Quanser Flexible Link User Manual
Contents
1. 5 2 Strain Gauge Sensor 5 2 1 Testing You can test the strain gauge sensor in a fashion similar to calibrating it which was discussed in Section 4 3 Follow the procedure below to ensure that your strain gauge sensor is operating correctly 1 Using a program such as QUARC measure the analog input channel 1 to test the strain gauge sensor 2 A typical response of the strain gauge sensor is depicted in Figure 5 1 where the tip has been gently touched As seen in Figure 5 1 the sensor has output a zero volt reading until the tip was touched 3 As mentioned in Section 4 3 the strain gauge sensor should output 1 Volt 1 inch displacement of the tip You can use the calibration base and tooth that were shipped with the unit to test that the sensor is providing the correct output Remember that each tooth in the calibration comb corresponds to 1 4 inch of tip displacement strain gage V L 0 0 5 1 15 2 25 3 3 5 4 45 5 time s Figure 5 1 Strain Gauge Sensor Typical Response 5 2 2 Troubleshooting Follow the steps below if you are not obtaining the correct measurement 1 Verify that the power amplifier is functional For example when using the Quanser VoltPaq device is the green LED lit Recall that the analog sensor signal goes through the amplifier before going to the data acquisition device Therefore the amplifier needs to be turned on to read the potentiometer 2 Check that the data acquisition board is f2. 9 GUANSER Figure 2 2 Strain Gauge Closeup 2 2 Component Description 2 2 1 SRVO2 Plant For more details about SRVO2 plant please refer to 2 2 2 2 FLEXGAGE Module This component is depicted in Figure 2 1 with ID 2 and consists of the FLEXGAGE Link ID 8 in Figure 2 2 the strain gauge the strain gauge circuitry and a sensor connector As shown in Figure 2 2 the FLEXGAGE module simply mounts onto the SRVO2 plant using two thumbscrews 2 2 3 Strain Gauge The strain gauge sensor is depicted in Figure 2 2 with ID 4 and produces an analog signal proportional to the deflection of the tip There are two potentiometers available on the strain gauge circuitry The OFFSET and GAIN potentiometers are depicted in Figure 2 2 by ID s 8 and 9 respectively and are used in the calibration process of the flexible link system Section 4 3 of this document includes instructions on using these potentiometers to calibrate the system FLEXGAGE User Manual 3 SPECIFICATIONS Table 3 1 lists and characterizes the main parameters associated with the Rotary Flexible Link The Symbol column denotes the variable names used in the corresponding laboratory manual Symbol Value Unit Description Module Dimensions 48x2 cm Li Flexible Link Length strain 41 9 cm gauge to tip m Flexible Link Mass 0 065 kg J Flexible Link Moment of Intertia 0 0038 kg m Strain gauge bias power 12 V Strain gauge meas
3. 6 in Figure 4 2 Data Acquisition Card Terminal Board Amplifier Single Channel DIO 0 7 eeter To ADC IEL E Stop Encoders ued eee i le E 1 23 redy S Amplifier 1 S1 yellow S1 amp S2 S3 S4 Command eee 00 Oo Cor G G lt L l 7 ii A a 2 3 5 EN Sore FOD owe oo on Gian le e OD Ps Strain gauge Motor Tach Encoder s1as2 S1 amp S2 connector Flexible Link Module SRVOZ FLEXGAGE Figure 4 2 SRVO2 Flexible Link Typical Wiring Diagram Table 4 2 below shows a summary of the above instructions The Cable column uses the numbering convention used in Figure 4 2 to identify each cable To Cable From Signal 1 Terminal Board Ana Amplifier Command Conector Control signal to the amplifier log Output 0 2 Amplifier To Load Con SRV02 Motor Connector Power leads to the SRVO2 DC mo nector tor 3 Terminal Board En SRV02 Encoder Connector Encoder load shaft angle measur coder Input 0 ment 4 Amplifier To ADC Con Terminal Board Carries the analog signals con nector nected to the S1 amp S2 S3 and S4 e Yellow S1 to Analog Input connectors on the amplifier to the 0 data acquisition board e Red S3 to Analog Input 1 5 Amplifier S1 amp S2 con SRV02 S1 amp S2 connector Potentiometer load shaft angle nector measurement 6 Strain Gauge Connec Amplifier S3 connector Carries the tip deflection measure
4. Gu AN SE A 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 Specifications System Setup 4 1 Assembly 4 2 Wiring Procedure 4 3 Calibration Testing and Troubleshooting 5 1 SRV02 Motor and Sensors 5 2 Strain Gauge Sensor Technical Support N O 01 01 AR 14 14 16 1 PRESENTATION 1 1 Description The rotary flexible link depicted in Figure 1 1 consists of a strain gauge which is mounted at the clamped end of a thin stainless steel flexible link The system is designed to mount on a Quanser SRVO2 plant resulting in a horizontally rotating fl
