National Instruments Quanser QNET 2.0 Setup guide

USER MANUAL
QNET 2.0 Rotary Pendulum Board for NI ELVIS
Set Up and Configuration
CAPTIVATE. MOTIVATE. GRADUATE.
Solutions for teaching and research. Made in Canada.
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This symbol indicates that waste products must be disposed of separately from municipal household waste, according to Directive
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This product meets the essential requirements of applicable European Directives as follows:
• 2006/95/EC; Low-Voltage Directive (safety)
• 2004/108/EC; Electromagnetic Compatibility Directive (EMC)
Caution: This is a Class A product. This product may cause radio interference in a domestic environment, in
which case the user may be required to take adequate measures.
QNET ROTARY PENDULUM - User Manual 2

Contents
Safety Information 3
1 Introduction 5
2 System Hardware 6
2.1 System Schematic 6
2.2 Hardware Components 6
2.3 Environmental 9
2.4 System Parameters 9
3 QNET Rotary Pendulum Assembly Instructions 11
4 QNET Rotary Pendulum and NI ELVIS II Setup 12
4.1 QNET Rotary Pendulum Components 12
4.2 NI ELVIS II(+) Components 13
4.3 NI ELVIS II(+) Setup Procedure 13
5 Troubleshooting 16
5.1 General Software Issues 16
5.2 General Hardware Issues 16
5.3 QNET Rotary Pendulum Issues 17
6 Technical Support 18
QNET ROTARY PENDULUM - User Manual v 1.0

Safety Information
The following symbols and definitions are interchangeably used throughout the User Manual:
Symbol Description
Caution: consult documenation for additional information
Direct Current
|On (Power) [on NI ELVIS II(+) unit]
Off (Power) [on NI ELVIS II(+) unit]
Table 0.1: Symbols
QNET ROTARY PENDULUM - User Manual 4

1 Introduction
The Quanser QNET 2.0 Rotary Inverted Pendulum Board for NI ELVIS II, pictured in Figure 1.1, is a versatile servo
system designed to teach and demonstrate a variety of inverted pendulum based experiments. The system is driven
using a direct-drive 18 Vbrushed DC motor housed in a solid aluminum frame. Single-ended rotary encoders are
used to measure the angular positon of the DC motor and the pendulum.
Main QNET Rotary Pendulum features:
• Compact and complete rotary servo system for NI ELVIS II(+)
• 18V direct-drive brushed DC motor
• Encoders mounted on DC motor and pendulum
• Built-in PWM amplifier
• Build-in PCI connector for NI ELVIS II(+)
Figure 1.1: Quanser QNET 2.0 Rotary Inverted Pendulum Board for NI ELVIS II
Caution
This equipment is designed to be used for educational and research purposes and is
not intended for use by the general public. The user is responsible to ensure that the
equipment will be used by technically qualified personnel only.
QNET ROTARY PENDULUM - User Manual v 1.0

2 System Hardware
2.1 System Schematic
The QNET Rotary Pendulum provides an integrated amplifier and a communication interface with the NI ELVIS II(+)
for the amplifier command and encoder ports. The interaction between the different system components on the
QNET Rotary Pendulum is illustrated in Figure 2.1. The NI ELVIS II(+) is interfaced to the PC or laptop via USB link
in the QNET Rotary Pendulum Interface. The NI ELVIS II(+) block reads the angular encoder inputs and commands
the power amplifier that drives the DC Motor.
Figure 2.1: Interaction between QNET Rotary Pendulum components
The schematic given in Figure 2.2 illustrates the main QNET Rotary Pendulum components and how they interact
with the NI ELVIS II(+).
Figure 2.2: Interaction between QNET Rotary Pendulum components
2.2 Hardware Components
The main components comprising the QNET Rotary Pendulum are labeled in Figure 2.3, and Figure 2.4 and are
listed in Table 2.1.
QNET ROTARY PENDULUM - User Manual 6

ID# Description ID# Description
1 Motor metal chamber 9 8-pin Motor power connector
2 Pendulum Link 10 5-pin Encoder connector
3+5 V,−15 V,+15 VLEDs 11 5-pin Encoder connector
4 User and Status LEDs 12 High-resolution encoder
524 VQNET power jack 13 Pendulum pivot
6 Fuse 14 DC Motor
7 External Power indicator LED 15 High-resolution encoder
8 PCI Connector
Table 2.1: QNET Rotary Pendulum component nomenclature
Figure 2.3: General layout of QNET Rotary Pendulum
QNET ROTARY PENDULUM - User Manual v 1.0

