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Printed in Markham, Ontario. For more information on the solutions Quanser Inc. offers, please visit the web site at: http://www.quanser.com All Rights Reserved 2013 Quanser Consulting Inc. All rights reserved. This work may not be translated or copied in whole or in part without the written permission of the copyright holder, except under the terms of the associated software license agreement. No part of this Installation Guide may be photocopied or reproduced in any form. The use of general descriptive names, trade names, trademarks, etc. in this publication, even if the former are not especially identified, is not to be taken as a sign that such names as understood by the Trade Marks and Merchandise Marks Act, may accordingly be used freely by anyone. Disclaimer While every effort has been made to ensure the accuracy and completeness of all information in this document, Quanser, Inc. assumes no liability to any party for any loss or damage caused by errors or omissions or by statements of any kind in this document, its updates, supplements, or special editions. Quanser, Inc. further assumes no liability arising out of the application or use of any product or system described herein; nor any liability for incidental or consequential damages arising from the use of this document. Quanser, Inc. disclaims all warranties regarding the information contained herein, whether expressed, implied or statutory, including implied warranties of merchantability or fitness for a particular purpose. Quanser Inc. reserves the right to make changes to this document or to the products described herein without further notice. Trademarks QUARC is a trademark of Quanser Consulting, Inc. MATLAB, Simulink, Simulink Coder, and MATLAB Coder are registered trademarks of The MathWorks, Inc. Windows, Windows SDK, Visual Studio and Visual C++ are registered trademarks of Microsoft Corporation. Verdex Pro is a trademark of Gumstix, Inc. Intel and Pentium are registered trademarks of Intel Corporation. Other brands and their products are trademarks or registered trademarks of their respective holders and should be noted as such. Printed in Canada

CONTENTS
1 QUARC Architecture and Installation Overview 1.1 QUARC Components 1.2 Single-User Mode 1.3 Network Mode Software Requirements 2.1 QUARC Simulink Development Environment (SDE) 2.2 QUARC Targets 2.3 Quanser License Manager Using Microsoft Visual Studio 2010 Professional Edition With QUARC Using Microsoft Windows SDK With QUARC Hardware Requirements 5.1 QUARC Simulink Development Environment (SDE) 5.2 QUARC Targets 5.3 Quanser License Manager Single-User Windows Setup: QUARC Installation And License Configuration Network Windows Setup: QUARC Installation And License Configuration 7.1 Installing And Configuring The License Server Windows Machine 7.2 Installing And Configuring The License Client Windows Machine(s) Single-User QNX Setup: QUARC Installation And License Configuration Network QNX Setup: QUARC Installation And License Configuration 9.1 Installing And Configuring The License Server QNX Machine 9.2 Installing And Configuring The License Client QNX Machine(s) Single-User Linux Verdex Setup: QUARC Installation And License Configuration Network Linux Verdex Setup: QUARC Installation And License Configuration 11.1 Installing And Configuring The License Server Linux Verdex Machine 11.2 Installing And Configuring The License Client Linux Verdex Machine(s) Network Linux x86 Setup: Installation and License Configuration Testing QUARC Troubleshooting 14.1 Getting an 'Error configuring license' message from the Configure Licensing tool. 14.2 Getting: Error occurred while executing External Mode MEX-file 'quarc_comm': An operating system specific kernel-level driver for the specified card could not be found. The card or driver may not be installed... 14.3 Getting error: ??? Model ... failed to download to target 'shmem://quarc-target:1'. The code being downloaded or run is not compatible with the type of target referenced by the target URI. For example, 32-bit code cannot be downloaded to a 64-bit target or viceversa. In Simulink, make sure the system target file selected in the model's active configuration is compatible with the target referred to by the target URI. 14.4 Getting an error when trying to build the QUARC Sine and Scope Demo 14.5 The QUARC license file has been registered successfully, but you get a 'Error configuring license' message when trying to run a QUARC model. Installing Microsoft Windows SDK for Windows 7 6 6 9 9 12 12 13 14 15 17 19 19 19 20 21 28 29 34 40 46 46 48 52 56 59 60 62 65 67 67

3 4 5

6 7

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10 11

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67 68 68 69

B C

Device Software Security Messages Windows Power Management Settings

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Thank you for purchasing QUARC


You should read this Installation Guide because: QUARC is a high performance real-time process and very careful configuration is required to ensure that maximum performance is achieved. Many complex programs must work together to achieve this performance and hence following this guide is critical to a successful installation.

There are no shortcuts Do not ignore this Installation Guide This Installation Guide covers the following: Single-user installation and configuration for Windows Network installation and configuration for Windows Single-user installation and configuration for QNX Network installation and configuration for QNX Single-user installation and configuration for Linux Verdex Network installation and configuration for Linux Verdex The Installation should be performed by a qualified computer engineer or computer technologist, preferably with experience in the following: Windows OS MATLAB, Simulink, Simulink Coder, MATLAB Coder, Control System Toolbox Real-time operation of PCs Please follow the instructions provided in this Installation Guide completely and fully If any questions arise in the course of your installation, please contact Quanser Technical Support by completing the online form at: www.quanser.com/english/html/support/fs_support.html Or by sending email to: tech@quanser.com

QUARC ARCHITECTURE AND INSTALLATION OVERVIEW

QUARC is Quanser's new, state-of-the-art rapid prototyping and production system for real-time control. QUARC integrates seamlessly with Simulink to allow Simulink models to be run in real-time on a variety of targets, including 32-bit and 64-bit Windows, QNX x86, and Linux Verdex.

1.1 QUARC Components


The following is a list of QUARC's installation components: QUARC Simulink Development Environment (SDE): This component is required to generate/build code from MATLAB and Simulink models. QUARC Targets: QUARC supports 32-bit and 64-bit Windows 7, QNX x86, and Linux Verdex targets. The QUARC Target Manager runs the generated real-time code on the selected target. The target can be local (same machine as where the SDE is) or remote. Quanser License Manager: Manages licenses for Quanser products. The above list includes the QUARC ``installation components''. Another term that will be used extensively in the upcoming sections of this document is ``installation features'' and needs to be clearly distinguished from ``installation components'' in order to avoid confusion. During the QUARC installation process, you will be asked to select the features you wish to install in one of the installation windows called Feature Selection. Depending on the installation type you are performing, you might have to select specific features to be installed or not installed. You should refer to the appropriate section of this document for specific instructions for each installation type, however in order to familiarize the user with all the installation features a brief description of each is given below. Figure 1.1 shows a snapshot of the installation window in which you have to select the features you would like to install. As you can see from the figure, the Quanser hierarchy tree view item is divided into QUARC and Quanser License Manager.

Figure 1.1: Feature Selection Window

In addition the QUARC hierarchy tree view item itself is divided into QUARC Autodesk 3ds Max Plugins, QUARC Blender Plugins, QUARC Gumstix Support, QUARC Java Classes, QUARC NEES Components, QUARC PTI Visualeyez Server, QUARC Simulink Application Components, QUARC Simulink Beta Components, QUARC Targets Deprecated Components, QUARC Simulink Development Environment, and QUARC Windows Target, as shown in Figure 1.2.

Figure 1.2: Expanded View of the Feature Selection Window

The QUARC Autodesk 3ds Max Plugins feature adds plugins to 3ds Max for QUARC.

The QUARC Blender Plugins feature adds plugins to Blender for QUARC. The QUARC Gumstix Support feature adds an LLVM-based cross-compiler into QUARC and makes building code for Linux Verdex on Windows Host PC possible. Caution: By default in the Typical installation configuration, this Gumstix Support component is NOT selected and not installed. In order to use QUARC with either the Quanser Qbot, Qball or any other QUARC Linux Verdex targets, this Gumstix Support component must be selected and installed, as depicted in Figure 1.3.

Figure 1.3: Enable Gumstix Support

The QUARC Java Classes feature allows Java languages to be used with QUARC. The QUARC NEES Components feature allows NEES Java daemon. The QUARC PTI Visualeyez Server feature adds support for PTI Visualeyez products. This feature is optional is you are not using Visualeyez related products, and NOT compatible with 64-bit Windows 7 host. The QUARC Application Components feature includes blocks that are specifically designed for the projects that Quanser has actively involved in. In general, this feature is not necessary for most users. The QUARC Simulink Beta Components feature includes additional blocks on top of those provided in the QUARC SDE. However the blocks included in this library are beta versions. Please note that this feature is chosen not to be installed by default. If you would like to install this feature, you should manually include it in the Feature Selection window during the installation process. Caution: By default, this component is NOT installed. But if using Quanser Qbot Curriculum, it is highly recommended to install this feature. The QUARC Deprecated Components feature includes legacy blocks that are no longer supported by Quanser, but still useful for some specific hardware. The QUARC Simulink Development Environment (SDE) feature, as explained above is required to generate/build code to be later run on a real-time target from MATLAB/Simulink models. If you do not install this feature, you will

not be able to build your models and hence you can not generate real-time code and download it to your models. The QUARC Windows Target feature is required to run the generated code from MATLAB/Simulink models on a real-time Windows target (local or remote). As explained above without the QUARC SDE, you will not be able to generate code from MATLAB/Simulink models. However please note that if the QUARC Windows Target feature is installed without installing the QUARC SDE, you can still run previously generated QUARC executable files on your Windows target provided that appropriate licensing is present. The Quanser License Manager feature is required to manage the licenses issued with your product. This feature must be present when you configure your license for the first time after the installation as well as each time you use your QUARC product. Another important distinction that needs to be made to avoid possible confusion is between the terms host, target, server and client. QUARC Host is the machine on which code is generated from MATLAB/Simulink models. QUARC Target is the machine on which the generated code runs. License Server is the machine on which the Quanser License Manager is installed in a network installation. A QUARC Host and a QUARC Target may both use the License Server to configure their product licensing. Client is a machine that uses the license server to configure its licensing and may either be a host or a target as noted. Throughout this document, the terms server and client are only used to specify a server/client relationship in the licensing sense and do not indicate the host/target relationship in any means. There are two installation modes associated with QUARC, namely single-user installation and network installation. Depending on the license type you have purchased (i.e., single-user license or network license), you must follow the respective installation instructions found in the upcoming sections of this document. However, in order to familiarize the user with both modes and their overall architecture, a brief description of each is given below.

1.2 Single-User Mode


In the single-user mode, all of the above components are installed on a single machine and both the license manager and the QUARC product itself will be configured on this machine after the installation. A detailed description of this procedure is given in the Single-User Installation sections of this document and you should follow these instructions if you have purchased a single-user license.

1.3 Network Mode


In this mode the QUARC SDE and other QUARC Target components will be installed on every client machine and only the Quanser License Manager component is installed on the license server machine. In addition after the installation has completed, the license configuration tool will be used to configure the QUARC product on client machines and the License Manager on the server machine. Again, a detailed description of this procedure will be presented in the Network Installation sections of this document and you should follow these instructions if you have purchased a network license. Please note that, it is also possible to only install the QUARC Target component on your client machines. In this case, since QUARC SDE is not installed, you will not be able to generate/build code from your Simulink models. However you can still run previously generated QUARC executable files on your intended target provided that: You have met QUARC Target's software/hardware requirements. Refer to the Software Requirements and Hardware Requirements sections in this document. Your intended target is included in the license you have purchased. (For example if you have only purchased the Windows Target License, you will not be able to run code on a QNX x86 target). QUARC allows you to run the real-time code generated from your Simulink models on both local and remote targets. Figure 1.4 illustrates QUARC's architecture and its components when the host and target are on the same machine:

Figure 1.4: Local Configuration With QUARC Host And Target On The Same Machine

Figure 1.5 below illustrates QUARC's architecture and its components when the code runs on a remote target (or multiple remote targets).

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Figure 1.5: Remote Configuration With QUARC Host And Target On Different Machines

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SOFTWARE REQUIREMENTS

In this section software requirements for proper operation of each of the QUARC installation components discussed above are presented.

