UPM User Manual
Contents
1. 5 UPM User Manual load 1 e 15 V with the UPM 15 03 or 24 V with the UPM 24 05 As indicated in Table 2 the UPM 15 03 and UPM 24 05 can be configured to accept an input AC voltage of 100 V 120 V 230 V and 240 V The module is usually configured for the designated country before being shipped However the setting can be changed by swapping the fuse situated on the back panel of the UPM as shown in Figure 4 enn 07267 Figure 4 Fuse on back panel of UPM 15 03 UPM 24 05 2 3 Wiring Section 2 3 1 summarizes the cables used with the UPMs and the typical connections with those cables are described in Section 2 3 2 See Section 2 3 3 for a schematic of the internal circuit in the UPM 2 3 1 Cable Nomenclature Table 5 provides a description of the standard cables that connect with the UPM 15 03 and UPM 24 05 Document Number 528 Revision 02 Page 6 UPM User Manual Type Description 5 pin Connects the analog output of the data DIN to acquisition system to the UPM for am RCA _ plification Figure 5 From Digital to Analog cable 4 pin Connects the output of the UPM after DIN to 6 amplification to the actuator of the pin DIN experiment The UPM end of this cable has a resistor that sets the amplifier gain to either 1 3 or 5 When the cable has no label and both connectors are black as shown in Figure 6 the amplifier gain is set to 1 Figure 6 To Load cable with gain 1 4 pin See th2. DIN to 6 pin mini DIN cable that can be used to connect any potential plant sensor to the UPM such as accelerometers It can provide a 12VDC bias to analog sensors and carry their voltage sig nals to the DAC terminal board via the UPM Figure 18 From Analog Sensors Cable Table 10 Typical cables used with the UPM 180 25B 3 4 2 Wiring Procedure See the corresponding User Manual of the experiment for connection instructions 3 9 Using the UPM 180 25B 3 5 1 Initialization The UPM must first be initialized in order to be ready to be enabled When first powering the UPM the Left and Right LEDs on the front panel should be blinking To stop the LEDs from flashing follow the procedure given in Section 3 5 1 1 The signal required to initialize the UPM 180 25B is detailed in Section 3 5 1 2 The Simulink Model used to generate the initialization signals is presented in Section 3 5 1 3 Document Number 528 Revision 02 Page 17 UPM User Manual 3 5 1 1 Initialization Procedure using WinCon Before being able to run an experiment the UPM180 25B must be started in the following sequence Step 1 Step 2 Step 3 Step 4 Step 5 Step 6 Step 7 Step 8 Step 9 Ensure that the Safety Override switch located on the UPM front panel is OFF Connect the Emergency Stop cable to the connector on the side panel of the UPM as shown in Figure 13 Pull up on the red knob until released in the upright
3. Signals 0 005 01 015 02 025 03 035 04 O45 05 Time s Figure 20 UPM Initialization Signals Attention MultiQ 3 Users The AMP_EN and AMP_CAL lines when using the MultiQ 3 data acquisition board are different than when using the Q4 or Q8 boards The amplifier enable is on Digital Output Channel 0 and the amplifier calibration is on Digital Output Channel 1 Document Number 528 Revision 02 Page 19 UPM User Manual 3 5 1 3 Simulink Model q_boot_upm_zz madl The g_boot_upm_zz wcp WinCon Project file that is used to initialize the UPM 180 25B as described in Section 3 5 1 1 is built using a corresponding Simulink Model called q_boot_upm_zz mdl For instance to build g_boot_upm_qg4 wcp the Simulink Model shown in Figure 21 is used For instructions on building a new WinCon Project see Reference 2 Ta q_boot_upm_q4 File Edit View Simulation Format Tools Help W inton Ce ed ita E B int External UPM 180 25B Initialization Pulse Generator AMIP_CAL Quanser Q4DO Digital Output Relational Duration 3 Operator Stop With Error Figure 21 Simulink model used to initialize UPM 180 25B 3 5 2 Enabling Once the UPM is initialized it can be enabled and used to drive the experiment actuator The signals required to enable the UPM 180 25B device are explained in Section 3 5 2 1 and the Simulink subsystem used to generate these signals is given in 3 5 2 2 3 5 2 1 Enabling Signals The UPM is in the enable
