SRV02 Ball and Beam User Manual
Contents
1. 208 Janmi gt Test Points GH o To A D 1 amp 2 529 3 es o P pain e 4 S oros Y 2 o 0B Termina l 368 2 Rev 2 UPM 1503 20 VAC FUSE 3A F igure 15 Connections on UPM Document Number 709 Revision 2 1 Page 10 BBO1 User Manual yOLOW Lk H 4 J L N e 4 0 YIdOINI Q CS DUYUANSER Figure 16 Connection on the SRV02 Figure 17 Connections on BBO Figure 18 Connections on SSO Cable l Terminal Board UPM From D A Control signal to the UPM Analog Output 0 connector 2 UPM To Load SRV02 Motor Power leads to the SRV02 DC motor connector connector 3 Terminal Board SRV02 Encoder Encoder load shaft angle measurement Encoder Input 0 connector 4 UPM 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 5 UPM SI amp S2 SRV02 S1 amp S2 Potentiometer load shaft angle measurement connector connector Document Number 709 Revision 2 1 Page 11 BBO1 User Manual Cable UPM S3 BBO1 Ball Position BBO01 ball position measurement connector Sensor connector UPM S4 SS01 Ball Position2. M Series board then go to its corresponding documentation and ensure it 1s properly installed Make sure everything is powered off before 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 14 and Figure 15 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 15 and Figure 16 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 denoted V Connect the 5 pin stereo DIN to 5 pin stereo DIN cable from the Encoder connector on the SRV02 panel to Encoder Input O on the terminal board as depicted by connection 3 in Figure 14 and Figure 16 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 Document Number 709 Revision 2 1 Page 9 BBO1 User Manual Figure 14 Connections on the Quans
3. between SRVO2 output gear r arm cm shaft and coupled joint 2 54 Support arm length 16 0 cm Tb Radius of ball r ball 1 27 cm My Mass of ball m ball 0 064 kg Ky Ball position sensor sensitivity K BS 4 25 cm V Voias Ball position sensor bias power 12 V Viange Ball position sensor measurement range 5 V Table 2 Ball and beam system specifications A i i i X d i d Ball d i i o Beam gt Y i A A E E Base Figure 4 Ball and beam schematic Load Gear Document Number 709 Revision 2 1 Page 4 BBO1 User Manual 4 System Setup See Section 4 1 for instructions on how to to put the ball and beam plant together Then go through the calibration procedure in Section 4 2 before performing the laboratory 4 1 Assembly Follow this procedure to setup the Ball and Beam module for experimental use l pA 3 Before beginning ensure the SRV02 is setup in the high gear configuration as detailed in Reference 2 Lay the calibration base component 11 in Figure 2 flat on a table surface As pictured in Figure 5 place the SRV02 on its side such that the potentiometer gear fits into the cut out section of the calibration base Notice that the top gear of the SRV02 should be the small 24 tooth motor pinion gear Figure 5 Setting up the SRV02 side of the BBO1 plant Fasten the coupling screw component 3 into the screw hole of the large 120 tooth
4. load gear as depicted in Figure 5 Place the support base of the ball and beam component 8 into the cut out section of the base as pictured in Figure 2 Document Number 709 Revision 2 1 Page 5 BBO1 User Manual 4 2 Calibration Once the BBO1 is setup follow this procedure to calibrate the beam 1 Using an 9 64 Allen Key loosen the screws on the support arm which are shown in Figure 2 by ID 9 2 Place the steel ball on the beam such that it rests on the SRV02 side as pictured in Figure 5 3 As illustrated in Figure 6 below manually rotate the servo load gear to the 0 degree position That is the coupling screw should be aligned with the 0 degree position ES h gt a d d D N Q gt Y T Figure 6 BB01 Calibration move SR V02 load gear to 0 degree position While holding the load gear at 0 degrees vary the height of the support arm component 7 such that the beam is horizontal When the ball is centered on the beam it should lie motionless Figure 7 Calibrated BBO1 ball is balanced when centered on beam Document Number 709 Revision 2 1 Page 6 BBO1 User Manual 5 Once the beam is balanced tighten the screws on the support arm as shown in Figure 8 below 9 Wiring Procedure Figure 8 BBO1 calibration tighten support arm screws once beam is balanced to finalize the calibration of the BB01 experiment The following 1s a listing of the hardware components