2.1 QUARC Simulink Development Environment (SDE)


The software requirements for the QUARC SDE component running on the 32-bit or 64-bit Windows host PC include: 32-bit or 64-bit MATLAB R2011a, R2011b, R2012a, or R2012b. Simulink accompanying R2011a, R2011b, R2012a, or R2012b. Simulink Coder accompanying MATLAB R2011a, R2011b, R2012a, or R2012b. MATLAB Coder accompanying MATLAB R2011a, R2011b, R2012a, or R2012b (required by Simulink Coder). Optional but highly recommended: Control System Toolbox accompanying MATLAB R2011a, R2011b, R2012a, or R2012b. QUARC does not actually require the Control System Toolbox to operate. However, the Control System Toolbox is used by most of Quanser's controls laboratories. There are also additional requirements for the QUARC SDE component that depend on the target type for which you need to build code, as expressed in the subsequent sections.

2.1.1 QUARC SDE Compatibility Chart For The 32-bit Windows Target
QUARC Target for 32-bit Windows requires Microsoft Visual Studio 2010 Professional Edition or Microsoft Windows SDK 7.1. The QUARC SDE Compatibility Chart for the QUARC 32-bit Windows Target is described in Table 2.1. 32-bit Windows Host PC For Windows Target # 7 7 32-bit MATLAB, Simulink, Simulink Coder, MATLAB Coder, Control System Toolbox R2011a, R2011b R2012a, R2012b

Windows OS Service Pack

Microsoft Compiler

SP1 SP1

Visual Studio 2010 (10.0) Professional Edition Visual Studio 2010 (10.0) Professional Edition or Windows SDK 7.1

Table 2.1: QUARC SDE Compatibility Chart For The 32-bit Windows Target

2.1.2 QUARC SDE Compatibility Chart For The 64-bit Windows Target
QUARC Target for 64-bit Windows requires Microsoft Microsoft Visual Studio 2010 Professional Edition or Microsoft Windows SDK 7.1. The QUARC SDE Compatibility Chart for the QUARC 64-bit Windows Target is described in Table 2.2.

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64-bit Windows Host PC For Windows Target # 7 7

Windows OS Service Pack

Microsoft Compiler

64-bit MATLAB, Simulink, Simulink Coder, MATLAB Coder, Control System Toolbox R2011a, R2011b R2012a, R2012b

SP1 SP1

Visual Studio 2010 (10.0) Professional Edition Visual Studio 2010 (10.0) Professional Edition or Windows SDK 7.1

Table 2.2: QUARC SDE Compatibility Chart For The 64-bit Windows Target

2.1.3 QUARC SDE Compatibility Chart For The QNX x86 Target
QUARC Target for QNX x86 requires Software Development Platform (SDP, a.k.a., Momentics) x86 Cross-Hosted Development Tools for Windows Host Environment 6.5. The resulting QUARC SDE Compatibility Chart for the QUARC QNX x86 Target in described in Table 2.3. QNX SDP x86 Cross-Hosted Development Tools 6.5 For Microsoft Windows 32-bit or 64-bit MATLAB, Simulink, Simulink Coder, MATALB Coder, Control System Toolbox R2011a, R2011b, R2012a, R2012b

32-bit or 64-bit Windows Host PC For QNX x86 Target # 7

Windows OS Service Pack

SP1

Table 2.3: QUARC SDE Compatibility Chart For The QNX x86 Target

2.1.4 QUARC SDE Compatibility Chart For The Linux Verdex Target
QUARC Target for Linux Verdex does not require any cross-compiler on the Windows host as the compilation of the generated code is done remotely on the targeted Gumstix board itself. The resulting QUARC SDE Compatibility Chart for the QUARC Linux Verdex Target in described in Table 2.4. 32-bit or 64-bit MATLAB, Simulink, Simulink Coder, MATLAB Coder, Control System Toolbox R2011a, R2011b, R2012a, R2012b

32-bit or 64-bit Windows Host PC For Linux Verdex Target # 7

Windows OS Service Pack

SP1

Table 2.4: QUARC SDE Compatibility Chart For The Linux Verdex Target

2.2 QUARC Targets


The software requirements for this installation component depend on the target type on which you need to run code:

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QUARC Target for Windows requires Microsoft Windows 7 SP1. QUARC Target for QNX x86 requires QNX Neutrino 6.5. QUARC Target for Linux Verdex requires a Gumstix Verdex Pro XL6P board equipped with a QUARCcustomized OpenEmbedded (OE) root filesystem running Linux kernel 2.6.21 (or later) and setup with the full GNU compilation suite based on GCC version 4.1.2 (or later), as the code generated from the Windows host is compiled locally on the Linux Verdex system, where it then also run. Such a QUARC-optimized gumstix OE root filesystem is provided by Quanser.

2.3 Quanser License Manager


Microsoft Windows 7 SP1. QNX Neutrino 6.5. Linux Verdex. Linux x86 Ubuntu 10.04 Fedora 13 CentOS 5.5 OpenSuSE 11.3 The above Linux distributions are fully tested and officially supported. If you are using a different version, you may find an error after the installation stage when the installer trying to enable Quanser License Manager at start-up. Please refer to Section 12. for more details.

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USING MICROSOFT VISUAL STUDIO 2010 PROFESSIONAL EDITION WITH QUARC

Microsoft Visual Studio 2010 Professional Edition is supported and can be used by all versions of QUARC-supported MATLAB/Simulink, as indicated in the QUARC Software Compatibility Chart. In this section, detailed instructions on how to install Microsoft Visual Studio 2010 Professional Edition will not be discussed. However, it is important to ensure that the X64 Compilers and Tools feature is selected to be installed. Otherwise, QUARC will not be able to cross-compile real-time models from 32-bit Windows host machines to 64-bit target systems. As shown in Figure 3.1 in the Visual Studio installation Options Page, ensure the box in front of X64 Compilers and Tools is checked.

Figure 3.1: Visual Studio 2010 Professional Edition Installer Options Page Once Microsoft Visual Studio 2010 Professional Edition is installed, launch MATLAB and type: mex -setup in the MATLAB Command Window. Follow the instructions to select Microsoft Visual C++ 2010 as the default MATLAB compiler. This is illustrated in Figure 3.2.

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Figure 3.2: Visual Studio 2010 Professional Edition Compiler Selection

Please note that in order for mex -setup to be able to select a compiler, it should already be installed on the system. Therefore the Microsoft Visual Studio 2010 Professional Edition should be installed before executing mex -setup as instructed above. Please keep in mind that questions, concerns and any technical issues regarding the installation and/or use of the Microsoft Visual Studio 2010 Professional Edition should be directed to Microsoft and not Quanser. The above instructions simply outline the steps required to configure QUARC with this compiler, should you choose to use it.

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USING MICROSOFT WINDOWS SDK WITH QUARC

If Microsoft Visual Studio 2010 Professional Edition is not available, then the Microsoft Windows SDK version 7.1 can be used as your compiler, as long as your version of MATLAB/Simulink supports it, as indicated in the QUARC Software Compatibility Chart. If your version of MATLAB/Simulink does not support Microsoft Windows SDK version 7.1, then Microsoft Visual Studio 2010 Professional Edition should be used. In order to use the Microsoft Windows SDK version 7.1 as your compiler, you should follow the instructions below before installing QUARC. If you have performed a QUARC network licensing installation, you only need to perform the tasks below on your license client (i.e., QUARC host) machine(s). 1. Please refer to Appendix A for detailed instructions for installing Microsoft Windows SDK for Windows 7. 2. Once the Microsoft Windows SDK for Windows 7 is installed, launch MATLAB and type: mex -setup in the MATLAB Command Window. Follow the instructions to select Microsoft Software Development Kit (SDK) as the default MATLAB compiler. This is illustrated in Figure 4.1.

Figure 4.1: Windows SDK Compiler Selection Please note that in order for mex -setup to be able to select a compiler, it should already be installed on the system. Therefore the Microsoft Windows SDK should be installed before executing mex -setup as instructed above.

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Please keep in mind that questions, concerns and any technical issues regarding the installation and/or use of the Microsoft Windows SDK should be directed to Microsoft and not Quanser. The above instructions simply outline the steps required to configure QUARC with this compiler, should you choose to use it.

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HARDWARE REQUIREMENTS

In this section hardware requirements for proper operation of the installation components discussed earlier are presented. Note that the disk space requirements listed below are only for the QUARC component being installed. The disk space requirements for any other third party software such as MATLAB and compilers should be obtained from their appropriate documentation and added separately. Caution: QUARC neither install nor run on any type of virtual machines.

5.1 QUARC Simulink Development Environment (SDE)


The following indicates the hardware requirements of the intended Windows host (SDE) machine. Processor: 2.8 GHz clock speed or higher on a dual-core Intel or AMD CPU. RAM: 1024 MB (2048 MB recommended). Disk Space: 255 MB (1.5GB for complete installation).

5.2 QUARC Targets


5.2.1 Windows Target
The following indicates the hardware requirements of the intended Windows target machine. If the target system is the same as the host system, the QUARC SDE hardware requirements should be used. Processor: 300 MHz clock speed or higher on Intel Pentium or AMD Family. RAM: 256 MB. Disk Space: 32 MB.

5.2.2 QNX x86 Target


The following indicates the hardware requirements of the intended QNX x86 target machine. Processor: 300 MHz clock speed or higher on x86 or AMD Family. RAM: 128 MB. Disk Space: 7 MB.

5.2.3 Linux Verdex Target


The following indicates the hardware requirements of the intended Linux Verdex target machine. Processor: 600 MHz clock speed on PXA270 ARM CPU. RAM: 128 MB. Disk Space: 5 MB.

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5.3 Quanser License Manager


The following indicates the hardware requirements of the intended Quanser License Manager machine. Processor: 300 MHz clock speed or higher on x86 or AMD Family. RAM: 128 MB. Disk Space: 8 MB.

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SINGLE-USER WINDOWS SETUP: QUARC INSTALLATION AND LICENSE CONFIGURATION

ALL software MUST be installed using the Administrator account or an account with administrator privileges. This ensures that all paths are available to all User Accounts. Please follow these instructions if you have purchased a single-user license and would like to install QUARC on a Windows machine. If you have purchased a network license or would like to install QUARC on a QNX or Linux Verdex machine, please follow the corresponding installation instructions found in other sections of this document. Caution: It is extremely important to follow the instructions in Section C to change the system power setting in order to prevent the system from losing control of the hardware. Caution: Ensure that the person installing QUARC is logged as Administrator or has Administrator privileges. This can be checked in Windows 7 by right-clicking on Computer and selecting Manage. Under Computer Management, in the System Tools section, expand Local Users and Groups and open the Groups section. Then double-click on the Administrators name and see if the login name that you are using is displayed (with the correct domain name, if applicable) in the Members list. If your username is not displayed in the list, then you do not have Administrator privileges. If the Administrators group does not appear, then you do not have Administrator privileges. Even if you are logged as Administrator, it may still prompt you to elevate your privileges to full Administrator privileges when you run the Configure Licensing tool. Caution: Ensure that the version of QUARC that you are planning to install is compatible with your QUARC license file. This can be checked by opening and reading the contents of your QUARC license file. This is a text file (with a .qlic or .lic file extension) that can be opened, for example, with Wordpad. The version of QUARC that you are planning to install should be included within the version range indicated by the Minimum version: and Maximum version: fields of the QUARC license file. Caution: If you already have an earlier version of QUARC installed on your machine it must be removed prior to installing the newer version. In order to uninstall an earlier installation of QUARC please follow the steps below: 1. Click on Start/Control Panel. 2. Click on the Programs and Features utility icon. 3. In the ``Uninstall or change a program'' list look for QUARC and click on it. 4. Click on the ``Uninstall '' button. 5. The uninstalling process will resume automatically to remove QUARC. It should be mentioned that the appropriate version of MATLAB should be installed prior to installing QUARC, since QUARC automatically adds itself to the MATLAB path. However it is also possible to add QUARC manually to the MATLAB path if QUARC is installed prior to installing MATLAB. This can be done by running the quarc_setup script found in <QUARC>\quarc, where <QUARC> denotes the installation directory of QUARC (typically C:\Program Files\Quanser\QUARC). Caution: If you have already installed the Quanser HIL SDK 1.2.0.10 or earlier, you should remove it before installing QUARC. QUARC contains an updated version of the HIL SDK which is incompatible with the earlier versions. Therefore make sure that this software is removed before installing QUARC.