4. corresponds to the 3 phase motor power leads This cable is designed to connect from the UPM 180 25B i e the output of the power module after signal amplification to the desired brushless DC motor The To Device cable corresponds to a DB15 cable It connects the plant circuit board to the UPM It carries to the UPM all three proximity sensors signals the motor encoder signals as well as the brushless motor hall sensor signals used by the amplifier for proper commutation It also supplies the DC power required by the different sensors The From MultiQ cable connects the UPM to the data acquisition card terminal board It is com patible with Quanser s quick connect system It carries the motor encoder signals limit sensor sig nals right left and home calibrate signal and the S1 S2 S3 and S4 analog signals from the UPM The cable also carries the control signal to be amplified and sent to the cart motor as well as the calibrate and enable digital signals sent from the DAC Document Number 528 Revision 02 Page 16 UPM User Manual Description The Emergency Stop or E Stop cable has a 6 pin mini DIN connector to be plugged into the side of the UPM The UPM can be enabled if and only if E Stop is connected to the UPM and the remote safety pushbutton switch is in the depressed position Y i 1 A i t e 6 Figure 17 Emergency Stop Cable The From Analog Sensors cable is a 6 pin mini
5. position Connect the UPM to an AC outlet and turn on the main power switch which is located at the back of the unit The red LED on the top left corner should be lit After power up the UPM system is still not ready as there is no guarantee that it is connected to a computer The Left and Right LEDs on the UPM front panel should be blinking If the lights are NOT flashing turn off the power on the UPM disconnect the Terminal Board To UPM cable and then turn it back on again The two LEDs should be blinking If so turn off the UPM re connect the Terminal Board To UPM cable turn on the UPM and proceed to the next step Load the WinCon Server software typically placed under Quanser WinCon in the Windows START menu Open the g_boot_upm_zz wcp WinCon project that is supplied The zz suffix denotes the type of data acquisition card being used For example if zz is q4 then the file is meant to be used with the Quanser Q4 control board Alternatively if zz is q8 then the file is to be used with the Quanser Q8 data acquisition system Run the initialization controller by clicking on the green START button in the WinCon Server window The Left and Right LEDs should stop flashing and the window shown in Figure 19 should be prompted The UPM amplifier is now in the ready to be enabled mode Wincon Server Figure 19 Message prompt after running q_boot_upm_ZZ Another and not recommended way to stop the flashing of the LEDs is to pus
6. state when the Enable and OK LEDs are lit and the signals required to place it in this mode are shown in Figure 22 Document Number 528 Revision 02 Page 20 UPM User Manual AMP Enable AMP Calibrate Digital Output Signals oO 0 1 0 2 03 04 05 Ob 0 Oo 04 1 Time s Figure 22 Digital signals needed to enable the UPM 180 25B device The UPM s AMP_CAL line is connected to Digital Output 8 of the Q4 Q8 DAQ board and AMP_EN line is connected to Digital Output 9 of the Q4 Q8 control card The enable and calibrate signals are both initialized to OV The UPM s AMP_CAL line is set to OV for the duration of the controller running The AMP_EN 1s initially set to 1V and after 0 5 seconds is pulsed down to OV for 200 milliseconds The UPM amplifier remains enabled as long as AMP_CAL sits at OV and the AMP_EN stays at 1V The PIC in the UPM disables the amplifier when these lines values are changed for example if AMP_CAL and AMP_EN are brought down to OV or if the Left or Right proximity sensors are activated Note This series of signals is required to drive the motor of any experiment connected to the UPM180 25B and the amplifier is only enabled after 0 7 seconds Attention MultiQ 3 Users The AMP_EN and AMP_CAL lines when using the MultiQ 3 data acquisition board are different than when using the Q4 or Q8 boards The amplifier enable is on Digital Output Channel 0 and the amplifier calibration is on Digital Output Channel 1 3
