Rotary Motion Servo Plant: SRV02

Rotary Experiment #00:

QUARC Integration
Using SRV02 with QUARC
Instructor Manual
SRV02 QUARC Integration Instructor Manual
Table of Contents
1. INTRODUCTION..........................................................................................................................................1
2. PREREQUISITES.........................................................................................................................................1
3. OVERVIEW OF FILES..................................................................................................................................1
4. SRV02 AND QUARC INTEGRATION.........................................................................................................2
4.1. Applying a Voltage to the DC Motor...............................................................................................2
4.1.1. Designing the Simulink Model...............................................................................................................3
4.1.2. Compiling the Model.............................................................................................................................5
4.1.3. Running !ARC Code.......................................................................................................................... "
4.2. Measuring SRV#2 $otentiometer....................................................................................................."
4.2.1. Reading $otentiometer Voltage.............................................................................................................."
4.2.2. Adding Cali%ration and S&opes..............................................................................................................'
4.3. Measuring SRV#2 (a&hometer......................................................................................................11
4.4. Measuring SRV#2 )n&oder............................................................................................................13
4.5. *ther !ARC +un&tions................................................................................................................1"
4.5.1. Digital Display..................................................................................................................................... 1"
4.5.2. Sa,ing S&ope Data............................................................................................................................... 1"
4.5.3. Signal and (riggering........................................................................................................................... 1-
5. REFERENCES...........................................................................................................................................19
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! Intro"uction
(his manual demonstrates ho. to design !ARC &ontrollers /or the uanser SRV#2 system. !sing
!ARC %lo&ks0 se,eral Simulink model are designed to send a ,oltage to the SRV#20 read the load
gear angle using a potentiometer and an en&oder0 and measured the speed o/ the load sha/t using the
ta&hometer.
(he /ollo.ing topi&s are &o,ered in this la%oratory1
Designing a Simulink model that inter/a&es .ith hard.are using the %lo&ks /rom the !ARC
li%rary
2uilding !ARC &ode /rom a Simulink diagram
Running the &ode to implement &ontrollers and other algorithms on the SRV#2.
3o. to use s&opes in order to ,ie. data as .ell as sa,e that data /or o// line analysis.
Regarding Gray Boxes1
4ray %o5es present in the inst!"t# $%n!%& are not intended /or the students as they pro,ide
solutions to the pre6la% assignments and &ontain typi&al e5perimental results /rom the la%oratory
pro&edure.
#! $rere%uisites
7n order to su&&ess/ully &arry out this la%oratory0 the user should %e /amiliar .ith the /ollo.ing1
Data a&8uisition &ard 9e.g. $7D:0 the po.er ampli/ier 9e.g. Volt$A:0 and the main
&omponents o/ the SRV#2 9e.g. a&tuator0 sensors:0 as des&ri%ed in Re/eren&es ;1<0 ;4<0 and ;5<0
respe&ti,ely.
=iring and operating pro&edure o/ the SRV#2 plant .ith the ampli/ier and DA de,i&e0 as
dis&ussed in Re/eren&e ;5<.
Simulink en,ironment enough to kno. its %asi& operations.
!ARC should %e installed as di&tated in Re/eren&e ;3<.
&! '(er(ie) of *iles
(a%le 1 %elo. lists and des&ri%es the ,arious /iles supplied .ith the SRV#2 !ARC 7ntegration
la%oratory.
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File Name Description
## > SRV#2 !ARC 7ntegration
> Student.pd/
Manuals that e5plains ho. to use !ARC .ith the uanser
SRV#2 plant.
## > SRV#2 !ARC 7ntegration
> 7nstru&tor.pd/
Same as student ,ersion e5&ept the shaded %o5es sho. the
solutions.
8?sr,#2?,olt.mdl Simulink /ile used .ith !ARC to send a ,oltage to the SRV#2.
8?sr,#2?pot?ra..mdl Simulink /ile used .ith !ARC to send a ,oltage to the SRV#2
and display the potentiometer ,oltage measurement.
8?sr,#2?pot.mdl Simulink /ile used .ith !ARC to send a ,oltage to the SRV#2
and display the potentiometer load gear angular measurement.
