Quanser 3 DOF User manual

12
Check Components and Details
Make sure your 3 DOF Gyroscope experiment includes the following components:
Quick Start Guide: 3 DOF Gyroscope
STEP 1
Additional Components Required for Set Up
To complete the 3 DOF Gyroscope experiment set up, you will also need the following:
STEP 2
12
1. 3 DOF Gyroscope
2. Set of three M 4-15mm metric screws;
9/64 Allen key; spacer
3. Set of four 5-pin DIN to 5-pin DIN
encoder cables
4. Quanser Workstation Resources*
(includes controllers; User Manual,
Quick Start Guide and courseware;
and other les)
3
1. Quanser Rapid Control Prototyping Toolkit for
NI LabVIEW™. Visit www.ni.com/labviewtools/rcp
2. Power Amplier (AMPAQ-L4 pictured)
3. One of the following data acquisition devices:
a. NI CompactRIO with Quanser Q1-cRIO module, or
b. QPID/QPIDe with terminal board
4. Set of four RCA to RCA cables
5. Set of four 3-pin-DIN to 4-pin DIN motor cables
Note: These components must be purchased separately.
4
3a3b
5
To set up your 3 DOF Gyroscope experiment, please read the following instructions carefully.
CAPTIVATE. MOTIVATE. GRADUATE.
USER MANUAL
3 DOF Gyroscope Experiment
Set Up and Configuration
LABORATORY GUIDE
3 DOF Gyroscope Experiment for LabVIEW™Users
Developed by:
Jacob Apkarian, Ph.D., Quanser
Amirpasha Javid, B. Eng., Quanser
Quanser educational solutions
are powered by:
CAPTIVATE. MOTIVATE. GRADUATE.
4
Install NI LabVIEW™ and Add-ons
STEP 3
Make sure LabVIEW™ and required add-ons are installed.
*Download the student version from the
RCP Toolkit Resources at www.ni.com
labviewtools/rcp. For the full instructor
version, contact [e-mail]
ni.com/labviewtools/rcp
RCP Toolkit
1. LabVIEW™
2. NI-DAQmx
3. LabVIEW™ Control Design and Simulation Module
4. LabVIEW™ MathScript RT Module (only used in certain VIs)
5. Quanser Rapid Control Prototyping Toolkit®
Note: The Quanser Rapid Control Prototyping (RCP) Toolkit must
be installed after LabVIEW. See the RCP Toolkit Installation Guide for
more information (www.quanser.com/products/rcptk/documentation).

MOTOR1 MOTOR2 MOTOR3 MOTOR4
ENC 1 ENC 2 ENC 3 ENC 4
MOTOR1 MOTOR2 MOTOR3 MOTOR4
ENC 1 ENC 2 ENC 3 ENC 4
Using the RCA to RCA cable, connect
Analog Output Channel (AO) #0 on
the data acquisition (DAQ) device to the
Amplifier Command #0 connector on
the amplier. Similarly, connect AO #1
and #2 on the DAQ device to Amplifier
Command #1 and #2 on the amplier.
D
Using the 3-pin-DIN to 4-pin-DIN motor
cable, connect the TO LOAD #0 on the
amplier to the Motor 1 connector on
the 3 DOF Gyroscope. Similarly, connect
TO LOAD #1 and #2 on the amplier
to Motor 2 and Motor 3 on the 3 DOF
Gyroscope.
Turn ON the AMPAQ-L4’s power switch.
It is located on the rear of the device.
System Power
E-Stop
Enabled
Amplifier Command
(1.0V = 0.5A)
(1.0V = 0.5A)
Current Sense
To Load (2.5A ±24V)
(0.5x Amplifier Command) AMPAQ -L4
MULTI CHANNEL LINEAR CURRENTAMPLIFIER
WWW.QUANSER.COM
MADEIN CANADA
Amplifier 0 Amplifier 2 Amplifier 3Amplifier 1
This device complies with Part 15 of the FCC
Rules. Operation is subject to the following two
conditions: (1) this device may not cause harmful
interference, and (2) this device must accept any
interference received, including interference that
may cause undesired operation.
This Class A digital apparatus complies with
Canadian ICES-003.
Cet appareil numérique de la classe A est
conforme à la norme NMB-003 du Canada.
100-120 V~ or
200-240 V~
4.1A
50/60Hz, Class 1
Fuse: 5.0A 3AG, 250V
Slow-Blow
F
U
S
E
F
U
S
E
50/60Hz, Class 1
Analog
Output
(AO)
0
Analog
Output
(AO)
1
Analog
Output
(AO)
2
Data Acquisition (DAQ) Device
3 DOF Gyroscope
3 DOF Gyroscope
Amplifier
System Power
E-Stop
Enabled
Amplifier Command
(1.0V = 0.5A)
(1.0V = 0.5A)
Current Sense
To Load (2.5A ±24V)
(0.5x Amplifier Command) AMPAQ -L4
MULTI CHANNEL LINEAR CURRENTAMPLIFIER
WWW.QUANSER.COM
MADEIN CANADA
Amplifier 0 Amplifier 2 Amplifier 3Amplifier 1
Amplifier
Amplifier (rear)
Using the 5-pin DIN to 5-pin DIN encoder
cable, connect the Encoder #0 (ENC #0)
on the data acquisition device to the
ENC 1 connector on the 3 DOF Gyroscope.
Similarly connect ENC 1 and ENC 2
on the data acquisition device to ENC 2
and ENC 3 on the 3 DOF Gyroscope.
Encoders
(EI Channel
#0)
Encoders
(EI Channel
#1)
Encoders
(EI Channel
#2)
Data Acquisition (DAQ) Device
01 2
F
G
E
Set Up the Hardware
STEP 4
Follow the procedure below to set up your 3 DOF Gyroscope experiment. The connections shown below are illustrated using a generic data
acquisition (DAQ) device and an AMPAQ-L4 amplifier (you may have a different DAQ or amplifier). For detailed instructions, see the 3 DOF
Gyroscope User Manual
Your data acquisition (DAQ) device should be already
set up and tested as dictated in its corresponding Quick
Start Guide.
Make sure everything is powered off before making any
of these connections. This includes turning OFF your PC
and the amplier.
AB
CWith the M4-15 mm screw and the spacer,
lock the silver frame by using the locking
holes on top of the frame (any of them)
and the upper enclosure. The spacer
should be placed and aligned between the
silver frame and the upper enclosure such
that the M4-15mm screw goes through it.