5. d tor on FLEXGAGE by the strain gauge Table 4 2 Flexible Link System Wiring Summary 4 3 Calibration The Flexible Link has a strain gauge mounted at the base of the beam to measure the deflection of the link s tip The unit is calibrated before shipment Therefore no calibration should be required upon receiving the system However if the system needs be re calibrated the instructions are given below As depicted in Figure 4 3 the FLEXGAGE circuit has two adjustable potentiometers one to adjust the offset ID 8 ABUANSER in Figure 2 2 and another to adjust the gain ID 9 in Figure 2 2 GAIN Potentiometer Figure 4 3 Gain and Offset Potentiometers on the FLEXGAGE Circuit In order to begin the calibration process build a model that displays the measurement from analog input 1 This is the strain gauge measurement in the form of a voltage Please follow the steps below to complete the calibration process 1 Ensure the system has be wired as described in Section 4 2 2 and summarized in Table 4 2 2 Mount the FLEXGAGE on the calibration stand that was shipped with the module Place the tip in the middle tooth of the comb as seen in Figure 4 4 below Figure 4 4 Flexible Link Tip Placed in the Middle Calibration Comb Slot 3 Run the software e g QUARC or LabVIEW to measure the strain gauge voltage being read on Analog Input Channel 1 Alternatively you can also use a voltmeter to measure the
6. 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
7. e listed components a calibration stand and comb as well as the required cables are also supplied with the system Section 4 2 1 provides a listing of the cables supplied with the system and Section 4 2 2 will provide instructions for properly wiring the rotary flexible link module 4 2 1 Cable Nomenclature Table 4 1 on the next page provides a listing of the standard cables used in the wiring of the flexible link system Cable Type Description 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 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 or d Analog Cable der to power a sensor and or signal condition ing circuitry 5 pin DIN to This cable carries the analog signals un 4xRCA changed from the a
8. exible link that can be used to perform flexible link control experiments A DC motor is used to rotate the flexible link from one end in the horizontal plane The motor end of the link is instrumented with a strain gauge that can detect the deflection of the tip The final system output is an analog signal proportional to the deflection of the link Figure 1 1 Quanser Flexible Link System This system is similar in nature to the control problems encountered in large light space structures where the weight constraints result in flexible structures that must be controlled using feedback techniques The rotary flexible link is an ideal experiment intended to model a flexible link on a robot or spacecraft This experiment is also useful in the study of vibration analysis and resonance 2 COMPONENTS The rotary flexible link components are identified in Section 2 1 Some of the those components are then described in Section 2 2 2 1 Component Nomenclature The main components of the rotary flexible link system are listed below in Table 2 1 and labeled in Figure 2 1 and Figure 2 2 Please use the ID to locate each component in the figures below ID Component SRV02 Plant FLEXGAGE Module FLEXGAGE Link Strain Gauge Strain Gauge Circuit Thumbscrews Sensor Connector OFFSET Potentiometer GAIN Potentiometer OOANDABRWDND Table 2 1 Listing of Rotary Flexible Link Components Figure 2 1 FLEXGAGE Coupled to SRV02
9. in Figure 4 2 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 3 Connect the 5 pin stereo DIN to 5 pin stereo DIN cable from the Encoder connector on the SRVO2 panel to Encoder Input 0 on the terminal board This connection carries the load shaft angle measurement and is denoted by connection 3 in Figure 4 2 4 Connect the To ADC socket on the amplifier to Analog Inputs 0 1 on the terminal board using the 5 pin DIN to 4xRCA cable as illustrated by connection 4 in Figure 4 2 The RCA side of the cable is labeled with the channels yellow is S1 red is S3 The yellow S1 connector goes to Analog Input 0 and the red S3 connector goes to Analog Input 1 5 Optional Perform this connection only if using the SRV0O2 potentiometer i e not the encoder for servo position feedback Connect the S1 amp S2 connector on the SRV02 to the S1 amp S2 socket on the amplifier using the 6 pin mini DIN to 6 pin mini DIN cable This connection carries the voltage signal from the potentiometer that is proportional to the load shaft angle and is shown by connection 5 in Figure 4 2 6 Connect the strain gauge connector on the FLEXGAGE module to the S3 connector on the SRV02 panel using the 6 pin mini DIN to 6 pin mini DIN cable This connection carries a voltage proportional to the link deflection and is shown by connection