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Caution: WinCon and QUARC should not be installed on the same version of MATLAB. If you have WinCon installed on your computer installing QUARC on the same machine will cause conflicts and result in non-proper operation of QUARC. WinCon is installed on a specific version of MATLAB chosen by the user at installation time. However QUARC will automatically add itself to the path of all MATLAB versions greater than or equal to R2007a that it finds. To avoid library conflicts, either QUARC has to be removed from the path of MATLAB versions on which WinCon is installed, or WinCon has to be completely removed before installing QUARC. To remove QUARC from the path of a specific MATLAB version simply remove all the QUARC paths from that MATLAB by using the MATLAB File/Set Path menu option. You are encouraged to read the ``WinCon to QUARC Migration'' section in QUARC documentation where you can find useful information on transitioning WinCon models to QUARC models. Make sure MATLAB and Microsoft Visual Studio are closed before beginning the installation. Turn off any antivirus software prior to installing QUARC. Your antivirus software can be turned back on at the end of this Section, once the QUARC installation is complete. The QUARC installation steps are as follows: 1. Insert the QUARC installation DVD into the DVD-ROM drive. A splash screen showing installation instructions will pop up as shown in Figure 6.1.

Figure 6.1: QUARC Installer Splash Screen 2. If the splash screen does not appear, it's probably due to the Autoplay setting on Windows. Please double-click on the DVD-ROM drive icon, or in the Windows Explorer window double-click on D:\ autorun.exe to launch the installation screen. If the DVD-ROM drive letter is not D, substitute the appropriate drive letter in the above path. 3. Click on the INSTALL link to start installation. 4. When the installer runs, the Welcome screen appears. Click Next on the QUARC Setup window as shown in Figure 6.2.

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Figure 6.2: QUARC Setup Page 5. Click Next button to see the License Agreement page, as illustrated in Figure 6.3. To install QUARC, please check the box for ``I accept the terms in the License Agreement''. Then click Next to continue.

Figure 6.3: License Agreement Installation Page 6. Figure 6.4 shows the QUARC Information page. This page contains very important information on how to deal with broken links due to upgrading QUARC from a previous version and detailed explanation about Single-User and Network Licenses. Click Next to continue.

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Figure 6.4: QUARC Information Page 7. In Figure 6.5, it is the Configure Licensing window. It is recommended to check the box for ``Run the Configure Licensing tool when the installation is complete''. Click Next to continue.

Figure 6.5: Configure Licensing page 8. In Figure 6.6 there shows the Setup Type page. This page has three options: Typical, Custom, and Complete. If Typical or Complete is chosen, the program will install the default contents corresponding to your selection and bring up the Confirm Installation page.

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Figure 6.6: Setup Type page 9. If Custom is selected, Figure 6.7 will appear for manually choosing the features to be installed. Please refer to the Important Note below for more information.

Figure 6.7: Single-User Feature Selection 10. Since you have purchased a single-user license, please install QUARC and Quanser License Manager on the same computer. In the Feature Selection window, make sure that QUARC and Quanser License Manager are both selected to be installed, as seen in Figure 6.7. Important Note: (a) By default, the Typical option will NOT install QUARC Gumstix Support feature, QUARC PTI Visualeyez

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(b) (c) (d) (e)

Server feature, QUARC Simulink Application Components feature, QUARC Simulink Beta Components feature, and QUARC Deprecated Components feature. In order to use QUARC with either Quanser Qbot, Qball or any other QUARC Linux Verdex targets, the Gumstix Support feature must be installed. If using Quanser Qbot Curriculum, it is highly recommended to install the QUARC Beta Components feature. By default, the Complete option will install ALL the features available in the installer package, and it take about 1.5GB space of the hard drive. If Custom option is chosen, in the Feature Selection window, extend the tree hierarchy under QUARC, please note that it consists of QUARC SDE, QUARC Simulink Beta Components, QUARC Java Classes, QUARC Windows Target, QUARC Gumstix Support etc. Depending on the products purchased, select specific features to be installed or not installed in the Feature Selection window. As mentioned earlier in this document, the SDE component is required to generate/build the real-time code to be run on a selected target. It should be noted that if you select to install the QUARC Target for Windows component, but not to install QUARC SDE, you will not be able to generate/build code from your Simulink models. However you can still run previously generated QUARC executable files on your intended target provided that: The QUARC Target's software/hardware requirements discussed earlier have met. The intended target is included in the license purchased. For example if you have only purchased the Windows Target License, you will not be able to run code on a QNX x86 or Linux Verdex target.

11. Click Next to be taken to the Confirm Installation page and finally click Next to begin installation. During the process, there may pop up some windows security questions regarding to the QUARC driver software. Please refer to the Section B. Device Software Security Messages for detailed information. 12. Once the installation is complete, the QUARC Information page will appear which contains instructions on using the configure licensing tool. Although step by step instructions on license configuration are given below, please read through this page as well to familiarize your self with the licensing procedure. Then click on Next. If the box next to ``Run the Configure Licensing tool now'' is checked in the last installation page, skip step 1 below. Otherwise: 1. Run the Configure Licensing tool by clicking on: Start/All Programs/Quanser/QUARC/Configure Licensing. Or double-click the QUARC license qlic file. 2. Since you have purchased a Single-User License, both the Quanser License Manager and QUARC itself are installed on the same machine and hence can be configured at once. On the QUARC License Registration window that opens, make sure Configure license manager and Configure QUARC options are both checked, as illustrated in Figure 6.8, and click on OK:

Figure 6.8: Single-User Windows License Configuration

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3. Browse to the location where you have saved the license file provided to you by Quanser, select the file and click on Open. Note 1: The Configure Licensing tool browses to the My Documents folder by default. Therefore it would be useful to save the license file provided by Quanser in the My Documents folder of the administrator account from which the software is installed. Note 2: If the QUARC license file is saved to a mapped network drive, use the full UNC path to it (e.g., \\server\licenses\quarc_user.qlic), in order to be able to successfully select it from the Configure Licensing tool. 4. A message saying ``The license has been configured successfully'' will be displayed. Click on OK. Important Note: To resolve any possible broken links in the Simulink diagram that might be caused by upgrading from an earlier version of QUARC, please use the ``Upgrade blocks'' option of the QUARC menu item. To do this simply click on the QUARC menu item in any Simulink model and select ``Upgrade blocks''. Please refer to the ``QUARC Upgrade'' section in QUARC documentation for more information on this issue. Important Note: After the QUARC installation is complete and in order to be able to build code for QUARC Target for Windows, launch MATLAB and type mex -setup in the Command Window. Follow the instructions to select Microsoft Visual Studio (see Section 3) as your default MATLAB compiler. If you would like to use the Microsoft Windows SDK compiler, follow the instructions found under Section 4.

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NETWORK WINDOWS SETUP: QUARC INSTALLATION AND LICENSE CONFIGURATION

ALL software MUST be installed using the Administrator account or an account with administrator privileges. This ensures that all paths are available to all User Accounts. Please follow these instructions if you have purchased a network license and would like to install QUARC on a Windows machine. If you have purchased a single-user license or would like to install QUARC on a QNX or Linux ARM machine, please follow the corresponding installation instructions found in other sections of this document. Caution: It is extremely important to follow the instructions in Section C. Windows Power Management Settings to change the system power setting in order to prevent the system from losing control of you hardware. Caution: Ensure that the person installing QUARC is logged as Administrator or has Administrator privileges. This can be checked in Windows 7 by right-clicking on Computer and selecting Manage. Under Computer Management, in the System Tools section, expand Local Users and Groups and open the Groups section. Then double-click on the Administrators name and see if the login name that you are using is displayed (with the correct domain name, if applicable) in the Members list. If your username is not displayed in the list, then you do not have Administrator privileges. If the Administrators group does not appear, then you do not have Administrator privileges. Even if you are logged as Administrator, it may still prompt you to elevate your privileges to full Administrator privileges when you run the Configure Licensing tool. Caution: Ensure that the version of QUARC that you are planning to install is compatible with your QUARC license file. This can be checked by opening and reading the contents of your QUARC license file. This is a text file (with a .qlic or .lic file extension) that can be opened, for example, with Wordpad. The version of QUARC that you are planning to install should be included within the version range indicated by the Minimum version: and Maximum version: fields of the QUARC license file. Caution: If you already have an earlier version of QUARC installed on your machine it must be removed prior to installing the newer version. In order to uninstall an earlier installation of QUARC please follow the steps below: 1. Click on Start/Control Panel. 2. Click on the Programs and Features utility icon. 3. In the ``Uninstall or change a program'' list look for QUARC and click on it. 4. Click on the ``Uninstall '' button. 5. The uninstalling process will resume automatically to remove QUARC. It should be mentioned that the appropriate version of MATLAB should be installed prior to installing QUARC, since QUARC automatically adds itself to the MATLAB path. However it is also possible to add QUARC manually to the MATLAB path if QUARC is installed prior to installing MATLAB. This can be done by running the quarc_setup script found in <QUARC>\quarc, where <QUARC> denotes the installation directory of QUARC (typically C:\Program Files\Quanser\QUARC). In the Network Setup, if QUARC is being installed before installing MATLAB please only run the quarc_setup script on your client machines. Caution: If you have already installed the Quanser HIL SDK 1.2.0.10 or earlier, you should remove it before installing QUARC. QUARC contains an updated version of the HIL SDK which is incompatible with the earlier versions. Therefore make sure that this software is removed before installing QUARC.

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Caution: WinCon and QUARC should not be installed on the same version of MATLAB. If you have WinCon installed on your computer installing QUARC on the same machine will cause conflicts and result in non-proper operation of QUARC. WinCon is installed on a specific version of MATLAB chosen by the user at installation time. However QUARC will automatically add itself to the path of all MATLAB versions greater than or equal to R2007a that it finds. To avoid library conflicts, either QUARC has to be removed from the path of MATLAB versions on which WinCon is installed, or WinCon has to be completely removed before installing QUARC. To remove QUARC from the path of a specific MATLAB version simply remove all the QUARC paths from that MATLAB by using the MATLAB File/Set Path menu option. You are encouraged to read the ``WinCon to QUARC Migration'' section in QUARC documentation where you can find useful information on transitioning WinCon models to QUARC models. The network licensing setup consists of two separate installations. Please install the Quanser License Manager on the License server machine and only the QUARC SDE and/or Windows Target components on every client machine on the network. There are also separate procedures for configuring the license on server and client machines which will be outlined in this section.

7.1 Installing And Conguring The License Server Windows Machine


To install the Quanser License Manager on the license server machine follow the instructions listed below. Also ensure that MATLAB and Microsoft Visual Studio are closed before beginning the installation. 1. Insert the QUARC installation DVD into the DVD-ROM drive. A splash screen showing installation instructions will pop up as shown in Figure 7.1.

Figure 7.1: QUARC Installer Splash Screen 2. If the splash screen does not appear, it's probably due to the Autoplay setting on Windows. Please double-click on the DVD-ROM drive icon, or in the Windows Explorer window double-click on D:\ autorun.exe to launch the installation screen. If the DVD-ROM drive letter is not D, substitute the appropriate drive letter in the above path. 3. Click on the INSTALL link to start installation. 4. When the installer runs, the Welcome screen appears. Click Next on the QUARC Setup window as shown in Figure 7.2.

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Figure 7.2: QUARC Setup Page 5. Click Next button to see the License Agreement page, as illustrated in Figure 7.3. To install QUARC, please check the box for ``I accept the terms in the License Agreement''. Then click Next to continue.

Figure 7.3: License Agreement Installation Page 6. Figure 7.4 shows the QUARC Information page. This page contains very important information on how to deal with broken links due to upgrading QUARC from a previous version, and detailed explanation about SingleUser and Network Licenses. Click Next to continue.

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Figure 7.4: QUARC Information Page 7. In Figure 7.5, the Configure Licensing window. It is recommended to check the box for ``Run the Configure Licensing tool when the installation is complete''. Then click next to continue.

Figure 7.5: Configure Licensing page 8. In Figure 7.6 there shows the Setup Type page. Select Custom option to continue.

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Figure 7.6: Setup Type page 9. Please only install the Quanser License Manager on the License Server machine in the Feature Selection window. Click on the icon to the left of QUARC and select ``Entire feature will be unavailable'' as shown in Figure 7.7.

Figure 7.7: Single-User Feature Selection 10. Click Next to the Confirm Installation window, then click on Install to begin the installation. 11. Once the installation is complete, the QUARC Information page will appear in which contains instructions on using the configure licensing tool. Although step by step instructions on license configuration are given below please read through this page as well to familiarize with the licensing procedure. Then click on Next.

