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.
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cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation.
Industry Canada Notice This Class A digital apparatus complies with Canadian ICES-003. Cet appareil numérique de la classe A est conforme
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equipment is used in a domestic environment, radio interference may occur, in which case the user may be required to take corrective actions.
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seller or user should take notice of it, and this equipment is to be used in the places except for home.
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This symbol indicates that waste products must be disposed of separately from municipal household waste, according to Directive
2002/96/EC of the European Parliament and the Council on waste electrical and electronic equipment (WEEE). All products at the
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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.
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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
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