8?sr,#2?ta&h.mdl Simulink /ile used .ith !ARC to send a ,oltage to the SRV#2
and read angular rate o/ the load gear using the ta&hometer 9as .ell
as read the angle /rom the potentiometer:.
8?sr,#2?en&.mdl Simulink /ile used .ith !ARC to send a ,oltage to the SRV#2
and display the load gear angle using the en&oder 9also displays the
load gear ,elo&ity .ith the ta&hometer and the load gear angle
using the potentiometer:.
8?sr,#2?pot?addl.mdl Same as 8?sr,#2?pot.mdl0 e5&ept it in&ludes a Digital Display to
display the load gear angle and the s&ope is &on/igured to sa,e a
,aria%le to the Matla% .orkspa&e.
e5?plotting?measured?data.m Matla% s&ript used to plot the data in the sa,ed ,aria%le theta?l
/rom 8?sr,#2?pot?addl.mdl. @ote that 8?sr,#2?pot?addl must %e
ran .ith !ARC %e/ore running this s&ript in order to ha,e a
theta?l ,aria%le in the Matla% .orkspa&e.
Table 1: Files supplied with the SRV02 QUARC Integration eperi!ent"
+! ,R-0# an" QUARC Integration
7n Se&tion 4.10 a Simulink model is designed using %lo&ks /rom the !ARC li%rary to send a ,oltage to
the SRV#2. (his Simulink model is then modi/ied to read /rom the potentiometer0 as di&tated in
Se&tions 4.2. (he model /rom Se&tion 4.2 is /urther modi/ied to in&lude the angular rate o/ the load gear
using the ta&hometer0 dis&ussed in Se&tion 4.30 and the angular position o/ the load gear using an
en&oder measurement0 des&ri%ed in Se&tion 4.4.
4.1. Applying a Voltage to the C Motor
3ere are the %asi& steps to apply a ,oltage to the SRV#2 motor using !ARC1
1. Design a Simulink model that intera&ts .ith the data6a&8uisition de,i&e using %lo&k /rom the
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!ARC li%rary. (his e5plained in Se&tion 4.1.1.
2. 2uild the &ode /rom the Simulink model0 as di&tated in Se&tion 4.1.2.
3. As e5plained in Se&tion 4.1.30 e5e&ute the &ode.
+!!! .esigning t/e ,imulin0 Mo"el
7n this se&tion0 it is sho.n ho. to design a Simulink Model using !ARC %lo&ks to /eed a sinusoid
,oltage to the SRV#20 as sho.n in +igure 1. (he %lo&ks /rom the QUARC Targets li%rary are used to
intera&t .ith the data a&8uisition %oard0 e.g. uanser 26!S2 or $7D de,i&e.
Figure 1: Sa!ple Si!ulin# $odel used to %eed sinusoid &oltage to the SRV02"
+ollo. these steps to design the Simulink diagram1
1. Aoad the Matla% so/t.are.
2. Create a ne. Simulink Diagram %y &li&king on File B 'ew B $odel item /rom the menu %ar.
3. *pen the Simulink Ai%rary 2ro.ser .indo. %y &li&king on the View B (ibrar) *rowser item in
the Simulink menu %ar or &li&king on the Simulink i&on.
4. As illustrated in +igure 20 e5pand the QUARC Targets item and go to the +ata A,-uisition .
/eneri, . Con%iguration /older.
5. Cli&k6and6drag the 37A 7nitialiCe %lo&k /rom the li%rary .indo. into the %lank Simulink model.
(his is used to &on/igure your data6a&8uisition de,i&e0 e.g. the uanser $7D or 26!S2 %oard.
". 7n the Ai%rary 2ro.ser0 go to the /eneri, D I!!ediate I01 &ategory. (his &ontains ,arious
%lo&ks used to intera&t .ith a&tuators and sensors.
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Figure 2: QUARC Con%iguration %older in the Si!ulin# (ibrar)
*rowser window"
E. Cli&k6and6drag the 37A =rite Analog %lo&k /rom the li%rary into the Simulink diagram. (his
%lo&k is used to output a ,oltage /rom a digital6to6analog &hannel0 i.e. DFA0 on the data6
a&8uisition de,i&e.