5. the SRV02 separately 6 2 Testing the Ball Position Sensor 6 2 1 Testing Test the ball position sensor from the BBO1 or the SSO1 with the following procedure 1 Using a program such as Quarc measure the analog input channel 2 to test the BBO1 sensor or analog input channel 3 to test the SSO1 sensor 2 A typical signal response of the ball position sensor is illustrated in Figure 21 For the BBO1 the ball position sensor should output a voltage of about 4 5 V when it is closest to the SRV02 As the ball is rolled away from the SRV02 the measured voltage signal should be decreasing down Document Number 709 Revision 2 1 Page 14 BBO1 User Manual to approximately 4 5 V when the ball reaches the other end of the beam Sometimes when the ball is sitting at the very end of the beam it may not be in contact with the sensor In this case the reading will initially be O V but when the ball begins moving the sensor signal will jump up to about 4 5 V and then begin decreasing Besides the ends of the beam the signal should have no discontinuities and little noise Similarly for the SSO1 sensor the voltage signal should decreasing from approximately 4 5 V to 4 5 V as the ball travels towards the end of the beam with the analog connector 5 4 hbll sensor D i a 5 E i S g 10 11 12 13 14 15 time Si Figure 21 Typical voltage signal from BBO1 ball position sensor 6 2 2 Troubleshooting Follow the steps below 1f the potentio
6. CONTIG TS HAITIA LIKE ARITY CHM MODIS TIONG LL THIEL HELL v JE T ee E EN BEE EE Do Tele Document Number 709 Revision 2 1 Page 17
7. Rotary Motion Servo Plant SRV02 QUANSEHR J SRV02 Ball and Beam User Manual BBO1 User Manual Table of Contents Te PRESENTACION a lia 1 SE ee o EI A O E l ERETO S A 2 BALE AND BEAM COMPONENTS ai 1 Zila OMPOnene INOMENC eege 2 22 COMPOMEME LC SCE ON een 3 22 Vs RAL Ae ee EE EE 3 DD TE LC CNS ENEE 3 3 BALE AND DEAM SPECIFIC A TIONS uds 3 21 Rs SS NY e ER EE 5 TEE 5 A Oe NTL A A 6 S VV IRING EP ROGE DU RE ii A A a 7 Dike ADL AN e EE EE 7 SN ypa Onne cions TOR PIN EE 9 Gr Typical tree ereeschen geegent 12 O TESTING AND TROUBELESHOO LING di 14 6 1 SRV02 Motor and AA A id 14 02 Testne the Bal Posion S NSO acessa a E a A ETNE 14 E ToS EE 14 022 TOUS SUN ons A Ee ee 15 Document Number 709 Revision 2 1 Page BBO1 User Manual TS TECANICAL S UPPOR Di a te aria e ea ld ad DL 16 O UO DT E EEN 16 APPENDIX A LINEAR TRANSDUCER SPECIFICATION SHEET ccccscsscccccccscscscsccccccccccscscsccccccccccccccscscccccccccoscsccscoees 17 Document Number 709 Revision 2 1 Page ii BBO1 User Manual 1 Presentation 1 1 Description The Quanser Ball and Beam module pictured in Figure 1 consists a track on which the metal ball is free to roll The track is fitted with a linear transducer to measure the position of the ball i e it outputs a voltage signal proportional to the position of the ball One side of the beam 1s attached to a lever arm that can be coupled to the load gear of the Quanser SR