Figure 2.4: Quanser QNET 2.0 Rotary Inverted Pendulum Board for NI ELVIS II components
2.2.1 DC Motor
The QNET Rotary Pendulum includes a direct-drive 18 Vbrushed DC motor housed in a solid aluminum frame. The
motor specifications are given in Table 2.3.
The QNET Rotary Pendulum incorporates an Allied Motion CL40 Series Coreless DC Motor model 16705. The
complete specification sheet of the motor is included at: alliedmotion.com/Products/Series.aspx?s=29.
Caution
Exposed moving parts.
2.2.2 Encoder
The encoders used to measure the angular position of the DC motor and pendulum of the QNET Rotary Pendulum
are single-ended optical shaft encoders. They output 2048 counts per revolution in quadrature mode (512 lines per
revolution).
The encoders used to measure the angular position of the DC motor and pendulum of the QNET Rotary Pendulum
are the US Digital E8P-512-118 single-ended optical shaft encoder. The complete specification sheet of the E8P
optical shaft encoder is given in E8P Data Sheet.
2.2.3 Power Amplifier
The QNET Rotary Pendulum circuit board includes a PWM voltage-controlled power amplifier capable to providing
2Apeak current and 0.5Acontinuous current (based on the thermal current rating of the motor). The output voltage
range to the load is between ±10 V.
QNET ROTARY PENDULUM - User Manual 8

2.2.4 Status LED
The QNET Rotary Pendulum is fitted with a variety of safety measures that use the Status LED for feedback, see
Figure 2.3. In particular, two digital enable lines (one high, one low) are used to ensure proper system configuration.
The system states are displayed as in Table 2.2. Here, a ∗indicates any state.
External Power (24 V) Enable+ Enable- Avg. Applied Voltage Encoder Stall Status LED Amplifier
0∗ ∗ ∗ ∗ Red Disabled
∗FALSE ∗ ∗ ∗ Red Disabled
∗ ∗ TRUE ∗ ∗ Red Disabled
24 VTRUE FALSE ∥∗∥V≤5V∗Green Enabled
24 VTRUE FALSE ∥∗∥V≥5VFALSE Green Enabled
24 VTRUE FALSE ∥∗∥V>5VTRUE,t≤12 sOrange Enabled
24 VTRUE FALSE ∥∗∥V>5VTRUE,t > 12 sFlashing Red Disabled
Table 2.2: Status LED states of the QNET Rotary Pendulum
2.3 Environmental
The QNET Rotary Pendulum is designed to function under the following environmental conditions:
• Standard rating
• Indoor use only
• Temperature 5◦Cto 40 ◦C.
• Altitude up to 2000m
• Maximum relative humidity of 80% up to 31◦C decreasing linearly to 50% relative humidity at 40◦C
• Pollution Degree 2
• Mains supply voltage fluctuations up to ±10% of the nominal voltage
• Maximum transient overvoltage 2500V
• Marked degree of protection to IEC 60529: Ordinary Equipment (IPX0)
2.4 System Parameters
Table 2.3 lists and characterizes the main parameters associated with the QNET Rotary Pendulum.
QNET ROTARY PENDULUM - User Manual v 1.0

Symbol Description Value
DC Motor
Vnom Nominal input voltage 18.0V
τnom Nominal torque 22.0mNm
ωnom Nominal speed 3050 RPM
Inom Nominal current 0.540 A
RmTerminal resistance 8.4�
ktTorque constant 0.042 Nm/A
kmMotor back-emf constant 0.042 V/(rad/s)
JmRotor inertia 4.0×10−6kgm2
LmRotor inductance 1.16 mH
mhModule attachment hub mass 0.016 kg
rhModule attachment hub radius 0.0111 m
JhModule attachment moment of inertia 0.6×10−6kgm2
Rotary Pendulum Module
mrRotary arm mass 0.095 kg
LrRotary arm length (pivot to end of metal rod) 0.085 m
mpPendulum link mass 0.024 kg
LpPendulum link length 0.129 m
Motor and Pendulum Encoders
Encoder line count 512 lines/rev
Encoder line count in quadrature 2048 lines/rev
Encoder resolution (in quadrature) 0.176 deg/count
Amplifier
Amplifier type PWM
Peak Current 2.5A
Continuous Current 0.5A
Output voltage ±24 Vwith 42 % duty cycle limit (±10 V)
Table 2.3: QNET Rotary Pendulum System Parameters
QNET ROTARY PENDULUM - User Manual 10