-. Add a Signal 4enerator %lo&k 9Si!ulin# D Sour,e /older:0 a Slider 4ain %lo&k 9Si!ulin# D $ath
1perations &ategory:0 and a 4ain 9Si!ulin# D $ath 1perations &ategory: into the Simulink
model. Conne&t the %lo&ks as sho.n in +igure 1.
I' !sin( % V#&tPAQ) $%*+ s!+ ,#! s+t t-+ (%in #n t-+ V#&tPAQ t# 1.
'. Dou%le6&li&k on the 37A 7nitialiCe %lo&k.
1#. 7n the *oard t)pe /ield0 sele&t the %oard that is installed in your $C0 e.g. i/ using the 26!S2
then sele&t -22usb.
11. 7/ more than one %oard is installed0 ensure the *oard nu!ber /ield is set &orre&tly0 e.g. i/ t.o
%oards are used then &hoose either # or 1.
12. (he de/ault settings /or the %oard are /ine /or this e5periment. +or more in/ormation on this
%lo&k0 &li&k on its 3elp %utton. *ther.ise &li&k on the *G %utton and pro&eed.
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13. Dou%le6&li&k on the 37A =rite Analog %lo&k.
14. Set *oard na!e to 3I(41. 2y de/ault0 Channels is set to # and the Sa!ple ti!e /ield is set to 61.
Re&all that0 as instru&ted in Re/eren&e ;5<0 the DC motor is &onne&ted to Analog *utput
Channel H# on the hard.are6in6the6loop %oard. (here/ore Channels should %e set to #. Also0
setting the Sa!ple Ti!e to 41 implies that the sampling inter,al is inherited /rom the pre,ious
%lo&k. (his setting is /ine as .ell.
15. Cli&k on the *G %utton to sa,e and &lose the 37A =rite Analog %lo&k properties.
1". Sa,e the Simulink mode %y sele&ting the File B Sa&e item in the menu %ar or &li&king on the
Sa&e i&on.
+!!#! Compiling t/e Mo"el
(he Simulink model &an no. %e used %y !ARC to generate &ode .hi&h .ill later %e e5e&uted to send
a ,oltage to the SRV#2.
+ollo. these steps to generate &ode /rom a Simulink diagram1
1. 7n the Simulink diagram designed in Se&tion 4.1.10 go to the QUARC B Set de%ault options item
to set the &orre&t Real6(ime =orkshop parameters and setup the Simulink model /or e5ternal
use 9as opposed to the simulation mode:.
2. (o ,ie. the &ompiler options0 go to QUARC B 1ptions in the Simulink model tool %ar. 7n the
Real6(ime =orkshop pane0 the S)ste! target %ile is set to (arget Aanguage Compiler /ile
-uar,2windows"tl, and0 in the $a#e%ile ,on%iguration se&tion0 the $a#e ,o!!and is set to
!a#e2rtw and the Te!plate !a#e%ile is set to -uar,2de%ault2t!% /ile.
3. Cli&k on the the Sol&er item in the le/t6hand pane.
4. 7n the Si!ulation ti!e se&tion0 the Stop ti!e is set to in% in order /or the &ode to %e e5e&uted
&ontinuously until it is stopped manually %y the user. Alternati,ely0 the Stop ti!e parameter &an
%e set to the desired duration 9&ode .ill &ease e5e&uting .hen the stop time ,alue is rea&hed:.
5. 7n the Sol&er options se&tion0 the T)pe parameter is set to Fied4step and the Sol&er is set to
dis,rete. (here are no &ontinuous %lo&ks inside the designed Simulink model0 there/ore ha,ing a
dis&rete sol,e is /ine. 3o.e,er0 i/ an 7ntegrator %lo&k or another &ontinuous system is used then
the Sol&er /ield .ould ha,e to &hanged to an integration method su&h as ode1 56uler7.
". (he Fied4step si8e /ield sets the sampling inter,al0 or sampling time0 o/ the &ontroller. 2y
de/ault this is set to #.##1 se&onds0 .hi&h is a sampling rate o/ 1 k3C.
E. Cli&k on the *G %utton to &lose the Con/iguration $arameters .indo..
-. Sele&t the QUARC B *uild item. Various lines in the Matla% Command =indo. should %e
displayed as the model is %eing &ompiled.
