSER S TROUBLESHOOTING 8 1 GENERAL SOFTWARE ISSUES Q1 When try to open a QNET VI it says there are some missing VIs and they have a CD or Sim in the name The LabVIEW Control Design and Simulation Module is not installed Q2 When I open a QNET VI a message prompts that a VI with ELVIS in the name cannot be found e ELVIS The QNET VIs use drivers that are installed from the ELVIS 3 0 or later CD Make sure it is installed If the folder National Instruments NI ELVIS 3 0 does not exist then it is not installed available for download at www ni com as well e ELVIS Il The QNET VIs use the ELVISmx drivers Make sure you install the contents of the ELVIS II CD before attempting to open any of the QNET VIs available for download at www ni com as well 8 2 GENERAL H
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