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If the box next to ``Run the Configure Licensing tool now'' is checked in the last installation page, skip step 1 below. Otherwise: 1. Run the Configure Licensing Tool by clicking on: Start/All Programs/Quanser/QUARC/Configure Licensing. Or double-click the QUARC license qlic file. 2. Configure the License Manager on the License Server machine as it is the only component installed. Therefore in the QUARC License Registration window, only select Configure license manager as shown in Figure 7.8 and click on OK.

Figure 7.8: License Configuration for the License Server 3. Browse to the location where you have saved the license file provided to you by Quanser, select the file and click on Open. Note: The Configure Licensing tool browses to the My Documents folder by default. Therefore it would be useful to save the license file provided by Quanser in the My Documents folder of the administrator account from which the software is installed. 4. Make sure the following parameters are entered in the Network License Parameters window that opens as shown in Figure 7.9. Host name or IP address: localhost Port : 16999

Figure 7.9: Network License Parameters For The License Server 5. Click OK. A message saying ``The license has been configured successfully'' will be displayed.

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Please note that the above installation/license configuration instructions are only valid for the License Server computer. Caution: If the License Server computer is equipped with a Firewall, please ensure that the port (by default: 16999) configured to be used by the Quanser License Manager is allowed (i.e., not blocked) by the active Firewall.

7.2 Installing And Conguring The License Client Windows Machine(s)


There are different instructions on how to install QUARC and configure the license on client machines which follows next. Make sure MATLAB and Microsoft Visual Studio are both closed before beginning the installation. Turn off any antivirus software prior to installing QUARC. Your antivirus software can be turned back on at the end of this Section, once the QUARC installation is complete. Please perform the following installation steps for each client machine on the network: 1. Insert the QUARC installation DVD into the DVD-ROM drive. A splash screen showing installation instructions will pop up as shown in Figure 7.10.

Figure 7.10: QUARC Installer Splash Screen 2. If the splash screen does not appear, it's probably due to the Autoplay setting on Windows. Please double-click on the DVD-ROM drive icon, or in the Windows Explorer window double-click on D:\ autorun.exe to launch the installation screen. If the DVD-ROM drive letter is not D, substitute the appropriate drive letter in the above path. 3. Click on the INSTALL link to start installation. 4. When the installer runs, the Welcome screen appears. Click Next on the QUARC Setup window as shown in Figure 7.11.

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Figure 7.11: QUARC Setup Page 5. Click Next button to see the License Agreement page, as illustrated in Figure 7.12. To install QUARC, please check the box for ``I accept the terms in the License Agreement''. Then click Next to continue.

Figure 7.12: License Agreement Installation Page 6. Figure 7.13 shows the QUARC Information page. This page contains very important information on how to deal with broken links due to upgrading QUARC from a previous version, and detailed explanation about Single-User and Network Licenses. Click Next to continue.

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Figure 7.13: QUARC Information Page 7. In Figure 7.14, the Configure Licensing window. It is recommended to check the box for ``Run the Configure Licensing tool when the installation is complete''. Then click next to continue.

Figure 7.14: Configure Licensing page 8. In Figure 7.15 there shows the Setup Type page. Select Custom option to continue.

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Figure 7.15: Setup Type page 9. In the Feature Selection window, don't need to install Quanser License Manager on the client machines.. Click on the icon to the left of Quanser License Manager and select ``Entire feature will be unavailable'' as shown in Figure 7.16.

Figure 7.16: Feature Selection For The License Client(s) Important Note: (a) By default, the Typical option will NOT install QUARC Gumstix Support feature, QUARC PTI Visualeyez Server feature, QUARC Simulink Application Components feature, QUARC Simulink Beta Components feature, QUARC Deprecated Components feature.

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(b) In order to use QUARC with either Quanser Qbot, Qball or any other QUARC Linux Verdex targets, the Gumstix Support feature must be installed. (c) If using Quanser Qbot Curriculum, it is highly recommended to install the QUARC Beta Components feature. (d) In the Feature Selection window, extend the tree hierarchy under QUARC please note that it consists of QUARC SDE, QUARC Simulink Beta Components, QUARC Java Classes, QUARC Windows Target, QUARC Gumstix Support etc. Depending on the products purchased, select specific features to be installed or not installed in the Feature Selection window. As mentioned earlier in this document, the SDE component is required to generate/build the real-time code to be run on a selected target. It should be noted that if you select to install the QUARC Target for Windows component, but not to install QUARC SDE, you will not be able to generate/build code from your Simulink models. However you can still run previously generated QUARC executable files on your intended target provided that: The QUARC Target's software/hardware requirements discussed earlier have met. The intended target is included in the license purchased. For example if you have only purchased the Windows Target License, you will not be able to run code on a QNX x86 or Linux Verdex target. 10. Click Next to be taken to the Confirm Installation page and finally click Next to begin installation. During the process, there may pop up some windows security questions regarding to the QUARC driver software. Please refer to the Section Section B for detailed information. 11. Once the installation is complete, the QUARC Information page will appear which contains instructions on using the configure licensing tool. Although step by step instructions on license configuration are given below please read through this page as well to familiarize with the licensing procedure. Then click on Next. After the installation is complete, configure the product license on each client machine before being able to use QUARC on them. If the box next to ``Run the Configure Licensing tool now'' is checked in the last installation page, skip step 1 below. Otherwise: 1. Run the Configure Licensing Tool by clicking on: Start/All Programs/Quanser/QUARC/Configure Licensing. Or double-click the QUARC license qlic file. 2. Only configure QUARC on the client machines, as it is the only component installed. Therefore in the QUARC License Registration window, only select Configure QUARC and click on OK as shown in Figure 7.17.

Figure 7.17: License Configuration for the License Clients 3. Browse to the location where you have saved the license file provided to you by Quanser, select the file and click on Open. Note 1: The Configure Licensing tool browses to the My Documents folder by default. Therefore it would be useful to save the license file provided by Quanser in the My Documents folder of the administrator account

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from which the software is installed. Note 2: If the QUARC license file is saved to a mapped network drive, use the full UNC path to it (e.g., \\server\licenses\quarc_user.qlic), in order to be able to successfully select it from the Configure Licensing tool. 4. Enter the host name or IP address of the machine on which you have installed and configured the Quanser License Manager in the Network License Parameters window that opens. This IP address can be obtained by typing ipconfig in the Command Prompt window of the license server machine. After you have entered the IP address make sure 16999 is entered as port and click OK. 5. A message saying ``The license has been configured successfully'' will be displayed. Important Note: To resolve any possible broken links in the Simulink model that might be caused by upgrading from an earlier version of QUARC, please use the ``Upgrade blocks'' option of the QUARC menu item. To do this simply click on the QUARC menu item in any Simulink model and select ``Upgrade blocks''. Please refer to the ``QUARC Upgrade'' section in QUARC documentation for more information on this issue. Important Note: After the QUARC installation is complete and in order to be able to build code for QUARC Target for Windows, launch MATLAB and type mex -setup in the Command Window. Follow the instructions to select Microsoft Visual Studio (see Section 3) as your default MATLAB compiler. If you would like to use the Microsoft Windows SDK compiler, follow the instructions found under Section 4.

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SINGLE-USER QNX SETUP: QUARC INSTALLATION AND LICENSE CONFIGURATION

ALL software MUST be installed using the Administrator account or an account with administrator privileges. This ensures that all paths are available to all User Accounts. Please follow these instructions if you have purchased a single-user license and would like to install QUARC on a QNX x86 machine. If you have purchased a network license or would like to install QUARC on a Windows or Linux ARM machine, please follow the corresponding installation instructions found in other sections of this document. Please also note that regardless of the license type you have purchased (single-user or network), your host is always a Windows machine when building code for a QNX target. The upcoming installation instructions are for installing QUARC on QNX machine(s), so that code generated from Simulink models on your Windows host can be run in real-time on your QNX target. Caution: Ensure that the version of QUARC that you are planning to install is compatible with your QUARC license file. This can be checked by opening and reading the contents of your QUARC license file. This is a text file (with a .qlic or .lic file extension) that can be opened by any text editor software. The version of QUARC that you are planning to install should be included within the version range indicated by the Minimum version: and Maximum version: fields of the QUARC license file. Caution: If you already have an earlier version of QUARC installed on your machine it must be removed prior to installing the newer version. In order to uninstall an earlier installation of QUARC please follow the steps below on your QNX machine: 1. Click on Launch and select Uninstall in QUARC. 2. Click Uninstall button to proceed. 3. Restart your computer. The QUARC installation steps are as follows: 1. Insert the QUARC installation DVD into the DVD-ROM drive. Click Utilities on the right column of your desktop and select File Manager, then browse to /fs/cd0/quarc/qnx_x86. If the DVD-ROM drive is not cd0, substitute the appropriate drive in the above path. 2. Double-click setup_gui to start the installation process as depict in Figure 8.1.

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Figure 8.1: Installation Splash Screen Window 3. Check the box in the EULA window in Figure 8.2 and click Next to start the installation process as shown in Figure 8.3.

Figure 8.2: License Agreement Installation Page

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Figure 8.3: Installation in Progress Window 4. An Installation Complete window as illustrated in Figure 8.4 will show up when the installation process finishes successfully.

Figure 8.4: Installation Complete Window 5. Check the box and click Finish to exit the installer and begin configuring your license in the next window (Figure 8.5). Or you can click on Launch and select Configure Licensing from the QUARC menu item. Please note that the Configure Licensing tool must be run as root. 6. Since you have purchased a single-user license, both the QUARC product and the Quanser License Manager

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can be configured at once. Make sure Configure license manager and Configure QUARC options are both checked in the Quanser License Registration window as shown in Figure 8.5.

Figure 8.5: Single-User QNX License Configuration 7. Click on OK. The Select the license file window appears. Browse to the location where you have saved the license file provided to you by Quanser. Select the file and click on Open. Note: The Configure Licensing tool browses to the root directory by default. Therefore it would be useful to save the license file provided by Quanser in the root directory. 8. A message saying ``The license has been configured successfully'' will be displayed. 9. Reboot your computer. Besides the GUI oriented installation process above, a command line method is also provided for your convenience, the QUARC installation steps are as follows: 1. Be sure to uninstall any previous version of QUARC by using the command ``uninstall_quarc_runtime_cmd''. 2. Use setup_cmd to start installation process. 3. Type ``yes'' if you agree with the license agreement and the program will automatically install QUARC to /opt/quanser . 4. Upon completion, the system will prompt to configure license. Or you can go to the folder /opt/quanser/bin, and start the configuration process by using ``quanser_license_registration_cmd -m -c -i QUARC'' command. You can also use ``quanser_license_registration_cmd -?'' command to check the options to fit your needs. 5. Since you have purchased a single-user license, both the QUARC product and the Quanser License Manager can be configured at once by using the default option ``3''. 6. Input the folder where your license locates at the first prompt, then input the filename of your license at the second prompt. 7. Use the default value (localhost) when setting the hostname of your license server, and make sure using port 16999.

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8. A prompt ``The license has been configured successfully'' will show up. 9. Reboot your computer. Important Note: As mentioned in the Software Requirements section (i.e., Section 2) of this document in order to be able to build code for QUARC Target for QNX x86, you need to install the QNX Momentics Development Suite 6.5 on your host system. In addition to build code for QUARC Target for Windows you need to install Microsoft Visual Studio 2010 Professional Edition or Microsoft Windows SDK. It turns out that a conflict exists with using the MAKEFLAGS environment variable between QNX Momentics' make command and Microsoft's nmake command. If you are only building code for QUARC Target for QNX x86 this conflict will not affect you. However to be able to build code for both targets please follow the steps outlined below to work around this problem: 1. Right-click on My Computer and select Properties. 2. In the System Properties window, click on the Advanced tab. 3. Click on Environment Variables. 4. Look for the variable called MAKEFLAGS which can be found under System variables in the Environment Variables window. Select this variable and click on Edit as shown in Figure 8.6.

Figure 8.6: Editing the MAKEFLAGS System Variable 5. The Edit System Variable window opens. Simply rename the Variable name to MAKEFLAGS_QNX as shown in Figure 8.7 and click on OK.

Figure 8.7: Renaming the MAKEFLAGS System Variable

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6. Click OK on the Environment Variables and System Properties windows as well.