8. SSOl ball position measurement connector Sensor connector Table 4 BBO1 system wiring summary when using a UPM 9 3 Typical Connections for Q3 This section describes the typical connections used for to connect the BBO1 plant to the Q3 data acquisition power amplifier board The connections are described in detail in the procedure below and summarized in Table 5 Follow these steps to connect the BBO1 system l Lis 3 It is assumed that the Quanser Q3 board is already installed as discussed in the Reference 4 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 PWM Output 0 on the Q3 to the Motor connector on the SRV02 See cable 2 shown in Figure 16 and Figure 19 The cable transmits the controlled current that is applied to the SRV02 motor and is denoted Z If the SRVO2 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 O on the Q3 board as depicted by connection 3 in Figure 16 above Connect the Ball Position Sensor connector on the BBO1 to the Sensor 1 socket on the Q3 Analog 2 1 Buffer box using the 6 pin mini DIN to 6 pin mini DIN cable This connection is labeled 6 in Figure 17 and Figure 20 It carries the measured ball position from the beam p
9. V02 unit By controlling the position of the servo the beam angle can be adjusted to balance the ball to a desired position Figure 1 SRV02 Ball and Beam Module 1 2 Remote Sensor Option The SRV02 Ball and Beam module can also be accompanied by a remote ball sensor called the SSO1 module This permits a master slave configuration where the ball command is generated by the SSO1 instead of through a program 2 Ball and Beam Components The Ball and Beam components are identified in Section 2 1 Some of the those components are then described in Section 2 2 Document Number 709 Revision 2 1 Page 1 BBO1 User Manual 2 1 Component Nomenclature The components of the Ball and Beam module 1 e the BB01 device and the Remote Sensor system Le SSO1 are listed in Table 1 below and labeled in Figure 2 and Figure 3 Component Component SRV02 Support base Lever arm Support arm screws Coupling screw Analog ball position sensor connector Steel ball Calibration base BBO1 Potentiometer sensor SS0O1 Potentiometer sensor BBO1 Steel rod SS01 Steel rod Support arm Analog remote sensor connector Table 1 BBOI components Figure 2 Components of SRV02 BBOI module Document Number 709 Revision 2 1 Page 2 BBO1 User Manual Figure 3 Remote sensor components 2 2 Component Description 2 2 1 Ball Position Sensor The track of the BBO1 linear transducer module on which the metal ball is free to roll consist
10. alog 2 1 Buffer box and the BBOL Primary From Sensors Secondary Sensorli Sensor2 Figure 20 Connections on the Q3 Analog 2 1 Buffer box Document Number 709 Revision 2 1 Page 13 BBO1 User Manual Cable Q3 Motors 0 SRV02 Motor PWM signal to the DC motor connector connector Q3 Encoders 0 SRV02 Encoder Encoder load shaft angle measurement connector connector BBO1 Ball Q3 Analog 2 1 Buffer BBO1 ball position measurement Position Sensor Sensor 1 connector connector SSO1 Ball Position Q3 Analog 2 1 Buffer SS01 ball position measurement Sensor connector Sensor 2 connector Q3 Analog 2 1 Q3 Analog Input Conditioned ball measurement on the BBO1 Buffer To Q3 connector and SSO1 connector Table 5 BBO1 system wiring summary when using the Q3 6 Testing and Troubleshooting This section describes some functional tests to determine 1f your Ball and Beam system 1s operating normally It is assumed that the SRV02 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 3 to learn how to interface the SRV02 with Quarc Alternatively these tests can be performed with a signal generator and an oscilloscope 6 1 SRVO2 Motor and Sensors See Reference 2 for information on testing and troubleshooting
11. er Q8 Terminal Board Connect the To A D socket on the UPM to Analog Inputs 0 3 on the terminal board using the 5 pin DIN to 4xRCA cable as illustrated in Figure 14 and Figure 15 by connection 4 The RCA side of the cable is labeled with the channels Note that the cable with label 1 is goes to Analog Input Channel 0 Connect the S amp S2 connector on the SRV02 to the SZ amp S2 socket on the UPM using the 6 pin mini DIN to 6 pin mini DIN cable See connection 5 in Figure 15 and Figure 16 This carries the voltage signal from the potentiometer that is proportional to the load shaft angle and is represented by variable Ou Connect the Ball Position Sensor