7. 5 Analog signals available to DAC device Table 8 UPM 180 25B font panel component description Apart from driving the connected brushless DC motor the UPM 180 25B also contains an independent 1 Ampere 12 Volt regulated DC power supply It has a three terminals 12 V ID 2 Ground ID 3 and 12 V ID 4 terminals that can be used to power instrumentation and or external analog sensors such as accelerometers strain gages potentiometers or also proximity sensors Analog sensors can be attached to the S1 S2 S3 and S4 6 pin mini DIN connectors labeled ID 9 12 in Figure 12 As explained in Section 2 2 for the UPM 15 03 UPM 24 05 these connectors provide a 12 VDC bias to analog sensors and carry their voltage signals back to the UPM The sensor signals are avaible to be read from the four terminals labelled 5 8 in Figure 12 or the To A D connector ID 13 in Figure 12 The terminals are useful to connect the sensor signals to an analog circuit for instance and the To A D connector can be used to connect to a data acquisition system The 3 phase Motor connector ID 15 connects to a high powered brushless motor See Figure 14 in Table 10 for a description of this heavy duty cable The Safety Overide switch ID 14 is used to enable or disable the safety features embedded in the UPM The Left Home and Right LEDs identified with 16 17 and 18 respectively indicate when each corresponding proximi
8. 5 2 2 Simulink Model The Simulink subsystem used to enable the UPM 180 25B device with the Q4 control board is shown in Figure 23 This subsystem needs to be included in the main Simulink model that generates a current to be fed to the connected motor The subsystem generates the enabling signals described in Section 3 5 2 1 and shown in Document Number 528 Revision 02 Page 21 UPM User Manual Figure 22 Upon controller exit both digital outputs are brought down to OV and this disables the amplifier Ta Library hflc_lib HFLC Q4 Enable UPM 1 60 258 File Edit View Format Help Oo ES J a Ea E AMP CAL Calibrate Quanser 400 Tend 5 Digital Output Ready 100 Unlocked Figure 23 Simulink subsystem used to enable UPM 180 25B using Q8 board 3 5 3 Calibration This section illustrates the sequence needed to place the UPM in calibration mode In this mode the PIC does not disable the amplifier when the Left or Right limit switch is trig gered For example this is used to automatically center the stage of the Shake Table II sys tem 3 5 3 1 Calibration Signals The UPM is in calibration mode when its Cal Enable and OK LEDs are lit In normal operation the amplifier is disabled when the Left or Right proximity sensors are triggered In this case the amplifier is disabled when the Home sensor is activated The enable and calibration signals needed to place the UPM in the calibration mode is depicted in Fig
9. FR ROTC A on O 25 Document Number 528 Revision 02 Page UPM User Manual 1 Introduction The Quanser Universal Power Module UPM is a power amplifier that is designed to drive the actuators of various Quanser experiments Every UPM consists of the following components Power amplified analog output E Regulated 12 V DC power supply at 1 Ampere G Analog sensor inputs Table 1 summarizes the different UPM models available and some general specifications Model Max Output Voltage Max Continuous Type Mode V Current A UPM 15 03 15 0 3 0 Linear Voltage UPM 24 05 24 0 5 0 Linear Voltage UPM 180 25B 169 7 25 0 PWM Current Table 1 UPM models The UPM 15 03 and the UPM 24 05 are both linear voltage controlled amplifiers The UPM 15 03 device pictured in Figure 1 is capable of delivering a maximum continuous voltage of 15 V and a maximum continuous current of 3 A For actuators requiring more power the UPM 24 05 has a maximum continuous voltage of 24 V and a maximum continuous current of 5 A In more high powered applications such as the Quanser Shake Table II or the Quanser High Fidelity Linear Cart the UPM 180 25B shown in Figure 2 is used The UPM s onboard current controlled pulse width modulated amplifier outputs pulse amplitudes of 169 7 V and it can deliver a maximum continuous current of 25 A Document Number 528 Revision 02 Page 1 UPM User Manual Figure 1 Quanser UPM 15 03 Figure 2 Qu