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NETWORK QNX SETUP: QUARC INSTALLATION AND LICENSE CONFIGURATION

ALL software MUST be installed using the Administrator account or an account with administrator privileges. This ensures that all paths are available to all User Accounts. Please follow these instructions if you have purchased a network license and would like to install QUARC on a QNX machine. If you have purchased a single-user license or would like to install QUARC on a Windows machine, please follow the corresponding installation instructions found in other sections of this document. Please also note that regardless of the license type you have purchased (single-user or network), your host is always a Windows machine when building code for a QNX target. The upcoming installation instructions are for installing QUARC on QNX machines, so that code generated from Simulink models on your Windows host can be run in real-time on your QNX target. Caution: Ensure that the version of QUARC that you are planning to install is compatible with your QUARC license file. This can be checked by opening and reading the contents of your QUARC license file. This is a text file (with a .qlic or .lic file extension) that can be opened by any text editor software. The version of QUARC that you are planning to install should be included within the version range indicated by the Minimum version: and Maximum version: fields of the QUARC license file. Caution: If you already have an earlier version of QUARC installed on your machine it must be removed prior to installing the newer version. In order to uninstall an earlier installation of QUARC please follow the steps below on your QNX machine: 1. Click on Launch and select Uninstall in QUARC. 2. Click Uninstall button to proceed. 3. Restart your computer.

9.1 Installing And Conguring The License Server QNX Machine


As mentioned earlier in this document, in the case of network installation and configuration, the Quanser License Manager component is installed on a license server machine, and the rest of the computer(s), i.e., license client(s) in the network get licensed through the server and do not need to have the license manager component installed. This principle is also valid for QNX network setup, however the license server machine does not necessarily need to be a QNX system in this case. You can also have your license server run on a Windows machine while the license clients are all QNX systems. If you would like your license server to run on a Windows machine, please follow the instructions for installing Quanser License Manager on the license server found in Section 7.1 of this document. Otherwise if you would like your license server to run on a QNX machine please follow the instructions given in this section. Finally, please note that in the QNX Network Setup mode, same installation instructions apply to the license server and license client(s). However different license configuration procedures apply to server and client(s). Therefore a single set of installation instructions to be performed on the license server and each client in the network is given first, followed by separate license configuration instructions for each. Execute the following on your license server QNX machine and each of your QNX client machines: 1. Insert the QUARC installation DVD into the DVD-ROM drive. Click Utilities on the right column of your desktop and select File Manager, then browse to /fs/cd0/quarc/qnx_x86. If the DVD-ROM drive is not cd0, substitute

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the appropriate drive in the above path. 2. Double-click setup_gui to start the installation process as depict in Figure 8.1. 3. Toggle the checkbox in the EULA window in Figure 8.2 and click Next to start the installation process as shown in Figure 8.3. 4. An Installation Complete window as illustrated in Figure 8.4 will show up when the installation process finishes successfully. In order to configure the license on your license server machine please follow the steps outlined below. 1. Check the box and click Finish to exit the installer and begin configuring your license in the next window (Figure 8.5). Or you can click on Launch and select Configure Licensing from the QUARC menu item. Please note that the Configure Licensing tool must be run as root. 2. You only need to configure the License Manager on the License Server machine. Therefore in the Quanser License Registration window, only select Configure license manager as shown in Figure 9.1. 3. Click on OK. The Select the license file window appears. Browse to the location where you have saved the license file provided to you by Quanser. Select the file and click on Open. Note: The Configure Licensing tool browses to the root directory by default. Therefore it would be useful to save the license file provided by Quanser in the root directory.

Figure 9.1: QNX License Configuration For The License Server 4. Make sure the following parameters are entered in the Network license parameters window that opens as illustrated in Figure 9.2: Host name or IP address: localhost Port : 16999

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Figure 9.2: Network License Parameters For The License Server 5. Click on OK. A message saying ``The license has been configured successfully'' will be displayed. 6. Reboot the computer. Besides the GUI oriented installation process above, a command line method is also provided for your convenience, the QUARC installation steps are as follows: 1. Be sure to uninstall any previous version of QUARC by using the command ``uninstall_quarc_runtime_cmd''. 2. Use setup_cmd to start installation process. 3. Type ``yes'' if you agree with the license agreement and the program will automatically install QUARC to /opt/quanser . 4. Upon completion, the system will prompt to configure license. Or you can go to the folder /opt/quanser/bin, and start the configuration process by using ``quanser_license_registration_cmd -m -i QUARC'' command. You can also use ``quanser_license_registration_cmd -?'' command to check the options to fit your needs. 5. You only need to configure the License Manager on the License Server machine. by using the option ``1''. 6. Input the folder where your license locates at the first prompt, then input the filename of your license at the second prompt. 7. Use the default value (localhost) when setting the hostname of your license server, and make sure using port 16999. 8. A prompt ``The license has been configured successfully'' will show up. 9. Reboot your computer. Please note that the above license configuration instructions are only valid for the license server machine.

9.2 Installing And Conguring The License Client QNX Machine(s)


There is a different set of instructions for configuring the license on client QNX machines which is given next. These instructions are to be followed after you have restarted your system as instructed at the end of the QUARC installation.

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1. Check the box and click Finish to exit the installer and begin configuring your license in the next window (Figure 8.5). Or you can click on Launch and select Configure Licensing from the QUARC menu item. Please note that the Configure Licensing tool must be run as root. 2. You only need to configure QUARC on your client machine(s). Therefore in the Quanser License Registration window, only select Configure QUARC as shown in Figure 9.3.

Figure 9.3: QNX License Configuration For License Client(s) 3. Click on OK. The Select the license file window appears. Browse to the location where you have saved the license file provided to you by Quanser. Select the file and click on Open. Note: The Configure Licensing tool browses to the root directory by default. Therefore it would be useful to save the license file provided by Quanser in the root directory. 4. Enter the host name or IP address of your license server machine in the Network License Parameters window that opens. This IP address can be obtained by typing /sbin/ifconfig in a QNX terminal window on the license server machine. After you have entered the IP address, make sure 16999 is entered as port and click OK. 5. A message saying ``The license has been configured successfully'' will be displayed. 6. Reboot your computer. Besides the GUI oriented installation process above, a command line method is also provided for your convenience, the QUARC installation steps are as follows: 1. Be sure to uninstall any previous version of QUARC by using the command ``uninstall_quarc_runtime_cmd''. 2. Use setup_cmd to start installation process. 3. Type ``yes'' if you agree with the license agreement and the program will automatically install QUARC to /opt/quanser . 4. Upon completion, the system will prompt to configure license. Or you can go to the folder /opt/quanser/bin, and start the configuration process by using ``quanser_license_registration_cmd -c -i QUARC'' command. You can also use ``quanser_license_registration_cmd -?'' command to check the options to fit your needs. 5. You only need to configure the License Manager on the License Server machine. by using the option ``2''. 6. Input the folder where your license locates at the first prompt, then input the filename of your license at the second prompt.

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7. Enter the host name or IP address of your license server machine in the Network License Parameters window that opens. This IP address can be obtained by typing /sbin/ifconfig in a QNX terminal window on the license server machine. After you have entered the IP address, make sure 16999 is entered as port. 8. A prompt ``The license has been configured successfully'' will show up. 9. Reboot your computer. Important Note: As mentioned in the Software Requirements section (i.e., Section 2) of this document in order to be able to build code for QUARC Target for QNX x86, you need to install the QNX Momentics Development Suite 6.5 on your host system. In addition to build code for QUARC Target for Windows you need to install Microsoft Visual Studio 2010 Professional Edition or Microsoft Windows SDK. It turns out that a conflict exists with using the MAKEFLAGS environment variable between QNX Momentics' make command and Microsoft's nmake command. If you are only building code for QUARC Target for QNX x86 this conflict will not affect you. However to be able to build code for both targets please follow the steps outlined below to work around this problem: 1. Right-click on My Computer and select Properties. 2. In the System Properties window, click on the Advanced tab. 3. Click on Environment Variables. 4. Look for the variable called MAKEFLAGS which can be found under System variables in the Environment Variables window. Select this variable and click on Edit as shown in Figure 9.4.

Figure 9.4: Editing The MAKEFLAGS System Variable 5. The Edit System Variable window opens. Simply rename the Variable name to MAKEFLAGS_QNX, for example, as shown in Figure 9.5 and click on OK.

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Figure 9.5: Renaming The MAKEFLAGS System Variable 6. Click OK on the Environment Variables and System Properties windows as well.

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10 SINGLE-USER LINUX VERDEX SETUP: QUARC INSTALLATION AND LICENSE CONFIGURATION


ALL software MUST be installed using the Administrator account or an account with administrator privileges. This ensures that all paths are available to all User Accounts. Please follow these instructions if you have purchased a single-user license and would like to install QUARC on a Linux Verdex system. If you have purchased a network license or would like to install QUARC on a Windows or QNX x86 machine, please follow the corresponding installation instructions found in other sections of this document. Caution: Technical Support Package Regarding Using The QUARC Gumstix Target: Due to the high flexibility and customizability of a gumstix-based system together with the specificity of the gumstix configuration required to optimally use and run QUARC, only the Quanser products (e.g., Qball, Qbot) using a gumstix board are currently directly supported by Quanser. If required, please contact the Quanser Sales department for more details regarding running QUARC on a gumstix board interfacing with your own application(s). The QUARC Linux Verdex target currently only supports the OpenEmbedded (OE) Linux operating system running on a gumstix Verdex XL6P board. A gumstix board is a full-function miniature computer built and sold by Gumstix, Inc. (http://www.gumstix.com). The Linux Verdex XL6P motherboard is specifically required to run QUARC as its 32 MB of on-board flash memory provides enough space to accommodate the other pre-requisite Linux packages required to successfully run QUARC. It is also assumed that the user's gumstix is already configured with a OE root filesystem customized and optimized for QUARC, as setup in the rootfs OE image provided by Quanser. Some of the QUARC software pre-requisite to configure the gumstix include the full GNU compilation suite (i.e., based on GCC version 4.1.2), as the code generated from the Windows host is compiled locally on the Linux Verdex system, where it then also run. Using the default Quanser-supplied gumstix-OE root filesystem, the root password is: ``quanser'', without the double quotes. Please also note that regardless of the license type you have purchased (single-user or network), your host is always a Windows machine when building code for a Linux ARM target. The upcoming installation instructions are for installing QUARC on a Verdex machine, so that code generated from Simulink models on your Windows host can be run in real-time on your Linux Verdex target. Ensure that your gumstix is properly setup with networking and can successfully communicate using TCP/IP with your intended Windows host machine. Caution: Ensure that the version of QUARC that you are planning to install is compatible with your QUARC license file. This can be checked by opening and reading the contents of your QUARC license file. This is a text file (with a .qlic or .lic file extension) that can be opened by any text editor software. The version of QUARC that you are planning to install should be included within the version range indicated by the Minimum version: and Maximum version: fields of the QUARC license file. Caution: The QUARC installer package for the gumstix uses the OpenEmbedded (OE) Linux technology and is designed to integrate with the ipkg OE Linux installer utility. If you already have an earlier version of QUARC installed on your Verdex board, it must be removed prior to installing the newer QUARC version. You can check which version of QUARC (if any) is currently installed on your Verdex by running the following command line (in italic below) from a Linux login shell (e.g., using ssh): root@quarc-gumstix:~$ ipkg list quarc quarc - 2.2.0-r1 - This package provides the necessary QUARC runtime files for the gumstix (i.e., Linux ARM) target. In order to uninstall an earlier installation of QUARC please follow the steps below on your Verdex machine:

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1. Logged as root, execute the following command line (in italic below) from a Linux shell: root@quarc-gumstix:~$ ipkg remove quarc -force-depends Removing package quarc from root... Stopping the QUARC Target Manager... The QUARC Target Manager is currently running with PID = 689. The QUARC Target Manager has been stopped: PID = . Stopping the Quanser License Manager... The Quanser License Manager is currently running with PID = 677. The Quanser License Manager has been stopped: PID = . Removing any system startup links for quanser_license_manager ... /etc/rc0.d/K11quanser_license_manager /etc/rc1.d/K11quanser_license_manager /etc/rc6.d/K11quanser_license_manager /etc/rcS.d/S83quanser_license_manager Removing any system startup links for quarc_target_manager ... /etc/rc0.d/K13quarc_target_manager /etc/rc1.d/K13quarc_target_manager /etc/rc6.d/K13quarc_target_manager /etc/rcS.d/S85quarc_target_manager 2. As this is the default choice mentioned in-between the square brackets below, simply press the Enter key to keep the QUARC licensing information currently saved on your gumstix. Do you want to remove the QUARC licensing information {'y'|'yes'|'n'|'no'} [n]? This way it can directly be used again by another installation of QUARC without having to run the QUARC Configure Licensing Tool again. This can also be done by entering n or no at the Linux command prompt. On the contrary, if you also want to remove the QUARC licensing information, y or yes should be entered at the Linux command prompt. 3. As this is the default choice mentioned in-between the square brackets below, simply press the Enter key to keep the QUARC models already compiled on and downloaded to your gumstix system. Do you want to remove the QUARC-compiled models {'y'|'yes'|'n'|'no'} [n]? This way the existing QUARC models could directly be run again by another installation of QUARC without having to recompile them. This can also be achieved by entering n or no at the Linux command prompt. On the contrary, if you also want to remove the QUARC-compiled models, y or yes should be entered at the Linux command prompt. The QUARC installation steps are as follows: 1. Transfer the ipkg QUARC installation package file, named for instance quarc_2.3.0-r1_armv5te.ipk, to your Verdex, for example, under /home/root. This can be done using, for example, secure copy (scp) over a TCP/IP connection or using a serial communication link. 2. In order to successfully run the Quanser License Registration process during the QUARC installation, the QUARC license file provided to you by Quanser (e.g., license.lic) should also be transferred to your Verdex, for example, under /home/root, which is its expected default location. 3. To start the QUARC installation, log as root and execute the following command line (in italic below) from a Linux shell: root@quarc-gumstix:~$ ipkg install quarc_2.3.0-r1_armv5te.ipk Installing quarc (2.3.0-r1) to root...

