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Cable
From
#
1
Terminal Board: Analog
Output #0
2
Terminal Board: Analog
Output #1
3
Amplifier:
To Load #0
connector
4
Amplifier:
To Load #1
connector
5
Terminal Board: Encoder
Input #0
6
Terminal Board: Encoder
Input #1
7
Terminal Board: Digital In-
put
Figure 4.1: Connecting the 2 DOF Planar Robot to a Dual-Channel Current Amplifier and Two-Channel DAQ
2 DOF PLANAR ROBOT User Manual
To
Amplifier Amplifier Command #0
connector
Amplifier Amplifier Command #1
connector
2 DOF Planar Robot Left Motor
connector
2 DOF Planar Robot Right Motor
connector
2 DOF Planar Robot Left En-
coder connector
2 DOF Planar Robot Right En-
coder connector
2 DOF Planar Robot Digital I/O
connector
Table 4.2: 2 DOF Planar Robot AMPAQ Wiring
Signal
Control signal to the amplifier for left
motor.
Control signal to the amplifier for right
motor.
Power leads to the 2 DOF Planar Robot
left DC motor.
Power leads to the 2 DOF Planar Robot
right DC motor.
Left motor encoder load shaft angle
measurement.
Right motor encoder load shaft angle
measurement.
Command signal for the solonoid on
channel 2.
DRAFT - September 6, 2013
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