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ACROME BALL AND BEAM User Manual

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BALL AND BEAM
USER MANUAL

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Summary of Contents for ACROME BALL AND BEAM

  • Page 1 BALL AND BEAM USER MANUAL...
  • Page 2 Fax: +90 212 285 25 94 Printed in Maslak, Istanbul For more information on the solutions Acrome Inc. offers, please visit the web site at: http://www.acrome.net This document and the software described in it are provided subject to a license agreement.

  • Page 3: Table Of Contents

    2 COMPONENTS ..........................5 2.1 RC Servo Motor (# 1) ......................6 2.2 NI myRIO (# 3) ........................6 2.3 ACROME Power Distribution Box (# 4) .................. 7 3 TECHNICAL SPECIFICATIONS ......................8 4 WIRING ............................9 4.1 Cable Names ........................... 9 4.2 Connections ..........................

  • Page 4: Overview

    1.1 System Description Ball and beam system consists of a beam on which a ball can be placed and free to move can be seen in the Figure 1.1. Beam is connected to the base plate of the system over a cardan joint with one degree of freedom.

  • Page 5: Components

    2 COMPONENTS All the main components “ACROME Ball and Beam” are numbered and can be seen in the Figure 2.1. The numbers and the names of elements are listed in the Table 2.1 below. Table 2.1: Descriptions and numbers of components...

  • Page 6: Rc Servo Motor (# 1)

    Figure 2.2: The Potentiometer 2.1 RC Servo Motor (# 1) RC servos are electromechanical devices that convert electrical signals to movement. They provide simple and handy solutions to most control and robotic applications. Figure 2.3: RC Servo Motor 2.2 NI myRIO (# 3) myRIO has many ports and sensors on board including;...

  • Page 7: Acrome Power Distribution Box (# 4)

    NI myRIO 2.3 ACROME Power Distribution Box (# 4) The RC servo motor, sensor (potentiometer) and myRIO connections are located on ACROME power distribution box which is shown in Figure 2.5. It also has a RGB led and switch mode regulators.

  • Page 8: Technical Specifications

    3 TECHNICAL SPECIFICATIONS The Ball and Beam System has dimensions and parameters that are shown with α ��, �� below. �� These dimensions and parameters of the system will be used in the mathematical model. Table 3.1: Dimensions and parameters of the system...

  • Page 9: Wiring

    4 WIRING 4.1 Cable Names Cables which are used in the ball and beam system are defined and denominated as seen in Table 4.1 below. Table 4.1: Cable Descriptions Cable Names View of the Cables Definitions This cable provides the 1.

  • Page 10: Connections

    4.2 Connections In order to use the system, all cables mentioned above should be connected properly. All the essential connections among the components are shown in Figure 4.1. Figure 4.1: Ball and Beam System Connections...

  • Page 11: Setting Up The System

    5 SETTING UP THE SYSTEM 5.1 MyRIO Preparation on NI MAX NI MyRIO microprocessor has a RT LabVIEW software inside. To connect microprocessor domain to Computer one, both microcontroller and computer has to install the same LabVIEW version. Please notice that latest versions may need latest firmware. This chapter shows how to update software and firmware versions on NI Measurement and Automation Explorer (NI MAX) program.
  • Page 12 Figure 5.2: "NI MAX" Remote Control Screen 5) Click on “Update Firmware” button 6) Select the latest version of firmware from the pop-up window. (See Figure 5.3) Figure 5.3: Firmware Versions Pop-Up Window...

  • Page 13: Software Update

    7) Please wait until “The firmware update completed successfully” message comes out. (See Figure 5.4) Figure 5.4: Successfully Firmware Update Message 5.1.2 Software Update Before we started, please be sure that NI MyRIO is powered on and connected to your computer with your USB Cable.
  • Page 14 Figure 5.5: Accessing Add Remove Software Figure 5.6: Login Window 8) Installation window may take some time before it opens. 9) After window pops-up, available versions of LabVIEW software will be shown on the left. Please select the LabVIEW version you use on your computer 10) Click “Next >>”...
  • Page 15 Figure 5.7: Version Selection 11) Select the add-ons you want to install in NI MyRIO. Then click “Next >>” (See Figure 5.8) Figure 5.8: Add-On Selection...
  • Page 16 12) Apply one last window then installation starts. 13) Wait until software successfully updated message shows up. (see Figure 5.9) 14) Click “Finish” to complete the software update. Figure 5.9: Successfully Software Update Message...