connector on the BBO1 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 15 and Figure 17 It carries the measured ball position from the beam potentiometer and is denoted by the variable x If the SSO1 remote sensor module shown in Figure 3 will be used to command the ball position then connect the Ball Position Sensor connector on the SSO1 to the 54 socket on the UPM using the 6 pin mini DIN to 6 pin mini DIN cable This connection is labeled 7 in Figure 15 and Figure 18 It carries the measured ball position from the remote beam potentiometer and is denoted by the variable xz Jl W Ni Ay yq ze OR y A HII S y Power keng Universal Power Module
12. l 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 Note Depending on the situation a support contract may be required to obtain technical support 8 References uanser 04 08 User Manual uanser SRVO2 User Manual uanser Rotary Experiment 0 SRVO2 Quarc Integration uanser Q3 Manual 1 2 3 4 DORA Document Number 709 Revision 2 1 Page 16 BBO1 User Manual Appendix A Linear Transducer Specification Sheet ELECTRICAL SPECIFICATIONS MECHANICAL SPECIFICATIGHS Theoretical electrical revel Tor 25 mm io 1950 rir Support Of element TIb ngigss apor TET Ej In irsrerr ants of 25 min en Pasas Haste MOL cing Indepandant nase ty 2 1 21071 Wiper nor re aleh regola Metal muliinger Eeer 4 005 for E 2 20 rir SEI eier d z a 2 0 0 3 197 E 00 rim FEE SE RES Actual IBC Al Tse ESA Cable er MET Ghimlc value Hori 150 ier io 2 Yom Hedalance toferance at2o C 20 Repeslabil 25D a Maximo power rating eee a ea GC alt Wiper cumani PCr a Jon La PERFORMANCES Tn ree ae TOL Operaling lite It milen zu as pineal Load resistance cia 10 Pr Temperature range aa AM Insulation resislanae e 1000 hie FOD Ma on request AE Leet sirengrh OU ots So Az gt pad CATA Es LO ries ORDERING PROCEOURE CMCS ROI
13. meter 1s 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 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 then the DAC board fuse may be burnt and need replacement Measure the voltage across the potentiometer Ensure the potentiometer is powered with a 12V at the 6 pin mini DIN connector on the BB01 component 10 in shown in Figure 2 or on the SSO1 component 14 in Figure 3 The two bottom pins of the DIN connector are GND pins and the leftmost pin Le where the green cable is connected to outputs the voltage of the ball Using a voltmeter connect one probe to the middle left pin and the other to the bottom GND pins The voltage should vary between about 4 5 volts as the ball position is changed If the voltage does not change when you rotate the potentiometer shaft your potentiometer needs to be Document Number 709 Revision 2 1 Page 15 BBO1 User Manual replaced Please see Section 7 for information on contacting Quanser for technical support 7 Technical Support To obtain support from Quanser go to http www quanser com and click on the Tech Support link Fil
14. mple 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 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 This cable carries analog signals e g from joystick plant sensor to the UPM where the signals can be either monitored and or used by a controller The cable also carries a 12VDC line from the UPM in order to power a sensor and or signal conditioning circuitry Document Number 709 Revision 2 1 Page 8 BBO1 User Manual Designation Description 5 pin DIN This cable carries the analog signals to unchanged from the UPM to the Digital To AXRCA Analog input channels on the data acquisition terminal board il Figure 13 To Analog To Digital Cable Table 3 Cable Nomenclature 5 2 Typical Connections for UPM This section describes the typical connections used for to connect the BBO1 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 Follow these steps to connect the BBO1 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