10. OFF position Turning it on enables the UPM independently of any safety circuitry It is intended only if the safety circuitry fails and you still want to perform some experiments With Safety Override ON nothing protects the table from damage 3 3 2 Emergency Stop Switch The UPM 180 25B amplifier can only be placed in the Enabled mode if the Emergency Stop or E Stop switch is connected to the UPM as shown in Figure 13 and the knob is in the released de pressed position The knob in the E stop switch can be placed in the upright position by rotating it in the clockwise direction as indicated by the arrows on the top of the red button until it is released upwards Figure 13 Deadman Switch i PRESS DOWN on the RED BUTTON of the E Stop switch in case of emergency If something goes wrong during an experiment pressing the red button of the Emergency Stop button disables the amplifier and shuts off the DC motor power 3 4 Typical Connections The UPM 180 25B interfaces with the Quanser Q8 Extended Terminal Board The terminal Document Number 528 Revision 02 Page 15 UPM User Manual board connects the UPM with the Q4 or Q8 data acquistion system See Reference 1 for more information about the Q4 or Q8 control board 3 4 1 Cable Nomenclature Table 10 below provides a description of the standard cables that connect with the UPM 180 25B Cable Figure 16 From MultiQ Cable Description The Motor cable
11. Quanser Accessories UPM 15 03 UPM 24 05 and UPM 180 25B iS LS oF N ES E A Universal Power Module UPM User Manual UPM User Manual Table of Contents Dye MUN UE UNC EM 0 OPA OP R S PEI dp een nied octets areas aetna te aetna ae l 2 Linear Amplifier Modules UPM 15 03 and UPM 24 0O ooocooooooocccoccnonononononcnonnnnnnnnanonnnoss 2 DAM PESCA OA das 2 A AD ADO A o E lau min aber n antics 3 AN O denia 6 2 Capes NO menea Ur rd 6 2 COmmMOn COMEN id 9 Ze x CAMCUAL CAMA alias 9 SP W IVE Module UPM 180 23B ia 10 Drills SPECIEI OMS once eden ieee auc A A O 10 2 ACSC EU ULM sss saat cetera bdsan h aottyek A AU eniwanagh cw aiees anes 11 SS A A A O 14 O O RO 14 Died EMELEC OPI WI da 15 Sd ly PIC al GONMCC IONS ido 15 34 Cable NOMENC IAI ULE nimodo tada 16 Ze Waring Procedu seere dass 17 Seo Usme HMeUPM 19025 Bosco iaa 17 SD e IMAZ AO a en a E 17 3 5 1 1 Initialization Procedure using WinCON ccoooocccnnnononcnnnnncnnnnnnnnnnnananononononinos 18 A yA A Bead T E cece 19 3 5 1 3 Simulink Model q_boot_upm_zz Mdl oocccccccnnnocncnnnnnnoncnnnnnnnnancnnnnnnos 20 FI 2s MAD MIN foie pda heen a eeien ah aaanne ieee 20 OD 2 ele RS aackecsectsstancsnuretenueaataunes 20 B22 2 SIMUL Mode siii 21 A eric nonlin cs sea whde vane ecsndndalienaa Sauteda eceen niente eaeimaanigns team siaiaeni tends 22 3 35 31 Cabranes 22 3 332 Simul Mode kursne a E 23 0 Troubleshootne UICC pa dro ladito al 24 A A O 25
12. anser UPM 180 25B 2 Linear Amplifier Modules UPM 15 03 and UPM 24 05 In this section the linear voltage controlled amplifiers UPM 15 03 shown in Figure 1 and UPM 24 05 are described As mentioned the output of these module are made to be connected with the actuator of various Quanser experiments Typically the output of the UPM is connected to a DC motor with or without an internal gearbox such as in the SRV02 or IP02 experiments It can also be used to drive an electromagnet as in the Quanser Maglev plant or a pump like in the Quanser Coupled Tanks experiment 2 1 Specifications The UPM 15 03 device has a linear power amplifier that is capable of supplying a continuous voltage of 15 V and continuous currents of up to 3 A The amplifier is in voltage mode thus an input voltage of 1 V results in a regulated voltage of K in the connected motor See Table 2 for the main specifications associated with the UPM 15 03 Document Number 528 Revision 02 Page 2 UPM User Manual Parameter Value Units Amplifier Voltage Gain Amplifier Maximum Continuous Voltage Amplifier Maximum Continuous Line DC Current DC Output Voltage Supply DC Output Maximum Current Supply Supply AC Voltage 100 120 230 240 Table 2 Specifications of the UPM 15 03 device The UPM 24 05 is a more powerful version of the UPM 15 03 that 1s capable of supplying a continuous voltage of 24V and a maximum continuous current of 5 A Its specifications
