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Table of Contents
Troubleshooting
Summary of Contents for Quanser SRV02 Ball and Beam
- Page 1 Rotary Motion Servo Plant: SRV02 SRV02 Ball and Beam User Manual...
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Page 2: Table Of Contents
BB01 User Manual Table of Contents 1. P ............................1 RESENTATION 1.1. Description............................1 1.2. Remote Sensor Option........................1 2. B ........................1 ALL AND OMPONENTS 2.1. Component Nomenclature........................2 2.2. Component Description........................3 2.2.1. Ball Position Sensor..........................3 2.2.2. Remote Sensor............................3 3. B .......................3 ALL AND PECIFICATIONS 4. - Page 3 BB01 User Manual 7. T ..........................16 ECHNICAL UPPORT 8. R ............................16 EFERENCES A: L ................17 PPENDIX INEAR RANSDUCER PECIFICATION HEET Document Number 709 ♦ Revision 2.1 ♦ Page ii...
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Page 4: 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. -
Page 5: Component Nomenclature
BB01 User Manual 2.1. Component Nomenclature The components of the Ball and Beam module, i.e. the BB01 device, and the Remote Sensor system, i.e. SS01, are listed in Table 1 below and labeled in Figure 2 and Figure 3. ID # Component ID # Component... -
Page 6: Component Description
BB01 User Manual Figure 3: Remote sensor components. 2.2. Component Description 2.2.1. Ball Position Sensor The track of the BB01 linear transducer module on which the metal ball is free to roll consists of a steel rod in parallel with a nickel-chromium wire-wound resistor forming the track. The resistive wire is the black strip that is stuck on the plastic which is fastened onto the metal frame. - Page 7 BB01 User Manual Symbol Description Matlab Value Unit Variati Variable Calibration base depth 22.5 cm Beam length L_beam 42.55 cm beam Lever arm length 12.0 cm Distance between SRV02 output gear r_arm shaft and coupled joint 2.54 Support arm length 16.0 cm Radius of ball.
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Page 8: System Setup
BB01 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: 1. -
Page 9: Calibration
BB01 User Manual 4.2. Calibration Once the BB01 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. -
Page 10: Wiring Procedure
Power Amplifier: Quanser UPM 1503/2405, or equivalent. ● Data Acquisition Board: Quanser Q8, Q4, or equivalent. ● Rotary Servo Plant: Quanser SRV02, SRV02-T, SRV02- E, SRV02- EHR, or ● SRV02-ET. Ball and Beam Module: Quanser BB01 Module ● Remote Sensor (optional) Quanser SS01 Module ●... - Page 11 BB01 User Manual Cable Designation Description 5-pin-DIN This cable connects an analog output of the data acquisition terminal board to the power module for proper power amplification. Figure 9 "From Digital-To-Analog" Cable 4-pin-DIN This cable connects the output of the power module, after amplification, to the desired 6-pin-DIN DC motor on the servo.
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Page 12: Typical Connections For Upm
Follow these steps to connect the BB01 system: 1. 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 M-Series board, then go to its corresponding documentation and ensure it is properly installed. - Page 13 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 x Figure 14: Connections on the Quanser Q8 Terminal Board. Figure 15: Connections on UPM.
- Page 14 BB01 User Manual Figure 16: Connection on the SRV02.. Figure 17: Connections on BB01. Figure 18: Connections on SS01. Cable # From Signal Terminal Board: UPM "From D/A" Control signal to the UPM Analog Output #0 connector UPM "To Load" SRV02 "Motor"...
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Page 15: Typical Connections For Q3
Follow these steps to connect the BB01 system: 1. It is assumed that the Quanser Q3 board is already installed as discussed in the Reference [4]. 2. Make sure everything is powered off before making any of these connections. This includes turning off your PC and the Q3. - Page 16 BB01 User Manual potentiometer and, if used, the remote beam potentiometer. Figure 19: Connections on the Q3 board from the Analog 2:1 Buffer box and the BB01. Figure 20: Connections on the Q3 Analog 2:1 Buffer box. Document Number 709 ♦ Revision 2.1 ♦ Page 13...
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Page 17: Testing And Troubleshooting
BB01 User Manual Cable # From Signal 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 BB01 Ball Q3 Analog 2:1 Buffer: BB01 ball position measurement. Position Sensor “Sensor 1”... -
Page 18: Troubleshooting
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. -
Page 19: T Echnical S Upport
BB01 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. Fill in the form with all the requested software and hardware information as well as a description of the problem encountered. - Page 20 BB01 User Manual Appendix A: Linear Transducer Specification Sheet Document Number 709 ♦ Revision 2.1 ♦ Page 17...
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