15. otentiometer and is denoted by the variable x Remark 1 Ensure the BB01 sensor is passed through the Q3 Analog 2 1 Buffer box Otherwise the measured ball position signal will contain jitter and make the experiment difficult to control Remark 2 Make sure the switch on the O3 Analog 2 1 Buffer box is set to the downward Secondary Sensor position when using the BBO1 If the SSO1 remote sensor module shown in Figure 3 will be used to command the ball position then connect the Ball Position Sensor connector on the SSO1 to the Sensor 2 socket on the Q3 Analog 2 1 Buffer box socket using the 6 pin mini DIN to 6 pin mini DIN cable This connection is labeled 7 in Figure 18 and Figure 20 It carries the measured ball position from the remote beam potentiometer and is denoted by the variable xa Connect the To Q3 connector on the O3 Analog 2 1 Buffer box to the Analog Input connector on the Q3 using the 6 pin mini DIN to 6 pin mini DIN cable This connection is labeled 8 in Figure 19 and Figure 20 It carries the conditioned measured ball position from the beam Document Number 709 Revision 2 1 Page 12 BBO1 User Manual potentiometer and if used the remote beam potentiometer BAH CGCGonNnrTROLP ER EC n Mare Acaunsimias w RN Om scees ss ween SINISE CAS ANSER COW WARE AE AAA E DIGITAL IN ENCODERS ANALOG a as Pc Zara our Y MOTORS DIGITAL OUT a Figure 19 Connections on the Q3 board from the An
16. s of a steel rod in parallel with a nickel chromium wire wound resistor forming the track The resistive wire 1s the black strip that is stuck on the plastic which is fastened onto the metal frame The position of the ball is obtained by measuring the voltage at the steel rod When the ball rolls along the track it acts as a wiper similar to a potentiometer resulting in the position of the ball WARNING Regular cleaning of the beam is recommended to ensure proper operation of the ball and beam experiment Clean both the beam and the steel ball using rubbing alcohol 2 2 2 Remote Sensor Similarly to the BBO1 the SSO1 has a wiper potentiometer sensor that detects the position of the ball 3 Ball and Beam Specifications Table 2 below lists and characterizes the main parameters associated with the BBO1 See Figure 4 for an illustration of the Ball and Beam dimensions and the variables a O and x that are associated with the system Some of the parameters listed in Table 2 are used in the mathematical model See Appendix A for more information on the BBO linear transducer used to measure the ball position Description Matlab Unit Variati Variable on Mass of ball and beam module 0 65 kg Calibration base length 50 cm Document Number 709 Revision 2 1 Page 3 BBO1 User Manual Description Matlab Unit Variati Variable on Calibration base depth 22 5 cm Lbeam Beam length L beam 42 55 cm Lever arm length 12 0 cm e Distance
17. used in this experiment Power Amplifier Data Acquisition Board Rotary Servo Plant Ball and Beam Module Remote Sensor optional Quanser UPM 1503 2405 or equivalent Quanser Q8 Q4 or equivalent Quanser SRV02 SRV02 T SRV02 E SRV02 EHR or SRV02 ET Quanser BB01 Module Quanser SSO1 Module See the references listed in Section 8 for more information on these components The cables supplied with the BBO1 are described in Section 5 1 and the procedure to connect the above components when using the UPM is given in Section 5 2 and when using the Q3 device is described in Section 5 3 5 1 Cable Nomenclature Table 3 below provides a description of the standard cables used in the wiring of the BBO1 system Document Number 709 Revision 2 1 Page 7 BBO1 User Manual Cable Designation 5 pin DIN to RCA Figure 9 From Digital To Analog Cable 4 pin DIN to 6 pin DIN Figure 10 To Load Cable Of Gain 1 5 pin stereo DIN to 5 pin stereo DIN Figure 11 Encoder Cable 6 pin mini DIN to 6 pin mini DIN Figure 12 From Analog Sensors 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 exa
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