13. are given in Table 3 Parameter Amplifier Voltage Gain Amplifier Maximum Continuous Voltage Amplifier Maximum Continuous Line DC Current DC Output Voltage Supply DC Output Maximum Current Supply AC Supply Voltage 100 120 230 240 Table 3 Specifications of the UPM 24 05 device 2 2 System Description The components on the front panel of the UPM 15 03 and the UPM 24 05 is depicted in Figure 3 Each component on the UPM has an identification number that corresponds to a the short description given in Table 4 Document Number 528 Revision 02 Page 3 UPM User Manual se Qe e 76 86 96 Si amp 52 3 4 From Power Amplifier e Ae Description Description Breadboard Analog sensor input 3 connector UPM Power LED Analog sensor input 4 connector 12 V terminal of DC power supply Analog signals available to DAC device Ground terminal of DC power supply Input control signal from DAC 12 V terminal of DC power supply Negative power amplifier input terminal Analog sensor input 1 terminal Positive power amplifier input terminal Analog sensor input 2 terminal Amplifier output terminal Analog sensor input 3 terminal Amplifier ground Analog sensor input 4 terminal Amplifier output connector to actuator Analog sensor input 1 and 2 connector Table 4 Front panel components on UPM 15 03 UPM 24 05 Document Number 528 Revision 02 Page 4 UPM User Manual As depicted in Fi
14. e description above This cable DIN to 6 resembles the gain cable described pin DIN previously except as depicted in Fig ure 7 it is labeled 3 This cable sets the gain of the amplifier to 3 Figure 7 To Load cable with gain 3 Document Number 528 Revision 02 Page 7 UPM User Manual Description 4 pin See the description of the To Load DIN to 6 cable with gain 1 This cable pin DIN resembles the gain 1 cable described previously except as depicted in Figure 8 it has a gray UPM side connector and is labelled 5 This cable sets the gain of the amplifier to 5 6 pin This cable can be used to connect any B mini DIN potential plant sensor to the UPM such D to 6 pin as potentiometers and accelerometers mini DIN It provides a 12 VDC bias to analog sensors and carry their voltage signals back to the DAC via the UPM Figure 9 From Analog Sensors Cable Carries the analog signals from the UPM which are connected to the S1 amp S2 S3 and S4 inputs to the digital to analog input channel of the data ac quisition terminal board ee ae a 4 r a eh Figure 10 To Analog To Digital cable Table 5 Cables often used with the UPM 15 03 and UPM 24 05 systems Document Number 528 Revision 02 Page 8 UPM User Manual 2 3 2 Common Connections Some typical connections on the UPM 1503 or UPM 2405 are and listed in Table 6 Cable Type Function From Digital to Analog Outpu
15. ed to the motor however is limited by the BUS voltage Vous as specified in Table 7 3 2 Description The front panel of the UPM 180 25B is shown in Figure 12 The identification number of each component correspond to a short description in Table Document Number 528 Revision 02 Page 11 UPM User Manual Power Amplifier Safety Sectlon Override 16 17 18 190 24 Left Home Right Cal OK Enable From MuiltiQ To Device T AS E e Figure 12 Front panel of UPM 180 25B Description Description 1 UPM Power LED 14 Safety override switch 12 V terminal of DC power supply Amplifier output connector to 2 15 brushless motor 3 Ground terminal of DC power supply 16 Left limit LED 4 12 V terminal of DC power supply 17 Home limit LED 5 Analog sensor input 1 terminal 18 Right limit LED 6 Analog sensor input 2 terminal 19 Calibrate mode LED 7 Analog sensor input 3 terminal 20 Amplifier driving OK LED 8 Analog sensor input 4 terminal 21 Enable mode LED Analog sensor input 1 6 pin mini DIN Connects to Quanser Q8 board for 9 connector 22 motor and sensor signals Document Number 528 Revision 02 Page 12 UPM User Manual Description Description Analog sensor input 2 6 pin mini DIN Reset switch connector 23 Analog sensor input 3 6 pin mini DIN Connects to plant circuit board to connector 24 feedback sensor signals Analog sensor input 4 6 pin mini DIN E Stop connector connector 2
16. en running a WinCon controller The Emergency Stop button is either pressed down disabling the amplifier or improperly connected to the UPM Stop the WinCon controller and turn off the UPM Then verify that the E Stop switch and the UPM are properly connected and ensure the E stop button is in the released upright position Q4 Why is the Enable LED on the UPM not lit when running a WinCon project This indicates that the UPM amplifier is not ready to be enabled Go through the UPM initialization procedure detailed in Section 3 5 1 1 4 Obtaining Support Note that a support contract may be required to obtain 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 requested software version and hardware information and a descrip tion of the problem encountered Be sure to include your email address and a telephone number where you can be reached A qualified technical support person will contact you 5 References 1 Q4 or Q8 User Manual 2 WinCon User Manual Document Number 528 Revision 02 Page 25