10. mplifier to the Digital To MU e 5 pin DIN to 4xRCA Analog input channels on the data acquisition terminal board 9 GUANSER Table 4 1 Cable Nomenclature 4 2 2 Typical Connections This section describes the typical connections used to connect the flexible link plant to a data acquisition board and a power amplifier The connections are described in detail in the procedure below and summarized in Table 4 2 It is assumed that the Quanser DAQ board is already installed If another data acquisition device is being used e g NI M Series board please consult the appropriate documentation to ensure that the board is installed properly E Caution Make sure that the amplifier and your PC unit are turned off while you perform the wiring Please follow the steps below to wire the rotary flexible link system 1 Connect one end of the 2xRCA to 2xRCA cable from the Analog Output Channel 0 on the terminal board to the Amplifier Command connector on the amplifier ie Use both white or both red RCA connector This connection carries the attenuated motor voltage control signal Vm Ka where Ka is the amplifier gain This is shown by connection 1 in Figure 4 2 2 Connect the 4 PIN stereo DIN to 6 pin stereo DIN cable from the To Load connector on the amplifier to the Motor connector on the SRVO2 This connection carries the amplified voltage that is applied to the SRVO2 motor and is denoted Vm This is shown by connection 2
11. strain gauge voltage It should be measuring 0 V If not adjust the OFFSET potentiometer until your measurement reads 0 V 4 The strain gage should read 1 V per 1 inch of tip deflection Each slot or tooth in the calibration comb cor responds to a tip displacement of inch Move the tip 4 slots in the counter clockwise direction as shown in Figure 4 5 The strain gage measurement should be reading 1 V If not gently adjust the GAIN potentiometer until it reads 1 V 5 Move the tip 8 slots in the clockwise direction i e 4 slots away from 0 and verify it is reading 1 V 6 Return the tip to the zero position and confirm that it is reading O V again If not adjust the OFFSET poten tiometer once again to read 0 V GUANSER Figure 4 5 Flexible Link Tip Displaced by 1 inch in the Counter clockwise Direction FLEXGAGE User Manual 5 TESTING AND TROUBLESHOOT ING This section describes some functional tests to determine if your flexible link system is operating normally It is assumed that the SRVO2 is connected as described in Section 4 2 2 above It is recommended to use a software such as QUARC or LabVIEW to read sensor measurements and feed voltages to the motor Please refer to 1 to learn how to interface the SRVO2 with QUARC These tests can be alternatively done with a signal generator and an oscilloscope 5 1 SRVO2 Motor and Sensors Please refer to 2 for information on testing and troubleshooting the SRV02 separately
12. unctional e g the red LED on the Quanser Q4 Q8 terminal board should be bright red If not then the data acquisition board fuse may be burnt and need replacement See Section 6 for information on contacting Quanser to obtain further technical support 5 BUANSER 6 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 Note Depending on the situation a support contract may be required to obtain technical support REFERENCES 1 Quanser Inc SRVO2 QUARC Integration 2008 2 Quanser Inc SRVO2 User Manual 2009 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 2 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
13. urement 5 V range Strain gauge calibration gain 1 16 5 rad V A GUANSER Table 3 1 Flexible Link specifications 4 SYSTEM SETUP See Section 4 1 for instructions on how to to put the rotary flexible link plant together Once the plant is setup you can refer to Section 4 2 for the wiring instructions and finally calibrate the system using the instructions provided in Section 4 3 before performing laboratories 4 1 Assembly Setting up the flexible link system is fairly simple Please follow the procedure below to setup the flexible link module for experimental use Wiring instructions are provided in Section 4 2 of this document 1 Before beginning ensure the SRVO2 is setup in the high gear configuration as detailed in 2 2 Place the FLEXGAGE module ID 2 in Figure 2 1 on the load shaft of the SRVO2 plant 3 Secure the FLEXGAGE in place by tightening the two supplied thumbscrews The final configuration of the FLEXGAGE module after being mounted to the SRVO2 plant should resemble Figure 4 1 Figure 4 1 Mounting the FLEXGAGE onto the SRV02 4 2 Wiring Procedure The following is a listing of the hardware components used in this experiment e Power Amplifier Quanser Amplifier e g VoltPaq e Data Acquisition Board Quanser DAQ eg QPID or Q2 USB e Flexible Link Plant Quanser FLEXGAGE Module e Rotary Servo Plant Quanser SRV02 SRV02 T SRVO2 E SRVO2 EHR or SRVO2 ET In addition to the abov
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