3 QNET Rotary Pendulum
Assembly Instructions
Follow the instructions below to setup the QNET Rotary Pendulum:
1. Remove the four thumbscrews that are used to attach the Rotary Pendulum base to the QNET board for
transport.
2. Bring the pendulum assembly upright, and align the screw holes in the bottom of the base with the holes
indicated on the bottom surface of the QNET board.
(a) Bring the pendulum assembly upright (b) Align the screw holes
Figure 3.1: Initial Pendulum Setup Procedure
3. Tighten the four thumb screws to secure the pendulum assembly to the QNET board.
4. When fully assembled, the system should resemble Figure 1.1.
QNET ROTARY PENDULUM - User Manual v 1.0

4 QNET Rotary Pendulum and NI
ELVIS II Setup
The procedure to install a QNET Rotary Pendulum module on the NI ELVIS II(+) is detailed in this section. The NI
ELVIS II(+) components used in the installation procedure are located and marked by an ID number in Figure 4.1,
and described in Table 4.1.
Caution
If the equipment is used in a manner not specified by the manufacturer, the protection
provided by the equipment may be impaired.
4.1 QNET Rotary Pendulum Components
To setup the QNET Rotary Pendulum system, you need the following components:
1. QNET Rotary Pendulum PCB (shown in Figure 1.1)
2. Inverted pendulum module (shown in Figure 1.1)
3. QNET Rotary Pendulum power supply (TRUMPower FRA072-S24-4, P/N: TRA72-S24-4G-509L, Output
24 VDC,3A)
Caution
Use only the power supply provided with with the QNET Rotary Pendulum.
4. Power cable
5. Schurter 0034.3121,5mm ×20 mm,2.5A,250 VAC, time-lag fuse
QNET ROTARY PENDULUM - User Manual 12

4.2 NI ELVIS II(+) Components
Figure 4.1: Components on NI ELVIS II(+)
ID# Description
1 NI ELVIS II(+)
2 Prototyping board power switch
3 Power LED
4 Ready LED
5 Power Cable for NI ELVIS II(+)
6 USB Connection between PC and NI ELVIS II(+)
Table 4.1: ELVIS II components
4.3 NI ELVIS II(+) Setup Procedure
Follow these instructions to setup a QNET Rotary Pendulum board on an NI ELVIS II(+):
Caution
Do NOT make the following connections while power is supplied to the hardware!
QNET ROTARY PENDULUM - User Manual v 1.0

Caution
The unit is provided with a grounded cord to be used with a properly grounded outlet
only, this is a safety feature, do not disable it.
1. Place the small opening on the front of the QNET Rotary Pendulum board over the mounting bracket on the
NI ELVIS II(+).
2. Slide the PCI connector of the QNET Rotary Pendulum module end into the female connector on the NI ELVIS
II(+). Make sure it is connected properly.
3. Connect the NI ELVIS II(+) power cable.
4. Connect the NI ELVIS II(+) USB cable to the PC.
5. Connect the supplied QNET power supply to the QNET Rotary Pendulum power jack on the QNET Rotary
Pendulum module.
6. Power the NI ELVIS II(+) by turning ON the System Power Switch on the rear panel.
7. Turn ON the Prototyping Board Power switch, ID #2 shown in Figure 4.1.
8. The Power and Ready LEDs on the NI ELVIS II(+) unit should be lit as shown in Figure 4.2.
Figure 4.2: Ready and Power LEDs on NI ELVIS II(+)
9. Verify that the +15 V,−15 V,+5 Vand External Power LEDs on the QNET Rotary Pendulum are lit green, and
the Status LED is red as shown in Figure 4.3. They indicate that the board has been properly connected to
the NI ELVIS II(+) unit and that the QNET Rotary Pendulum currently does not communicate with a PC.
QNET ROTARY PENDULUM - User Manual 14

(a) External Power LED should be ON
(b) LEDs on the right should be all green, Status LED
should be red
Figure 4.3: QNET Rotary Pendulum LEDs
QNET ROTARY PENDULUM - User Manual v 1.0