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END-USER LICENSE AGREEMENT FOR QUANSER INC. SOFTWARE - QUARC(TM) IMPORTANT-READ CAREFULLY: This End-User License Agreement (``EULA'') is a legal agreement between you (either an individual or a single entity) and Quanser Inc. from whom you acquired (either directly ... If you do not have a valid license to use the QUARC, you may not use the SOFTWARE. Any other use of the SOFTWARE is prohibited. Do you accept these terms and conditions ('yes'/'no')? 4. The QUARC End-User License Agreement (EULA) is first displayed. The user should read and get familiar with it. Press the space key to scroll down to the end, at which point you are asked to either accept or refuse the described terms and conditions. You have to exactly enter yes at the Linux command prompt to accept the QUARC EULA, otherwise the installation will be cancelled. If the EULA is accepted, the QUARC installation procedure then continues, as shown by the installer output messages reproduced below: Continuing the QUARC installation... Configuring quarc Adding system startup for /etc/init.d/quarc_target_manager ... /etc/rcS.d/S85quarc_target_manager -> ../init.d/quarc_target_manager /etc/rc0.d/K13quarc_target_manager -> ../init.d/quarc_target_manager /etc/rc6.d/K13quarc_target_manager -> ../init.d/quarc_target_manager /etc/rc1.d/K13quarc_target_manager -> ../init.d/quarc_target_manager Adding system startup for /etc/init.d/quanser_license_manager ... /etc/rcS.d/S83quanser_license_manager -> ../init.d/quanser_license_manager /etc/rc0.d/K11quanser_license_manager -> ../init.d/quanser_license_manager /etc/rc6.d/K11quanser_license_manager -> ../init.d/quanser_license_manager /etc/rc1.d/K11quanser_license_manager -> ../init.d/quanser_license_manager 5. The QUARC License Registration message is then shown in the Linux shell, as illustrated by the installer output messages reproduced below: IMPORTANT INFORMATION - QUARC IMPORTANT - READ CAREFULLY: After installing the software, configure licensing using the Configure License utility if licensing has not been configured already. The Configure License utility may be run in Linux by executing the following command as a superuser: ``/opt/quanser/bin/quanser_license_registration -i QUARC''. Licensing does not need to be reconfigured for product updates if the license remains valid. SINGLE-USER LICENSES For single-user licences, configure both the License Manager and the QUARC product at the same time because they are installed on the same machine. NETWORK LICENSES For network licenses, install only the License Manager on the license server machine and configure it using the Configure License utility. On the client machines, install the QUARC product without the License Manager and use the Configure License utility to set up the hostname and port of the network license server. CONFIGURE LICENSING - QUARC(TM) If QUARC has not been installed previously, then the Configure Licensing tool must be run in order to activate the license for QUARC. For more details, see the preceding QUARC Information page or the Installation Guide. Do you want to run the QUARC Configure Licensing tool now {'y'|'yes'|'n'|'no'} [n]? 6. If a previous version of QUARC was already running before on your Verdex and the licensing information is still present and valid, you do not have to run the QUARC Configure Licensing Tool again. In this case or also

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if you prefer running the QUARC Configure Licensing Tool at a later time, simply press the Enter key to select the default choice mentioned in-between the square brackets above. This can also be done by entering n or no at the Linux command prompt. You can finally proceed to the last step of this QUARC installation procedure. Otherwise, the QUARC Configure Licensing tool should be run by entering y or yes at the Linux command prompt. 7. Running the QUARC Configure Licensing tool results in the following interactive menu being displayed in the Linux shell: ##### QUARC License Registration ##### *** Select operation to perform *** 1 - Configure license manager Registers a license file with the license manager and restarts the license manager. This option is only valid on the machine running the license manager. 2 - Configure QUARC Configures a product (i.e., QUARC) to access the license manager. A license file is required for configuration. This option is only valid on the machine running the product. 3 - Configure both license manager and QUARC 4 - Cancel Enter your selection (1-4) [3]: 8. To configure the QUARC licensing for single-user mode, either enter 3 at the Linux command prompt or just press the Enter key as menu option 3 is the default choice mentioned in-between the square brackets shown above. 9. You then need the select the Quanser-supplied QUARC license file, as detailed by the interactive prompt represented below: *** Select the QUARC license file *** Enter the folder containing the license (.qlic or .lic) file [/home/root]: Simply press Enter if your license file has been saved under /home/root (i.e., the default choice), or enter the absolute path of the folder containing your QUARC license file. 10. Finally the name of your QUARC license file should be entered, as detailed by the interactive prompt represented below: Enter the name of the license (.qlic or .lic) file [license.qlic]: The license has been configured successfully. Simply press Enter if your license file is named license.qlic (i.e., the default choice), or enter the exact name of your QUARC license file. 11. If running the QUARC Configure Licensing tool fails during the QUARC installation (maybe because the QUARC license file was not transferred to the Linux Verdex before starting the installation), it can be re-run once the QUARC installation finishes by executing (logged as root) the following command at the Linux prompt: root@quarc-gumstix:~$ quanser_license_registration -i QUARC 12. The QUARC installation then finishes, as seen by the Linux installer output messages reproduced below: Starting the Quanser License Manager... The Quanser License Manager has been started with PID = 1271. Starting the QUARC Target Manager... The QUARC Target Manager has been started with PID = 1284.

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11 NETWORK LINUX VERDEX SETUP: QUARC INSTALLATION AND LICENSE CONFIGURATION


ALL software MUST be installed using the Administrator account or an account with administrator privileges. This ensures that all paths are available to all User Accounts. Please follow these instructions if you have purchased a network license and would like to install QUARC on a Linux Verdex system. If you have purchased a single-user license or would like to install QUARC on a Windows or QNX x86 machine, please follow the corresponding installation instructions found in other sections of this document. Caution: Technical Support Package Regarding Using The QUARC Gumstix Target: Due to the high flexibility and customizability of a gumstix-based system together with the specificity of the gumstix configuration required to optimally use and run QUARC, only the Quanser products (e.g., ALTAV, Qbot) using a gumstix board are currently directly supported by Quanser. If required, please contact the Quanser Sales department for more details regarding running QUARC on a gumstix board interfacing with your own application(s). The QUARC Linux Verdex target currently only supports the OpenEmbedded (OE) Linux operating system running on a gumstix Verdex XL6P board. A gumstix board is a full-function miniature computer built and sold by Gumstix, Inc. (http://www.gumstix.com). The Linux Verdex XL6P motherboard is specifically required to run QUARC as its 32 MB of on-board flash memory provides enough space to accommodate the other pre-requisite Linux packages required to successfully run QUARC. It is also assumed that the user's gumstix is already configured with a OE root filesystem customized and optimized for QUARC, as setup in the rootfs OE image provided by Quanser. Some of the QUARC software pre-requisite to configure the gumstix include the full GNU compilation suite (i.e., based on GCC version 4.1.2), as the code generated from the Windows host is compiled locally on the Linux Verdex system, where it then also run. Using the default Quanser-supplied gumstix-OE root filesystem, the root password is: ``quanser'', without the double quotes. Please also note that regardless of the license type you have purchased (single-user or network), your host is always a Windows machine when building code for a Linux ARM target. The upcoming installation instructions are for installing QUARC on a Verdex machine, so that code generated from Simulink models on your Windows host can be run in real-time on your Linux Verdex target. Ensure that your gumstix is properly setup with networking and can successfully communicate using TCP/IP with your intended Windows host machine. Caution: Ensure that the version of QUARC that you are planning to install is compatible with your QUARC license file. This can be checked by opening and reading the contents of your QUARC license file. This is a text file (with a .qlic or .lic file extension) that can be opened by any text editor software. The version of QUARC that you are planning to install should be included within the version range indicated by the Minimum version: and Maximum version: fields of the QUARC license file. Caution: The QUARC installer package for the gumstix uses the OpenEmbedded (OE) Linux technology and is designed to integrate with the ipkg OE Linux installer utility. If you already have an earlier version of QUARC installed on your Verdex board, it must be removed prior to installing the newer QUARC version. You can check which version of QUARC (if any) is currently installed on your Verdex by running the following command line (in italic below) from a Linux login shell (e.g., using ssh): root@quarc-gumstix:~$ ipkg list quarc quarc - 2.2.0-r1 - This package provides the necessary QUARC runtime files for the gumstix (i.e., Linux ARM) target. In order to uninstall an earlier installation of QUARC please follow the steps below on your Verdex machine:

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1. Logged as root, execute the following command line (in italic below) from a Linux shell: root@quarc-gumstix:~$ ipkg remove quarc -force-depends Removing package quarc from root... Stopping the QUARC Target Manager... The QUARC Target Manager is currently running with PID = 689. The QUARC Target Manager has been stopped: PID = . Stopping the Quanser License Manager... The Quanser License Manager is currently running with PID = 677. The Quanser License Manager has been stopped: PID = . Removing any system startup links for quanser_license_manager ... /etc/rc0.d/K11quanser_license_manager /etc/rc1.d/K11quanser_license_manager /etc/rc6.d/K11quanser_license_manager /etc/rcS.d/S83quanser_license_manager Removing any system startup links for quarc_target_manager ... /etc/rc0.d/K13quarc_target_manager /etc/rc1.d/K13quarc_target_manager /etc/rc6.d/K13quarc_target_manager /etc/rcS.d/S85quarc_target_manager 2. As this is the default choice mentioned in-between the square brackets below, simply press the Enter key to keep the QUARC licensing information currently saved on your gumstix. Do you want to remove the QUARC licensing information {'y'|'yes'|'n'|'no'} [n]? This way it can directly be used again by another installation of QUARC without having to run the QUARC Configure Licensing Tool again. This can also be done by entering n or no at the Linux command prompt. On the contrary, if you also want to remove the QUARC licensing information, y or yes should be entered at the Linux command prompt. 3. As this is the default choice mentioned in-between the square brackets below, simply press the Enter key to keep the QUARC models already compiled on and downloaded to your gumstix system. Do you want to remove the QUARC-compiled models {'y'|'yes'|'n'|'no'} [n]? This way the existing QUARC models could directly be run again by another installation of QUARC without having to recompile them. This can also be achieved by entering n or no at the Linux command prompt. On the contrary, if you also want to remove the QUARC-compiled models, y or yes should be entered at the Linux command prompt. As mentioned earlier in this document, in the case of network installation and configuration, the Quanser License Manager component is installed on a license server machine, and the rest of the computer(s), i.e., license client(s) in the network get licensed through the server and do not need to have the license manager component installed. This principle is also valid for Linux Verdex network setup, however the license server machine does not necessarily need to be a Linux Verdex system in this case. You can also have your license server run on a Windows or QNX machine while the license clients are all Linux Verdex systems. If you would like your license server to run on a Windows machine, please follow the instructions for installing Quanser License Manager on the license server found in Section 7.1 of this document. If you would like your license server to run on a QNX machine, please follow the instructions for installing Quanser License Manager on the license server found in Section 9.1 of this document. Otherwise if you would like your license server to run on a Linux Verdex machine please follow the instructions given in Section 11.1 of this document. Finally, please note that in the Linux Verdex Network Setup mode, same installation instructions apply to the license server and license client(s). However different license configuration procedures apply to server and client(s). Therefore a single set of installation instructions to be performed on the license server and each client in the network is given first, followed by separate license configuration instructions for each. Execute the following on your license server Linux Verdex machine and each of your Linux Verdex client machines:

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1. Transfer the ipkg QUARC installation package file, named for instance quarc_2.3.0-r1_armv5te.ipk, to your Verdex, for example, under /home/root. This can be done using, for example, secure copy (scp) over a TCP/IP connection or using a serial communication link. 2. In order to successfully run the Quanser License Registration process during the QUARC installation, the QUARC license file provided to you by Quanser (e.g., license.qlic) should also be transferred to your Verdex, for example, under /home/root, which is its expected default location. 3. To start the QUARC installation, log as root and execute the following command line (in italic below) from a Linux shell: root@quarc-gumstix:~$ ipkg install quarc_2.3.0-r1_armv5te.ipk Installing quarc (2.3.0-r1) to root... END-USER LICENSE AGREEMENT FOR QUANSER INC. SOFTWARE - QUARC(TM) IMPORTANT-READ CAREFULLY: This End-User License Agreement ("EULA") is a legal agreement between you (either an individual or a single entity) and Quanser Inc. from whom you acquired (either directly ... If you do not have a valid license to use the QUARC, you may not use the SOFTWARE. Any other use of the SOFTWARE is prohibited. Do you accept these terms and conditions ('yes'/'no')? 4. The QUARC End-User License Agreement (EULA) is first displayed. The user should read and get familiar with it. Press the space key to scroll down to the end, at which point you are asked to either accept or refuse the described terms and conditions. You have to exactly enter yes at the Linux command prompt to accept the QUARC EULA, otherwise the installation will be canceled. If the EULA is accepted, the QUARC installation procedure then continues, as shown by the installer output messages reproduced below: Continuing the QUARC installation... Configuring quarc Adding system startup for /etc/init.d/quarc_target_manager ... /etc/rcS.d/S85quarc_target_manager -> ../init.d/quarc_target_manager /etc/rc0.d/K13quarc_target_manager -> ../init.d/quarc_target_manager /etc/rc6.d/K13quarc_target_manager -> ../init.d/quarc_target_manager /etc/rc1.d/K13quarc_target_manager -> ../init.d/quarc_target_manager Adding system startup for /etc/init.d/quanser_license_manager ... /etc/rcS.d/S83quanser_license_manager -> ../init.d/quanser_license_manager /etc/rc0.d/K11quanser_license_manager -> ../init.d/quanser_license_manager /etc/rc6.d/K11quanser_license_manager -> ../init.d/quanser_license_manager /etc/rc1.d/K11quanser_license_manager -> ../init.d/quanser_license_manager 5. The QUARC License Registration message is then shown in the Linux shell, as illustrated by the installer output messages reproduced below: IMPORTANT INFORMATION - QUARC IMPORTANT - READ CAREFULLY: After installing the software, configure licensing using the Configure License utility if licensing has not been configured already. The Configure License utility may be run in Linux by executing the following command as a superuser: ``/opt/quanser/bin/quanser_license_registration -i QUARC''. Licensing does not need to be reconfigured for product updates if the license remains valid. SINGLE-USER LICENSES For single-user licences, configure both the License Manager and the QUARC product at the same time because they are installed on the same machine.

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NETWORK LICENSES For network licenses, install only the License Manager on the license server machine and configure it using the Configure License utility. On the client machines, install the QUARC product without the License Manager and use the Configure License utility to set up the hostname and port of the network license server. CONFIGURE LICENSING QUARC(TM) If QUARC has not been installed previously, then the Configure Licensing tool must be run in order to activate the license for QUARC. For more details, see the preceding QUARC Information page or the Installation Guide. Do you want to run the QUARC Configure Licensing tool now {'y'|'yes'|'n'|'no'} [n]? 6. The QUARC licensing is configured differently for the license server and the license client. Therefore, let us choose to run the QUARC Configure Licensing tool, as described in the sub-sequent Sections for both server and client, after completing the present installation. To do so, enter n or no at the Linux command prompt, or simply press the Enter key to select the negative default choice mentioned in-between the square brackets above. 7. The QUARC installation procedure then finishes.

11.1

Installing And Conguring The License Server Linux Verdex Machine

In order to configure the QUARC licensing on your license server Linux Verdex machine please follow the steps outlined below. 1. Logged as root, run the QUARC Configure Licensing tool by executing the following command at the Linux prompt: root@quarc-gumstix:~$ quanser\_license\_registration -i QUARC 2. Running the QUARC Configure Licensing tool results in the following interactive menu being displayed in the Linux shell: ##### QUARC License Registration ##### *** Select operation to perform *** 1 - Configure license manager Registers a license file with the license manager and restarts the license manager. This option is only valid on the machine running the license manager. 2 - Configure QUARC Configures a product (i.e., QUARC) to access the license manager. A license file is required for configuration. This option is only valid on the machine running the product. 3 - Configure both license manager and QUARC 4 - Cancel Enter your selection (1-4) [3]: 3. You only need to configure the License Manager on the License Server machine. Therefore in the presented QUARC License Registration interactive menu, enter 1 at the Linux command prompt. 4. You then need to select the Quanser-supplied QUARC license file, as detailed by the subsequent interactive prompt represented below:

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*** Select the QUARC license file *** Enter the folder containing the license (.qlic or .lic) file [/home/root]: Simply press Enter if your license file has been saved under /home/root (i.e., the default choice), or enter the absolute path of the folder containing your QUARC license file. 5. The name of your QUARC license file should also be entered, as detailed by the interactive prompt represented below: Enter the name of the license (.qlic or .lic) file [license.qlic]: The license has been configured successfully. Simply press Enter if your license file is named license.qlic (i.e., the default choice), or enter the exact name of your QUARC license file. 6. The network license parameters have then to be configured. This includes setting the location on your network of this license server, as detailed by the subsequent interactive prompt represented below: *** Network license parameters *** *** Enter the location of the license server *** Hostname or IP address [localhost]: Simply press Enter to select the default choice (i.e., localhost), as the license server is currently being configured. 7. The TCP/IP port to be used to connect to this license server also has to be set, as detailed by the subsequent interactive prompt represented below: Port (0-65535) [16999]: Simply press Enter to select the default choice (i.e., 16999), or alternatively enter any port number between 0 and 65535 suiting your network setup. 8. The registration for the QUARC license server then finishes, as mentioned by the message shown at the Linux prompt and reproduced below: The license has been configured successfully. Please note that the above license configuration instructions are only valid for the license server Linux Verdex machine.

11.2

Installing And Conguring The License Client Linux Verdex Machine(s)

There is a different set of instructions for configuring the QUARC license on client Linux Verdex machines which is given in this Section. In order to configure the QUARC licensing on your license client Linux Verdex system please follow the steps outlined below. 1. Logged as root, run the QUARC Configure Licensing tool by executing the following command at the Linux prompt: root@quarc-gumstix:~$ quanser_license_registration -i QUARC 2. Running the QUARC Configure Licensing tool results in the following interactive menu being displayed in the Linux shell:

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##### QUARC License Registration ##### *** Select operation to perform *** 1 - Configure license manager Registers a license file with the license manager and restarts the license manager. This option is only valid on the machine running the license manager. 2 - Configure QUARC Configures a product (i.e., QUARC) to access the license manager. A license file is required for configuration. This option is only valid on the machine running the product. 3 - Configure both license manager and QUARC 4 - Cancel Enter your selection (1-4) [3]: 3. You only need to configure QUARC on the License Client gumstix machine(s). Therefore in the presented QUARC License Registration interactive menu, enter 2 at the Linux command prompt. 4. You then need to select the Quanser-supplied QUARC license file, as detailed by the subsequent interactive prompt represented below: *** Select the QUARC license file *** Enter the folder containing the license (.qlic or .lic) file [/home/root]: Simply press Enter if your license file has been saved under /home/root (i.e., the default choice), or enter the absolute path of the folder containing your QUARC license file. 5. The name of your QUARC license file should also be entered, as detailed by the interactive prompt represented below: Enter the name of the license (.qlic or .lic) file [license.qlic]: The license has been configured successfully. Simply press Enter if your license file is named license.qlic (i.e., the default choice), or enter the exact name of your QUARC license file. 6. The network license parameters previously-configured on the server have now to be entered. This includes specifying the location on your network of the QUARC license server, as detailed by the subsequent interactive prompt represented below: *** Network license parameters *** *** Enter the location of the license server *** Hostname or IP address [localhost]: Enter the host name or IP address of your license server machine. The server IP address can be obtained by typing /sbin/ifconfig in a Linux shell window on the license server machine. 7. Lastly, the TCP/IP port to use for connecting to your license server also has to be specified, as detailed by the subsequent interactive prompt represented below: Port (0-65535) [16999]: Simply press Enter to select the default choice (i.e., 16999), or if it is different from this default value enter the port number (between 0 and 65535) with which your license server machine was setup. 8. The registration for the QUARC license client then finishes, as mentioned by the message shown at the Linux prompt and reproduced below: The license has been configured successfully. Please note that the above license configuration instructions are only valid for the license client Linux Verdex machine.

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12 NETWORK LINUX X86 SETUP: INSTALLATION AND LICENSE CONFIGURATION


ALL software MUST be installed using the Administrator account or an account with administrator privileges. This ensures that all paths are available to all User Accounts. Please follow these instructions if you have purchased a network license and would like to install Quanser License Manager on a Linux x86 system. Currently only the Quanser License Manager is supported under Linux x86 system. The manager acts as a server that handles your QUARC network license. Please also note that your target can NOT be a Linux x86 machine since it is currently not supported. Caution: Ensure that the version of QUARC that you are planning to install is compatible with your QUARC license file. This can be checked by opening and reading the contents of your QUARC license file. This is a text file (with a .qlic or .lic file extension) that can be opened by any text editor software. The version of QUARC that you are planning to install should be included within the version range indicated by the Minimum version: and Maximum version: fields of the QUARC license file. Caution: If you already have an earlier version of Quanser License Manager installed on your machine it must be removed prior to installing the newer version. Please note that currently there is no user graphic for the installer and uninstaller, only command line based programs are provided. Please open your terminal or ssh shell and execute the following on your license server Linux x86 machine: 1. Locate the installer fold and copy the following three files to your work directory: quarc_runtime_linux.qsi setup_cmd uninstall_quarc_runtime_cmd 2. Go to your work directory, gain root privilege and enter the following command: root@quanser_license:~$ ./setup_cmd Welcome to the QUARC and Quanser License Manager Installer. Please read the following license agreement. QUARC cannot be installed unless you accept the terms of this agreement. You will be prompted to accept the license agreement after the full agreement has been displayed. END-USER LICENSE AGREEMENT FOR QUANSER INC. SOFTWARE - QUARC IMPORTANT-READ CAREFULLY: This End-User License Agreement ("EULA") is a legal agreement between you (either an individual or a single entity) ... If you do not have a valid license to use the QUARC, you may not use the SOFTWARE. Any other use of the SOFTWARE is prohibited. Do you accept these terms and conditions (yes/no) [no]? 3. The QUARC End-User License Agreement (EULA) is first displayed. The user should read and get familiar with it. Press the enter key to scroll down to the end, at which point you are asked to either accept or refuse