Testing the 3 DOF Gyroscope
STEP 5
Follow the procedure below to test your 3 DOF Gyroscope experiment.
Under the Main
tab, select the data
acquisition device
that is installed on
your system in the
Board type section
(e.g., QPID/QPIDe)
The scopes should look similar to
those shown here for a 20 deg,
0.1 Hz command. If not, consult
the troubleshooting section at the
end of this guide.
Go to the block diagram
(CTRL-E) and double click on
the HIL Initialize Express VI.
Click on the
OK button.
Rotate the red and blue gimbals such that
the ywheel motor and counter-weights
point upwards.
Hold on to the gimbals.
Go to the front panel
(CTRL-E) of the VI
(pictured in Step 5D).
Click on the white arrow
button to run the VI.
Make sure you hold
on to the gimbals.
Wait until the y
wheel has reached
750 RPM, as shown
in the Disk Speed
scope. Then, set the
Amplitude to 20 deg
and the Frequency
to 0.1 Hz. The red
gimbal should begin
tracking this signal.
Click on the STOP button
to stop running the VI. The
gyroscope ywheel will
continue to rotate until
friction brings it to a stop.
D
GH
I
F
L
E
J
M
Make sure your
PC and amplier
are powered ON.
Download the Quanser Workstation Resources
(www.ni.com/labviewtools/rcp) and locate the Quick
Start folder: Mechatronics\3 DOF Gyroscope\Quick Start.
Copy the Quick Start folder to your local hard drive.
In the LabVIEW™Project le, open the
LabVIEW™Virtual instruments (.vi).
Attention Quanser Q1-cRIO users:
Before proceeding, make sure your
LabVIEW™ Project le is congured
with your NI CompactRIO (refer to the
RCP Toolkit Installation Guide).
A B C
LabVIEW™ VI Front Panel
Configure HIL Initialize window
Scope view of the VI Front Panel
Scope view of the VI Front Panel
K
Open the LabVIEW™Project
le (.lvproj) found under the
Quick Start folder on your
hard drive.

Please review the following recommendations before contacting Quanser’s technical support engineers.
You are getting
‘VI Missing’
messages.
A. Make sure you installed all the LabVIEW™add-ons listed in Step 3.
B. Verify that the correct LabVIEW™version is installed for your Quanser Rapid Control Prototyping Toolkit®.
Refer to the RCP Toolkit Installation Guide for complete details.
C. Additional add-ons may be required depending on your data acquisition (DAQ) device. Make sure your DAQ device
(e.g., Q1-cRIO, Q2-QPID) has been congured and tested according to the instructions in its Quick Start Guide.
The gyroscope
ywheel does
not rotate.
A. Review connection Steps 4D and 4E. Make sure cables are rmly connected.
B. Ensure the power amplier is working, i.e., when using AMPAQ-L4 verify that the green LED next to the power
label is lit.
C. Ensure the power amplier is getting enabled i.e., when using AMPAQ-L4 verify that the green LED under the
Channel 0 label turns on when the VI is started.
The red gimbal is
not tracking the
command position.
A. Review Step 5K in the Testing the 3 DOF Gyroscope section.
B. Ensure the power amplier is powered on and operational, i.e., when using AMPAQ-L4 verify that the green
LED next to the power label is lit.
C. Ensure the power amplier is getting enabled i.e., when using AMPAQ-L4 verify that the green LEDs for all
channels turn on when the VI is started.
D. Verify the data acquisition device is functional.
The Encoder is
not reading.
The blue gimbal
drifts after a while.
A. Review connection Steps 4D, 4E, and 4G.
B. Ensure the power amplier is powered on and operational, i.e., when using AMPAQ-L4 verify that the green
LED next to the power label is lit.
C. Ensure the power amplier is getting enabled i.e., when using AMPAQ-L4 verify that the green LED under the
Channel 2 label turns on when the VI is started.
D. Verify the data acquisition device is functional.
©2014 Quanser Inc. All rights reserved. LabVIEW™ is a trademark of National Instruments. v.2.3
STILL NEED HELP? For further assistance from a Quanser engineer, contact us at [e-mail] or call [phone].
TROUBLESHOOTING
A. Review connections in Steps 4G.
B. Verify that the data acquisition (DAQ) device is functional. Go through the DAQ User Manual for
troubleshooting guidelines.
1. Make sure the cables are rmly connected.
2. Refer to the Troubleshooting Guide in the 3 DOF Gyroscope User Manual.
LEARN MORE To find out about the full range of Quanser control experiments, visit www.quanser.com
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