  • Page 17: Installing Software Program Via Vi Package Manager (Vipm)

    After program opens, (It takes some time to download all the available packages) please search for “Ball and Beam Software” then double-click on it. From the window that pops up, please select your LabVIEW version then click “Install” button. Accept the license agreements and wait...
  • Page 18 Figure 5.12: Ball and Beam Software Download Page on VIPM Figure 5.13: Ball and Beam Software License Agreement...
  • Page 19 After “Ball and Beam Software” has been installed completely, “Show Examples” button will be available on the page shown in Figure 5.12. Please press the button then click on “Ball and Beam Project.lvproj” from the opened file window. The software project will be opened by LabVIEW.

  • Page 20: Getting Started

    5.3 Getting Started After the connections are carefully realized, copy "Ball and Beam Project" folder located under ACROME BB CD-ROM under C:\. And open the "Ball and Beam Project" in LabVIEW. Required LabVIEW Software Modules : FPGA Module Real Time Module...

  • Page 21: Calibration

    5.4 Calibration 1. Place the ball on the beam as it is seen in Figure 5.2 and run “Ball and Beam Calibration.vi”. Figure 5.17: Place of the Ball on the Beam 2. After running the VI and placing the ball, the front panel of the VI should look like Figure 5.3.
  • Page 22 Figure 5.18: 2D Visualization of Ball and Beam System 3. If the ball beam system is in the “Action” mode by clicking ”ACTION” button on the left side of the VI, the beam tries to move the ball to the set position.
  • Page 23 Figure 5.19: Front Panel of the “Ball and Beam Calibration.vi” 4. Select the calibration point with the name "X Center". Decrease or increase the "X Center" parameter according to Figure 5.5. Until the yellow ball is in the inner area of the red circle, "X Center"...
  • Page 24 Figure 5.20: Calibration of Setpoint X Center Figure 5.21: Adjusted X Center Parameter...
  • Page 25 5. Select the calibration point with name “X Up” and observe where the ball position is (Figure 5.7). Figure 5.22: Calibration of Setpoint X Up Decrease or increase the "X Up" parameter according to Figure 5.7 until the yellow ball is in the inner area of the red circle.
  • Page 26 Figure 5.23: Adjusted X Up Parameter 6. Select the calibration point with the name "X Down". As you have obtained the "X Up" parameter, decrease or increase the "X Down" parameter according to Figure 5.9. Repeat the steps you did in the previous calibration point. After adjusting the "X Down" parameter, the yellow circle has to be located in the same level, as you can see in Figure 5.10.
  • Page 27 Figure 5.24: Calibration of Setpoint X Down Figure 5.25: Adjusted X Down Parameter...
  • Page 28 7. After adjusting the "X Down" parameter, click the "Calibrate" button to calibrate the table according to the adjusted parameters above. After clicking "Calibrate" button, both yellow circle and red circle have to be located in the middle of the beam and yellow circle has to be located in the inner area of the red circle (Figure 5.11).

  • Page 29: Troubleshooting

    6 TROUBLESHOOTING 6.1 Connection Open FPGA VI Reference 1. If you have the following error list, you must specify a bitfile for FPGA Module. First, Click the "Show Error" button. Figure 6.1: "Error List" Window 2. Right-click the "Open FPGA Reference" function (Figure 6.2). This should be out of the loop at the beginning of the program.
  • Page 30 Figure 6.3: "Open FPGA Reference" Function 3. Select the bitfile Option. Browse through "FPGA Bitfiles" in project folder to the bitfile. This step is shown in Figure 6.4. Then, click the "OK" button. Figure 6.4: "Configure Open FPGA VI Reference" Dialog Box...
  • Page 31 4. Now, turn back the block diagram again. Right-click the "Open FPGA Reference" function’s resource name input (Figure 6.5). Choose "Create>>Constant". Figure 6.5: "Open FPGA Reference" Function 5. Finally, select “RIO0” from the combo box as seen in Figure 6.6. Figure 6.6: "Open FPGA Reference"...
  • Page 32 ACROME Robotik Mekatronik Sistemleri San. ve Tic. Ltd. AŞ. İTÜ Ayazağa Kampüsü Koru Yolu ARI 4 Binası B204 For further information on ACROME equipment please contact. Website: http://www.acrome.net/ e-mail: info@acrome.net Telephone: 0212 807 0456...

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