17. gure 3 a breadboard component 1 is mounted on top of each UPM This can be used to construct analog circuits such as a low pass filter using operational amplifiers As previously mentioned the UPM also contains an independent 12 power supply with three 12 V ID 3 Ground ID 4 and 12 V ID 5 terminals This can of course be used with the breadboard circuit to power an integrated circuit The From Analog Sensors connectors are used to connect analog sensors such as potentiometers pressure sensors and accelerometers The UPM 15 03 and UPM 24 05 devices have three 6 pin mini DIN connectors labeled S1 amp S2 53 and S4 with ID 10 11 and 12 respectively These connectors provide a 12 VDC bias to analog sensors and carry their voltage signals back to the UPM The sensor signals can be measured from the four Test Points connectors labeled 6 9 in Figure 3 or the To A D connector ID 13 in Figure 3 The Test Points connectors are useful when it is desired to interface the sensor signals with an analog circuit or monitor the signals externally using an oscilloscope On the other hand the To A D connector is handy to connect the analog sensor signals to a data acquisition terminal board The control signal that is outputted from the digital to analog output channel on the DAC board is usually connected to the UPM From D A connector ID 14 Alternatively it may be easier to connect a control signal coming from an a
18. h the Reset button located on the UPM front panel This bypasses the need for the previously described UPM initialization procedure However this is not the recommended way of operation as it overrides the UPM safety watchdog put in place to detect whether the UPM system is properly connected to your computer This initialization procedure does not enable the amplifier and therefore the motor cannot Document Number 528 Revision 02 Page 18 UPM User Manual be driven yet The amplifier is only enabled when running the corresponding WinCon controller for the experiment The amplifier is disabled when the WinCon controller terminates The digital signals required to initialize the UPM and the signals used to enable the amplifier are described in Section 3 5 1 2 3 5 1 2 Initialization Signals The g_boot_upm_zz WinCon controller generates and sends the enable and calibration signals shown in Figure 20 to the UPM s AMP_EN and AMP_CAL control lines respectively The enable and calibrate signals are both initialized at OV in WinCon The WinCon controller then brings the UPM s AMP_CAL line high connected to Digital Output 8 and sends a low pulse for 200 milliseconds It also pulls the AMP_EN line connected to Digital Output 9 to low WinCon automatically stops the real time code after 0 5 seconds This should stop the flashing and make the amplifier ready to be enabled You can now exit WinCon without saving the project Digital Output
19. high powered Quanser plants such as the Shake Table II and the High Fidelity Linear Cart systems It consists of a current controlled power amplifier an independent DC power supply an analog input interface and embedded safety circuitry The UPM 180 25B specifications are detailed in Section 3 1 and a component overview is given in Section 3 2 Section 3 3 goes through the various safety features of the UPM The typical connections that are used with a Quanser plant are discussed in Section 3 4 Lastly Section 3 5 explains how to initialize enable and calibrate the UPM 3 1 Specifications The UPM 180 25B device has a 3 phase PWM brushless power amplifier that is capable of supplying continuous currents up to 25 A The amplifier is in current mode thus an input voltage results in a controlled current through the connected load Table 7 lists and Document Number 528 Revision 02 Page 10 UPM User Manual characterizes the main specifications associated with the UPM180 25B system Parameter PWM Amplifier Current Gain PWM Amplifier Bus Voltage PWM Amplifier Maximum Continuous Line DC Current PWM Amplifier Peak Line DC Current DC Output Voltage Supply DC Output Maximum Current Supply UPM AC Supply Voltage Table 7 UPM 180 25B specifications The amplifier current gain K is given in Table 7 Thus applying one Volt at the amplifier input results in K Amperes in the attached motor Note that the maximum voltage that 1s appli
