SRV02 User Manual
Contents
1. sensor This module is designed to mount to a Quanser rotary servo plant SRVO2 The sensor shaft is aligned with the motor shaft One end of a rigid link is mounted to the sensor shaft The link rotation is counteracted by two extension springs anchored to the solid frame resulting in an instrumented flexible joint The spring anchor points are adjustable to three locations to obtain various stiffness constants Three types of springs are supplied with the system resulting in a total of 9 possible stiffness values The link is also adjustable in length thus allowing for variations in inertia Figure 1 1 SRVO2 Rotary Flexible Joint Module This system is similar in nature to the control problems encountered in large geared robot joints where flexibility is exhibited in the gearbox The Rotary Flexible Joint is an ideal experiment intended to model a flexible joint on a robot or spacecraft This experiment is also useful in the study of vibration analysis and resonance The SRV02 Rotary Flexible Joint module is equipped with a1024 line optical encoder to sense arm s angular position 2 COMPONENTS The Rotary Flexible Joint components are identified in Section 2 1 Some of those components are then described in Section 2 2 2 1 Component Nomenclature The components of the Rotary Flexible Joint module are listed in Table 2 1 below and labeled in Figure 2 1 Component Component 1 ROTFLEX base 6 Arm anchor points 2 Thumbscrews 7 Springs 3 RO2. the amplifier 6 pin mini where the signals can be either monitored DIN and or used by a controller The cable also carries a 12VDC line from the amplifier in d Analog Cable order to power a sensor and or signal condi tioning circuitry 5 pin DIN to This cable carries the analog signals un 4xRCA changed from the amplifier to the Digital To U e 5 pin DIN to 4xRCA Analog input channels on the data acquisition terminal board Table 5 1 Cable Nomenclature 5 2 Typical Connections This section describes the typical connections used to connect the ROTFLEX plant to a data acquisition board and a power amplifier The connections are described in detail in the procedure below and summarized in Table 5 2 Follow these steps to connect the ROTFLEX system 1 It is assumed that the Quanser DAQ board is already installed as discussed in 3 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 before making any of these connections This includes turning off your PC and the amplifier Connect one of the connectors on the 2x RCA to 2x RCA cable from the Analog Output Channel 0 on the terminal board to the Amplifier Command Connector on the Quanser amplifier See cable 1 shown in Figure 5 1 Connect the 4 pin stereo DIN to 6 pin stereo DIN from To Load conn
3. 10 The modular control lab that expands to fit your requirements gt SRVO2 Base Unit gt Flexible Link gt Inverted gt Ball and Beam r AN Pendulum z oe lt a gt 2 DOF Robot gt 2 DOF Inverted gt Multi DOF Torsion Pendulum gt Flexible Joint gt Gyro Stable gt Double Inverted gt 2 DOF Ball Platform Pendulum Balancer With the SRVO2 Base Unit you can select from 10 add on modules to create experiments of varying complexity across a wide range of topics disciplines and courses All of the experiments workstations are compatible with LabVIEW To request a demonstration please email info quanser com 2011 Quanser Inc All rights reserved LabVIEW is a trademark of National Instruments QU NSER ATE INFO QUANSER COM 1 905 940 3575 QUANSER COM Solutions for teaching and research Made in Canada
4. QUANSER 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 5 GUANSER Presentation 1 1 Description Components 2 1 Component Nomenclature 2 2 Component Description System Specifications System Setup 4 1 Assembly 4 2 Changing the Springs Wiring Procedure 5 1 Cable Nomenclature 5 2 Typical Connections Testing and Troubleshooting 6 1 SRV02 Motor and Sensors 6 2 Testing the ROTFLEX Arm Angle Sensor 6 3 Troubleshooting Technical Support AR O 01 A 1 PRESENTATION 1 1 Description The Quanser Rotary Flexible Joint module pictured in Figure 1 1 consists of a rigid beam mounted on a flexible joint that rotates via a DC motor The joint deflection is measured using a