5 Troubleshooting
5.1 General Software Issues
Q1 When I try to open a QNET Rotary Pendulum VI, it says there are some missing VIs and they have a CD or Sim
in the name?
The LabVIEW™ Control Design and Simulation Toolkit is not installed.
Q2 When I open a QNET Rotary Pendulum VI a message prompts that a VI with ”ELVIS” in the name cannot be
found?
The QNET Rotary Pendulum VIs use the ELVISmx drivers. Make sure you install the contents of the NI
ELVIS II(+) CD before attempting to open any of the QNET Rotary Pendulum VIs (available for download at
www.ni.com).
5.2 General Hardware Issues
Q1 None of the LEDs on the QNET Rotary Pendulum board are lit.
Make sure both the System Power switch, which is located on the back of the NI ELVIS II(+) unit, and the
Prototyping Board Power switch, which is situated on the top-right corner of the NI ELVIS II(+), are ON.
Q2 On the QNET Rotary Pendulum board, the +15 V,−15 V,and +5 VLEDs are bright green but the External
Power LED is not lit.
Ensure the QNET Rotary Pendulum power connector on the QNET Rotary Pendulum board is connected with
the supplied QNET Rotary Pendulum power cable. If the LED is still not lighting up, check the 2.5Afuse of the
QNET Rotary Pendulum next to the power connector. If it is burnt, replace it with an identical fuse (Schurter
0034.3121,5mm ×20 mm,2.5A,250 VAC, time-lag fuse). To remove the fuse, push and turn the fuse holder
counter-clockwise.
Q3 At least one of the +15V,−15V,+5V and External Power LEDs on the QNET Rotary Pendulum board is not
lit.
• See Q2 above if only the External Power LED is not lit.
• If one or more of the +15V,−15V,and +5V LEDs is not lit then a ±15V or +5V fuse(s) on the Protection
Board of the NI ELVIS II(+) has been triggered. Similarly, if the External Power LED is still not lit after
connecting the QNET Rotary Pendulum power, the Variable Power Supplies Fuses on the NI ELVIS II(+)
Protection Board have been triggered. See the Protection Board Fuses in the NI ELVIS II(+) User Manual.
Q4 The Ready LED on the elvis does not go on.
(a) Go through the elvis setup procedure outlined in the QNET Rotary Pendulum Setup Guide
(b) Once completed, launch the Measurement & Automation Explorer software.
(c) As illustrated in Figure 5.1, expand the Devices and Interfaces and NI-DAQmx Devices items and select
the NI ELVIS II(+) device.
(d) As shown in Figure 5.1, click on the Reset Device button.
(e) Once successfully reset, click on the Self-Test button.
QNET ROTARY PENDULUM - User Manual 16

(f) If the test passed, reset the elvis (i.e. shut off the Prototyping Board switch and System Power switch
and turn them back on again). The Ready LED on the elvis should now be lit.
Figure 5.1: Reseting and performing the self-test on the elvis
5.3 QNET Rotary Pendulum Issues
Q1 When I run the QNET Rotary Pendulum Modeling.vi the pendulum does not move.
Ensure the QNET Rotary Pendulum Power cable is connected. The four LEDs +15 V,−15 V,+5 Vand
External Power on the QNET Rotary Pendulum board should all be bright green.
Q2 When I try to run the balance controller using the QNET Rotary Pendulum Swing Up.vi the pendulum does
not move.
• Ensure the QNET Rotary Pendulum Power cable is connected. The four LEDs +15 V,−15 V,+5 Vand
External Power on the QNET Rotary Pendulum board should all be bright green.
• Also, note that the balance controller is only active when the pendulum is in the upright vertical position.
Q3 When I try to run the swing-up controller using the QNET Rotary Pendulum Swing Up.vi the pendulum does
not move.
• Ensure the QNET Rotary Pendulum Power cable is connected. The four LEDs +15 V,−15 V,+5 Vand
External Power on the QNET Rotary Pendulum board should all be bright green.
• Make sure the pendulum is perturbed to get the swing-up going by clicking lightly tapping it.
QNET ROTARY PENDULUM - User Manual v 1.0

6 Technical Support
To obtain support from Quanser, go to 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. Also, make
sure your e-mail address and telephone number are included. Submit the form and a technical support person will
contact you.
QNET ROTARY PENDULUM - User Manual 18

Solutions for teaching and research. Made in Canada.
[email protected] [email protected]
Six QNET boards to teach introductory control topics using NI ELVIS
QNET 2.0 HVAC Board
teaches temperature (process) control
QNET Mechatronic Sensors Board
teaches functions of sensors
QNET 2.0 DC Motor Control Board
teaches fundamentals of DC motor control
QNET Myoelectric Board
teaches control using principles of
electromyography (EMG)
QNET 2.0 VTOL Board
teaches basic flight dynamics and control
QNET 2.0 Rotary Pendulum Board
teaches classic pendulum control
Quanser QNET add-on boards for the NI ELVIS platform teach introductory control topics in undergraduate labs cost-eectively.
All QNETs are oered with comprehensive, ABET*-aligned courseware that have been developed to enhance the student
learning experience.
To request a demonstration or quote, please email [e-mail].
*ABET Inc., is the recognized accreditor for college and university programs in applied science, computing, engineering, and technology, providing leadership and quality assurance in
higher education for over 75 years.
©2014 Quanser Inc. All rights reserved. LabVIEW™ is a trademark of National Instruments.