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the described terms and conditions. You have to exactly enter yes at the Linux command prompt to accept the QUARC EULA, otherwise the installation will be cancelled. If the EULA is accepted, the QUARC installation procedure then continues and license server starts running, as shown by the installer output messages reproduced below: Continuing the QUARC installation... Installing: 100% complete Starting the Quanser License Manager... The Quanser License Manager has been started with PID = 2154. QUARC and Quanser License Manager have been installed successfully. You must configure the license to complete the installation. Do you wish to configure the license now? (y/n) [y] 4. You can either accept to continue the license server configuration, or enter 'n' to configure it at a later time by using the following command. Please be advised you will not be able to use QUARC unless the license is set properly. root@quanser_license:~$/opt/quanser/bin/quanser_license_registration -i QUARC 5. Running the QUARC Configure Licensing tool results in the following interactive menu being displayed in the Linux shell: ##### QUARC License Registration ##### *** Select operation to perform *** 1 - Configure license manager Registers a license file with the license manager and restarts the license manager. This option is only valid on the machine running the license manager. 2 - Configure QUARC Configures a product (i.e., QUARC) to access the license manager. A license file is required for configuration. This option is only valid on the machine running the product. 3 - Configure both license manager and QUARC 4 - Cancel Enter your selection (1-4) [1]: 6. You only need to configure License Manger on your Linux x86 machine. Therefore in the presented QUARC License Registration interactive menu, enter 1 at the Linux command prompt. 7. You then need to select the Quanser-supplied license file, as detailed by the subsequent interactive prompt represented below: *** Select the QUARC license file *** Enter the folder containing the license (.qlic or .lic) file [/root]: Simply press Enter if your license file has been saved under /home/root (i.e., the default choice), or enter the absolute path of the folder containing your QUARC license file. 8. The name of your QUARC license file should also be entered, as detailed by the interactive prompt represented below: Enter the name of the license (.qlic or .lic) file [license.qlic]: 9. The network license parameters have then to be configured. This includes setting the location on your network of this license server, as detailed by the subsequent interactive prompt represented below:

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*** Network license parameters *** *** Enter the location of the license server *** Hostname or IP address [localhost]: Simply press Enter to select the default choice (i.e., localhost), as the license server is currently being configured. 10. The TCP/IP port to be used to connect to this license server also has to be set, as detailed by the subsequent interactive prompt represented below: Port (0-65535) [16999]: Simply press Enter to select the default choice (i.e., 16999), or alternatively enter any port number between 0 and 65535 suiting your network setup. 11. The registration for the QUARC license server then finishes, as mentioned by the message shown at the Linux prompt and reproduced below: The license has been configured successfully. Now the Quanser License Manager has been setup successfully on your server. Please refer to the sections Section 7.2, Section 9.2 and Section 11.2 for configuration of your target manager on your individual operating systems. To uninstall Quanser License Manager, please go to your work directory and use the uninstall_quarc_runtime_cmd command with root privilege. Caution: Please remember to configure the firewall on you system to enable communication via port 16999 (or the one you set for Quanser License Manager). Caution: If you are using a Linux distribution other than the ones listed in Section 2.3 , you may encounter an error message saying ``/etc/ not found. Please configure manually.'' or ``rc.local file not found. Please configure manually.'' This is because the installer is not able to find the file needed to enable Quanser License Manager running automatically when your system starts. In this case, you have to consult with your system provider or manual to fix this problem. Before doing so, you can still use Quanser License Manager, but have to run it manually every time you start your system.

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13 TESTING QUARC
QUARC comes with sample model examples that can be accessed by typing qc_show_demos in the MATLAB command prompt window. Particularly the QUARC Sine & Scope Demo is a test that everyone is encouraged to run. It is universal, meaning that it is not dependant on the hardware type you are using (e.g., data acquisition card). However running this test can ensure that correct installation and configuration has been done for QUARC while familiarizing first time users with basic QUARC operation principles. To run this test type qc_show_demos in the MATLAB command prompt and click on ``QUARC Sine & Scope Demo'', which can be found under Basic Features and follow the instructions. The demo window for MATLAB R2011a, R2011b, and R2012a is depicted in Figure 13.1 while Figure 13.2 is for MATLAB R2012b.

Figure 13.1: Running the QUARC Sine and Scope Demo in MATLAB R2011a, R2011b, and R2012a

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Figure 13.2: Running the QUARC Sine and Scope Demo in MATLAB R2012b

There are more demos available on this page that might require specific hardware such as the Quanser's Q4 or Q8 HIL boards. You are encouraged to run these demos as well provided that the required hardware for each is present.

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14 TROUBLESHOOTING
Review the following recommendations before contacting Quanser's technical support engineers.

14.1

Getting an 'Error conguring license' message from the Congure Licensing tool.

Open the Quanser-provided QUARC license file with Microsoft WordPad. Ensure your QUARC version is included within the range indicated by the license file Minimum version: and Maximum version: fields. Close Microsoft WordPad. From the Windows Start menu, browse to the All Programs/Quanser/QUARC sub-menu and run the Configure Licensing tool using a QUARC license file, valid for your version of QUARC.

14.2

Getting: Error occurred while executing External Mode MEX-le 'quarc_comm': An operating system specic kernel-level driver for the specied card could not be found. The card or driver may not be installed...

If using a USB device, ensure the USB cable is properly connected, and try a different USB port on the computer. Verify the data acquisition device is properly connected to the computer. If this is a National Instruments (NI) data acquisition device, ensure the NI DAQmx drivers are installed. The NI DAQmx installer is on a DVD that comes with the NI hardware; it can also be downloaded from http: //www.ni.com/drivers/.

14.3

Getting error: ??? Model ... failed to download to target 'shmem://quarc-target:1'. The code being downloaded or run is not compatible with the type of target referenced by the target URI. For example, 32-bit code cannot be downloaded to a 64-bit target or vice-versa. In Simulink, make sure the system target le selected in the model's active conguration is compatible with the target referred to by the target URI.

Select the QUARC/Options... menu item from the QUARC diagram. Under Code Generation, click on the Browse... button.

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Select the system target file corresponding to your target computer (e.g., QUARC Win64 Target ). Click on the OK buttons to close the dialogs, and save the diagram.

14.4

Getting an error when trying to build the QUARC Sine and Scope Demo

Type ver in the MATLAB Command Window. QUARC should appear in the displayed list. Depending on the compiler used, refer to Section 4 or 3, and review your compiler installation steps. Run mex -setup in the MATLAB Command Window, as described in Sections 4 and 3.

14.5

The QUARC license le has been registered successfully, but you get a 'Error conguring license' message when trying to run a QUARC model.

Run the QUARC Sine and Scope Demo, as described in Section 13. If the QUARC Sine and Scope Demo runs as expected, then your QUARC license file does not allow some of the features used by your QUARC model. Contact Quanser's technical support for further information. Otherwise and if the same error message remains, first disable any antivirus software and Windows Firewall. Then browse to the Start/All Programs/Quanser/QUARC menu and run the Configure Licensing tool, using a valid QUARC license file.

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A INSTALLING MICROSOFT WINDOWS SDK FOR WINDOWS 7


Please follow these instructions to install Microsoft Windows SDK version 7.1 for Windows 7 on your computer. 1. If the QUARC host PC, on which the Microsoft Windows SDK version 7.1 for Windows 7, should be installed has an internet connection, then the following Microsoft-provided web-based Windows SDK installer can be used: http://www.microsoft.com/en-us/download/details.aspx?id=8279. In this case, skip the following step. 2. If the QUARC host PC, on which the Microsoft Windows SDK version 7.1 should be installed, does not have an internet connection, follow the steps below. (a) Download the Microsoft Windows SDK ISO file corresponding to your system (e.g., x86, x64), from the following Microsoft link: http://www.microsoft.com/en-us/download/details.aspx?id=8442. (b) Burn the downloaded ISO file onto a CD- or DVD-ROM and use that CD/DVD on the QUARC host PC to start the Windows SDK installation process. Alternatively, Daemon Tools can be used to mount the ISO file onto the Windows system and begin the installation. 3. When starting the Microsoft Windows SDK installer, the Windows SDK Setup Wizard, depicted in Figure A.1 should appear. Click on the Next button to continue the installation process.

Figure A.1: Windows SDK Setup Wizard Dialog 4. On this installation screen, illustrated in Figure A.2, review the End-User License Agreement and, if you agree with the license terms, select I Agree and click on the Next button to proceed.

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Figure A.2: End-User License Agreement Dialog 5. On this installation screen, illustrated in Figure A.3, select the install locations and click on the Next button to continue.

Figure A.3: Install Locations Dialog 6. On this installation screen, illustrated in Figure A.4, review the installation options (note: the default installation options are suitable for QUARC) and click Next to continue.

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Figure A.4: Installation Options Dialog 7. On this installation screen, illustrated in Figure A.5, click on Next to begin the Microsoft Windows SDK installation.

Figure A.5: Begin Installation Dialog 8. The dialog shown in Figure A.6 should be displayed upon successful completion of the Microsoft Windows SDK installation.

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Figure A.6: Installation Complete Dialog

When installing the Microsoft Windows SDK 7.1 after Visual Studio 2010 SP1 has been installed, the Microsoft Windows SDK 7.1 installation may fail and a ``fatal error'' message may appear. To resolve this issue, please refer to the following Microsoft link about Microsoft Visual C++ 2010 Service Pack 1 Compiler Update for the Windows SDK 7.1: http://www.microsoft.com/en-us/download/details.aspx?id=4422.

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DEVICE SOFTWARE SECURITY MESSAGES

During the installation of QUARC, Windows 7 will prompt several Windows Security messages asking if you want to install the drivers for Quanser devices, such as, Q4 (Figure B.1), Q4+ (Figure B.2), Q8 (Figure B.3), QPID (Figure B.4), QPIDe (Figure B.5), USB Bus Drivers (Figure B.6), and USB Port Drivers (Figure B.7). You can check the box for Always trust software from ``Quanser Consulting Inc.'' and select the appropriate action, then the installer will take your selection on the rest of drivers by default.

Figure B.1: Q4 Driver

Figure B.2: Q4+ Driver

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Figure B.3: Q8 Driver

Figure B.4: QPID Driver

Figure B.5: QPIDe Driver

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Figure B.6: USB Bus Drivers

Figure B.7: USB Port Drivers

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WINDOWS POWER MANAGEMENT SETTINGS


Caution: It is very important to change the default settings of the Power Management software on Windows 7 to prevent the system from sleeping. Otherwise, when the system wakes up from hibernation, it will lose its control to the hardware drivers, which might cause damage your hardware and experiment.

Please follow the next steps to disable system hibernation on Windows 7. 1. Goto Start->Control Panel->Power Options, and click ``Change plan settings'' corresponding to your current power plan. In our case, it's ``Balanced'', as shown in Figure C.1.

Figure C.1: Power Option Setting Window 2. The system will bring you the ``Edit Plan Settings'' window. In this window, you need to set both ``Turn off the display'' and ``Put the computer to sleep'' options to ``Never'' as shown in Figure C.2 and Figure C.3.

Figure C.2: Power Option Setting Window 1

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Figure C.3: Power Option Setting Window 2 3. You need to first click ``Save changes'' to make the make the changes effective, then use ``Change advanced power settings'' option to do some more detailed changes as illustrated in Figure C.4.

Figure C.4: Power Option Setting Window 3 4. In the pop-up window, you need to change the following to ``Never'' Hard disk->Turn off hard disk after->Setting (Minutes) (Figure C.5) Sleep->Sleep after->Setting (Minutes) (Figure C.6) Sleep->Hibernate after->Setting (Minutes) (Figure C.7) 5. Finally click ``OK'' to accept the new settings as shown in Figure C.8.

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Figure C.5: Setting Hard Disk Turn Off Time

Figure C.6: Setting Sleep Time

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Figure C.7: Setting Hibernation Time

Figure C.8: Accepting the Power Settings

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QUARC - A Decade in the Making


QUARC is built on the legacy of WinCon, Quansers rst real-time software to run Simulink-generated code under Windows. QUARC seamlessly integrates with Simulink and takes the traditional design-to-implementation interface toolset to new levels. With just the click of a button, you can enjoy more functionality and more development exibility, all geared towards improved real-time performance. QUARC has been successfully deployed in many advanced control and mechatronic platforms ranging from intelligent unmanned systems to force feedback-enabled virtual reality. Designed by engineers for engineers, QUARC signicantly accelerates the control design and implementation process. Thats why QUARC software is an integral part of all Quanser control lab systems and solutions. Thousands of educators and researchers worldwide trust QUARC for rapid control prototyping. Whether you use QUARC for teaching, exploration, or innovation, youll spend more time designing, less time coding.

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