Quanser 2 DOF User Manual page 10

The following steps describes a detailed wiring procedure of the 2 DOF Robot to the SRV02, data-acquisition board
and a dual channel power amplifier
1. It is assumed that the data acquisition (DAQ) device is already installed as discussed in its respective User
Manual.
2. Make sure everything is powered off before making any of these connections. This includes turning off your
PC and the amplifiers.
3. Connect one end of the 2xRCA to 2xRCA cable from the Analog Output Channel #0 on the data acquisition
(DAQ) device to the Amplifier Command 0 connector on the amplifier, that will be connected to SRV02 A (e.g.
red RCA connectors). See cable #1 shown in Figure 5.3. This carries the attenuated SRV02 A motor voltage
control signal, V
m,a
4. Connect the one end of the 2xRCA to 2xRCA cable from the Analog Output Channel #1 on the data acquisition
(DAQ) device to the Amplifier Command 1 connector on the amplifier, that will be connected to SRV02 B (e.g.
white RCA connectors). See cable #2 shown in Figure 5.3. This carries the attenuated SRV02 B motor voltage
control signal, V /K
m,b
5. Connect the 4-pin-stereo-DIN to 6-pin-stereo-DIN from To Load 0 on the amplifier to the Motor connector on
the SRV02. See connection #3 shown in Figure 5.3 and Figure 5.2. The cable transmits the amplified voltage
that is applied to the SRV02 A motor and is denoted V
6. Connect the 4-pin-stereo-DIN to 6-pin-stereo-DIN from To Load 1 on the amplifier to the Motor connector on
the SRV02. See connection #4 shown in Figure 5.3 and Figure 5.2. The cable transmits the amplified voltage
that is applied to the SRV02 B motor and is denoted V
7. Connect the 5-pin-stereo-DIN to 5-pin-stereo-DIN cable from the Encoder connector on the SRV02 A panel to
Encoder Input # 0 on the data acquisition (DAQ) device, as depicted by connection #5 in Figure 5.3 and Figure
5.2. This carries the SRV02 A load shaft angle measurement and is denoted by the variable θ
Caution: Any encoder should be directly connected to the Quanser data acquisition (DAQ) device (or equiv-
alent) using a standard 5-pin DIN cable. DO NOT connect the encoder cable to the amplifier!
8. Connect the 5-pin-stereo-DIN to 5-pin-stereo-DIN cable from the Encoder connector on the SRV02 B panel to
Encoder Input # 1 on the data acquisition (DAQ) device, as depicted by connection #6 in Figure 5.3 and Figure
5.2. This carries the SRV02 B load shaft angle measurement and is denoted by the variable θ
Figure 5.2: Connections on 2 DOF Robot plant.
, where K is the amplifier A gain.
/K
a,a a,a
, where K is the amplifier B gain.
a,b a,b
.
m,a
.
m,b
2DROBOT User Manual
.
l,a
.
l,b
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