5. RE The following is a listing of the hardware components used in this experiment e Power Amplifier Quanser VoltPaq X1 or equivalent e Data Acquisition Board Quanser Q2 USB Q8 USB QPID QPIDe or equivalent supported DAQ e Rotary Servo Plant Quanser SRV02 SRV02 T SRV02 E SRV02 EHR or SRVO2 ET e Rotary Flexible Joint Quanser ROTFLEX Module See the references listed at the end of this document for more information on these components The cables supplied with the ROTFLEX package are described in Section 5 1 and the procedure to connect the above components is given in Section 5 2 O GUANSER 5 1 Cable Nomenclature Table 5 1 below provides a description of the standard cables used in the wiring of the ROTFLEX system Description Cable Type 2XRCA to This cable connects an analog output channel 2xRCA of the data acquisition terminal board to the power module for proper power amplification a RCA Cable 4 pin DIN to This cable connects the output of the power 6 pin DIN module after amplification to the desired DC motor on the servo b Motor Cable 5 pin stereo This cable carries the encoder signals be DIN to tween an encoder connector and the data 5 pin stereo acquisition board to the encoder counter DIN Namely these signals are 5 VDC power supply ground channel A and channel B 6 pin mini This cable carries analog signals from joy DIN to stick plant sensor etc to
6. TFLEX arm 8 Adjustable load 4 Arm sensor Encoder 9 Sensor connector 5 Base anchor points 10 Pivot on sensor shaft Figure 2 1 ROTFLEX top view 5 BUANSER 2 2 Component Description 2 2 1 Encoder The ROTFLEX option comes with an optical encoder used to measure the arm s angular position The model used is a US Digital Optical Kit Encoder It offers high resolution 4096 counts in quadrature and measures the relative angle of the arm The internal wiring of the encoder and the 5 pin DIN connector on the ROTFLEX module is illustrated in Figure 2 2 E Caution The Encoder sends a digital signal and should be directly connected to a Quanser terminal board using a standard 5 pin DIN cable DO NOT connect the encoder signal to the amplifier ELP CON ENCODER ELP SCKT RDIN 3 180 ELP ENC USD Ee 1024 Figure 2 2 Encoder Wiring 3 SYSTEM SPECIFICATIONS Table 3 1 below lists and characterizes the main parameters associated with the ROTFLEX module Some of the parameters listed in Table 3 1 are used in the mathematical model Symbol Description Value Unit Module Dimensions 10x8x5 cm L Main arm length 29 8 cm Lo Load arm length 15 6 cm Distance between joint to middle of load arm dig Arm Anchor Point 1 21 0 cm dig Arm Anchor Point 2 23 5 cm di2 Arm Anchor Point 3 26 0 cm Module body mass 0 3 kg m Main arm mass 0 064 kg m Load arm mass 0 03 kg Kene Encoder resolution in quadrature mode 4096 Co
7. e the SRVO2 is configured in the High Gear configuration as discussed in 2 Perform the following 2 steps to assemble the ROTFLEX system 1 Simply place the ROTFLEX onto the load shaft middle shaft and align its pivot with the SRVO2 load shaft 2 Secure the ROTFLEX in place by tightening the two thumbscrews as seen in Figure 4 1 below Figure 4 1 Attaching ROTFLEX to the SRV02 OD oe SRV02 User Manual QUANSER 4 2 Changing the Springs The following is the procedure to properly insert a new set of springs or change spring anchor locations In order to maintain proper system dynamics the springs and anchor positions should be symmetric i e do not use 2 springs of different stiffness values and make sure both body anchor points are the same Note Using the stiffest set of springs might require extra effort to insert into the anchor points 1 Take both springs make sure they are of the same pair and insert the thumbscrew through the ends of both springs Screw the thumbscrew into the desired point on the anchor arm ID 6 in Figure 2 1 2 Turn the arm towards you and screw in one side s thumbscrew into the desired base anchor point ID 5 in Figure 2 1 3 Finally pull the arm toward the other base anchor point you will feel some resistance from the other spring Screw the remaining thumbscrew into the desired base anchor point Make sure this anchor point is the same point the other spring is in 5 WIRING PROCEDU
8. ector on the amplifier to the Motor con nector on the SRVO2 See connection 2 shown in Figure 5 1 The cable transmits the amplified voltage that is applied to the SRVO2 motor To use the encoder to measure the load gear angle connect the 5 pin stereo DIN to 5 pin stereo DIN cable from the Encoder connector on the SRVO2 panel to Encoder Input Channel 0 on the terminal board as depicted by connection 3 in Figure 5 1 This carries the load shaft angle measurement by the encoder E 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 amplifier Connect the connector on the ROTFLEX directly to Encoder Input Channel 1 on the terminal board as de picted by connection 4 in Figure 5 1 It carries the arm angle measured by the encoder Optional f you are using the SRVO2 potentiometer i e instead of the encoder connect the To ADC socket on the amplifier to Analog Input Channels 0 1 on the terminal board using the 5 pin DIN to 4xRCA cable as illustrated in Figure 5 1 by connection 5 The RCA side of the cable is labeled with the channels Note that the cable with label 1 yellow connector goes to Analog Input Channel 0 Optional f you are using the SRVO2 potentiometer connect the S1 amp S2 connector on the SRVO2 to the S1 amp S2 socket on the amplifier using the 6 pin mini DIN to 6 pin mini DIN cab