20. lt it has some safety features that disable the amplifier in case of emergency Section 3 3 1 describes how the Left Right and Home proximity signals are used to disable the amplifier and Section 3 3 2 describes the Emergency Stop switch 3 3 1 Limit Switches The UPM 180 25B has a PIC micro controller circuit that performs several safety functions and helps prevent the connected plant from being damaged These safety functions include 1 Processing of the limit sensor signals End of travel limit sensors either Left or Right disable the amplifier when in the Enabled mode described in Table 9 The only way to reset the amplifier is then to trigger the Home proximity sensor by manually moving the system back to its mid stroke position The Shake Table II and High Fidelity Linear cart systems have limit sensors installed that interface with the UPM 180 25B 2 Conversely when the UPM is in Calibration mode the amplifier is instead Document Number 528 Revision 02 Page 14 UPM User Manual disabled when the table reaches the Home sensor In this mode the amplifier remains enabled when the Left or Right sensors are triggered since the plant uses those for auto centering 3 After power up the amplifier is ready to be enabled only if a sequence of pulses originating from the DAC board is applied to the micro controller Refer to Section 3 5 1 1 for the procedure to initialize the UPM 180 25B Keep the Safety Override switch in the
21. nalog circuit to the ID 15 and or ID 16 connectors underneath the Power Amplifier 1 label in the front panel of the UPM The resulting amplified signal is available at the OUT ID 17 terminal and the To Load connector ID 19 The OUT terminal may be used to feed the amplified signal to an analog circuit or to monitor external using a voltmeter The To Load 6 pin DIN connector is typically used to interface the amplified with the a Quanser plant The gain of the UPM 15 03 and the UPM 24 05 power amplifier either 1 3 or 5 is set by using the appropriate To Load gain cable of 1 3 or 5 The cable contains the feedback resistor of the amplifier that effectively sets its amplification factor See Table 5 in Section 2 3 1 for a description of the gain cables CAUTION Always ensure you are using the correct To Load gain cable The linear amplifier voltage gain in both the UPM 15 03 or the UPM 24 05 is set using the To Load cable If the cable is labeled 3 or 5 then using that cable sets the amplifier gain to 3 V V or 5 V V respectively CAUTION Always ensure a gain cable is connected to the To Load connector If the amplified signal is interfaced with an experiment though the OUT terminal of the UPM make sure the correct To Load gain cable is connected If no cable is connected to the To Load connector the UPM will output its the maximum voltage to the attached Document Number 528 Revision 02 Page
22. t From D A Control signal generated by Analog Cable 5 D A 0 on the Connector on controller running on PC pin DIN to RCA Terminal Board 1503 2405 UPM that needs to be amplified To Load Cable 4 To Load Actuator Amplified control signal pin DIN to 6 pin Connector on Connector on applied to experiment DIN 1503 2405 UPM plant actuator From Analog Analog Input S1 amp S2 Connects the analog Sensors Cable 6 A D 0 on the Connector on the sensors to the UPM pin mini DIN to 6 Terminal Board 1503 2405 UPM provides bias and pin mini DIN protection To Analog To To A D Analog Input Carries the analog signals Digital Cable connector on the Channels 0 3 on from the sensors to the 5 pin DIN to UPM the Terminal data acquisition device AxRCA Board Table 6 Common UPM connections 2 3 3 Circuit Schematic The power amplifier circuit yielded after connecting the UPM to a load as described in Section 2 3 2 is shown in Figure 11 Document Number 528 Revision 02 Page 9 UPM User Manual Gain built into cable Ri Brown 1 Al Short A1 Open Orange 3 Af 10K R1 5K Plug In To Load To Load cable from Resulting circuit when cable is plugged in From D A Cable Signal Figure 11 Power amplifier schematic of UPM 15 03 UPM 24 05 3 PWM Module UPM 180 25B As previously mentioned the Universal Power Module model 180 25B that is shown in Figure 2 is used for more