9. ests to determine if your ROTFLEX is operating normally It is assumed that the system is connected as described in the Section 5 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 1 to learn how to interface the SRVO2 with QUARC Alternatively these tests can be performed with a signal generator and an oscilloscope 6 1 SRVO2 Motor and Sensors Please refer to 2 for information on testing and troubleshooting the SRV02 separately 6 2 Testing the ROTFLEX Arm Angle Sensor Follow this procedure to test the ROTFLEX encoder 1 Measure Encoder Input Channel 1 using for instance the QUARC software 2 Rotate the ROTFLEX arm component 3 in Figure 2 1 slightly back and forth and verify that your are obtaining a reading 3 If itis measuring make sure it is reading the correct angle For example rotate the arm 30 degrees and ensure you are reading 30 degrees which is about 341 counts in quadrature mode in the software Note Some data acquisition systems do not measure in quadrature and in this case one quarter of the ex pected counts are received i e 1024 counts In addition some data acquisition systems measure in quadra ture 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
10. le See connection 6 in Figure 5 1 This carries the voltage signal from the potentiometer Cable From To Signal 1 Terminal Board Amplifier Command Conector Control signal to the amplifier Analog Output 0 2 Amplifier To Load SRVO2 Motor Connector Power leads to the SRVO2 DC Connector motor 3 Terminal Board SRV0O2 Encoder Connector Servo load shaft angle measure Encoder Input 0 ment 4 Terminal Board ROTFLEX Encoder Connector Flexibe joint angle measure Encoder Input 1 ment 5 Amplifier To ADC Terminal Board Carries the analog signals con connector nected to the S1 amp S2 connec e S1 to Analog Input 0 tors on the amplifier to the data acquisition board 6 Amplifier S1 amp S2 SRV02 S1 amp S2 connector Potentiometer load shaft angle connector measurement Table 5 2 ROTFLEX system wiring summary a BUANSER Data Acquisition Card Terminal Board Amplifier Single Channel Encoders Analog Analog Current Output Input Sensa E Stop 1 1 es S1 yellow Amplifier s3 S4 Command LOL sed ON car eD E O E 9 ION ap GES on CD E FEEDS a Motor Tach Encoder s1 S2 S1 amp S2 Encoder Flexible Joint Module SRVOZ ROTFLEX Figure 5 1 SRV02 and ROTFLEX Module Wiring Diagram SRV02 User Manual Fe re 6 TESTING AND TROUBLESHOOT ING This section describes some functional t
11. the Quanser DAQ boards mea sure 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 6 3 Troubleshooting Follow the steps below if the encoder on the ROTFLEX model is not measuring properly If the encoder is not measuring properly go through this procedure e Check that the data acquisition board is functional e g ensure it is properly connected that the fuse is not burnt 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 7 for information on contacting Quanser for technical support 5 GUANSER 7 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 representative will contact you REFERENCES 1 Quanser Inc SRVO2 QUARC Integration 2008 2 Quanser Inc SRVO2 User Manual 2009 3 Quanser Inc Q2 USB Data Acquisition System User s Guide 20
12. unts Rev K Spring 1 stiffness 187 N m K Spring 2 stiffness 313 N m K3 Spring 3 stiffness 565 N m Table 3 1 Rotary Flexible Joint specifications Figure 3 1 below is a model depicting the Rotary Flexible Joint system The ROTFLEX module has been designed to allow many configurations As you can see in Figure 3 1 there are 3 anchor positions on the arm as well as 3 anchor positions on the body By attaching the springs in different anchor points it is possible to realize a wide range of spring constants of the joint There is also an additional load arm provided with the system that allows for variable load inertias Coupled with the 3 sets of springs each with a different spring constant there are 112 distinct system dynamics attainable with this module D GUANSER Lo K Am 1 L Anchor 2 dio i Points 3 Body A Anchor B Points c v Figure 3 1 Rotary Flexible Joint Module 4 SYSTEM SETUP The Rotary Flexible Joint module requires minimal assembly The ROTFLEX system contains the following compo nents e Quanser ROTFLEX module e 3 sets of springs with differents stiffnesses in Table 3 1 e Encoder cable See Section 4 1 for instructions on how to assemble the Rotary Flexible Joint system Then go through the proce dure discussed in Section 4 2 to change the springs if desired 4 1 Assembly The only assembly required is to mount the ROTFLEX onto the SRVO2 Make sur
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