23. ty sensor has been engaged For example when the Home limit sensor is triggered the Home LED will be bright green The Left and Right LEDs are also used to indicate whether the UPM has been initialized If both LEDs are flashing then the UPM has to be initialized The Cal OK and Enable LEDs shown in Figure 12 with ID 19 20 and 21 describe the status of the amplifier Table 9 describes the mode of UPM 180 25B based on the LEDs Document Number 528 Revision 02 Page 13 UPM User Manual OK Enable Description Not initialized Left and Right limit switches are flashing and amplifier is not ready to be enabled Ready to be Amplifier has been initialized and is ready to enabled drive the motor Enabled Motor is being driven Amplifier is de activated when the Left or Right sensor is triggered Calibration Motor is being driven Amplifier is de activated when the Home sensor is triggered Table 9 Status of UPM 180 25B based on Cal OK and Enable LEDs The From MultiQ connector ID 22 is designed to connect easily with the Quanser Q8 Extended Terminal Board with the DB 25 parallel cable shown in Figure 16 in Table 10 The To Device connector ID 24 attaches to the plant circuit board using the DB 15 parallel cable illustrated in Figure 15 in Table 10 3 3 Safety Features The UPM 180 25B is typically used to control high powered devices that can achieve high accelerations and velocities As a resu
24. ure 24 Document Number 528 Revision 02 Page 22 UPM User Manual AMP Enable Digital Output Signals AMP Calibrate 0 5 0 0 5 1 15 2 2 5 3 Time s Figure 24 UPM Calibration Signals The UPM s AMP_CAL line is connected to Digital Output 8 of the Q4 Q8 DAQ board and AMP_EN line is connected to Digital Output 9 of the Q4 Q8 control card The enable and calibrate signals are both initialized at zero in WinCon The WinCon controller brings the UPM s AMP_CAL line to high and then brings it to OV after 1 1 seconds The AMP_EN is initially set to 1V and after 1 2 seconds is pulsed down to OV for 200 milliseconds After this initial sequence the amplifier in the UPM remains enabled as long as AMP_CAL sits at OV while AMP_EN stays at 1V The WinCon controller stops when the Home position has been reached and it sets the AMP_CAL and AMP_EN control lines back down to OV before terminating effectively disabling the amplifier Attention MultiQ 3 Users The AMP_EN and AMP_CAL lines when using the MultiQ 3 data acquisition board are different than when using the Q4 or Q8 boards The amplifier enable is on Digital Output Channel 0 and the amplifier calibration is on Digital Output Channel 1 3 5 3 2 Simulink Model The Simulink subsystem used to place the UPM 180 25B in calibration mode with the Q8 hardware in the loop card is shown in Figure 25 This subsystem needs to be included in the main Simulink model that generates a c
25. urrent to be fed to the connected motor The subsystem generates the calibration signals described in Section 3 5 3 1 and shown in Figure 25 Upon controller exit both digital outputs are brought down to OV and this Document Number 528 Revision 02 Page 23 UPM User Manual disables the amplifier Ln Library shake_table_Il_lib Calibrate UPM 180 75B E o x File Edit View Do Hag AMP CAL Quanser Ds DO lode saa AMP_ERN Digital Output LOO Locked Figure 25 Simulink subsystem used to generate the calibration signals using the Q8 board 3 6 Troubleshooting Guide This section provides a list of issues that may be encountered when using the UPM 180 25B More troubleshooting information may be offered in the user manual of the experiment being used with the amplifier Q1 Why are the Left and Right LEDs on the UPM flashing The UPM has not been initialized yet See Section 3 5 1 1 for the UPM180 25B initialization procedure Q2 Why is the Left or Right LED lit after undergoing the UPM initialization procedure Either the Left or Right proximity sensors was triggered when the boot up procedure was ran See the corresponding experiment user manual for instructions on how to calibration the device either using an automated program or simply moving the plant manually back to Home position Document Number 528 Revision 02 Page 24 UPM User Manual Q3 Why is the OK LED on the UPM not lit wh
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