'. *n&e done &ompiling0 a !ARC =indo.s e5e&uta%le /ile along .ith a /older &ontaining
,arious C and Matla% /iles are generated. @ote that on&e the e5e&uta%le is &reated0 the /older is
no longer needed.
1#. @ote that the e5e&uta%le and asso&iated &ode /older may %e remo,ed /rom the &urrent dire&tory
%y &li&king on QUARC B Clean item.

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+!!&! Running QUARC Co"e
*n&e the Simulink Model has %een &ompiled0 the &ode &an %e e5e&uted and the ,oltage set in the
Simulink model &an %e sent to the SRV#2 motor. 4o through these steps1
1. (urn *@ the po.er o/ the the po.er ampli/ier.
2. (o %egin e5e&uting the &ode0 &li&k on the QUARC B Start item in the Simulink model. (he
SRV#2 e5ternal gears on the SRV#2 should %egin rotating %a&k6and6/orth. (his &ommand
a&tually does t.o things1 it &onne&ts to the target and then e5e&utes the &ode. Alternati,ely0
users may de&ide to go through these steps indi,idually. (o do this /irst &li&k on the Conne,t to
target i&on0 or sele&t the Si!ulation B Conne,t to target item /rom the menu %ar0 and then &li&k
on the Run i&on0 or /rom the menu &hoose the Si!ulation B Start Real4Ti!e Code item0 to
e5e&ute the &ode.
3. Dou%le6&li&k on the Signal 4enerator %lo&k to open its parameter .indo..
4. Set the Fre-uen,) /ield to #.5 3C and &li&k on the *G %utton. Remark ho. the parameter
&hange e//e&ts the SRV#2 immediately1 the gears on the SRV#2 %egin to s.it&h %a&k6and6/orth
more slo.ly.
5. Vary the ,alue o/ the Slider 4ain %lo&k %et.een # and 2. )5amine ho. the angular rate o/ the
SRV#2 gears &hange proportionally .ith the amplitude o/ the sine .a,e.
". Sele&t the QUARC B Stop item to stop the &ode /rom running 9or &li&k on the Stop %utton in the
Simulink model tool %ar:.
E. $o.er *++ the ampli/ier i/ no more e5periments .ill %e ran in this session.
4.2. Meas!ring SRV02 Potentio"eter
7n this se&tion0 the Simulink Model pre,iously designed in Se&tion 4.1.1 is modi/ied to o%tain readings
/rom the SRV#2 potentiometer sensor.
+!#!! Rea"ing $otentiometer -oltage
Design a Simulink model0 similarly as pi&tured in +igure 30 %elo.0 that reads the potentiometer ,oltage.
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Figure 9: Si!ulin# !odel used to send &oltage to the SRV02 and obtain readings %ro! the potentio!eter sensor"
+ollo. this pro&edure to design the Simulink diagram1
1. +rom the /eneri, D Ti!ebases &ategory in the Simulink Ai%rary 2ro.ser0 &li&k6and6drag the
3I( Read Ti!ebase %lo&k into the Simulink diagram &reated pre,iously in Se&tion 4.1.1. (his
%lo&k &an %e &on/igured to read /rom analog0 en&oder0 and digital &hannels. 7n this &ase it .ill
%e used to read a ,oltage /rom an analog6to6digital &hannel0 i.e. AFD0 on the data6a&8uisition
de,i&e. !sing a Ti!ebase type %lo&k &auses the running model to %e triggered %y the hard.are
hard.are timer on the data6a&8uisition %oard as opposed to the system &lo&k. (his in&reases
per/orman&e o/ the &ontroller %y redu&ing Iitter and allo.ing /or greater sampling rates. (he
system &lo&k .ould instead %e used i/0 /or instan&e0 the 37A Read %lo&k /rom the I!!ediate I01
&ategory .as sele&ted.
2. Dou%le6&li&k on the 37A Read (ime%ase %lo&k to open its properties.
3. Set *oard na!e to 3I(41.
4. Re&all that0 as instru&ted in Re/eren&e ;5<0 the potentiometer is &onne&ted to Analog 7nput H# on
the hard.are6in6the6loop %oard. (here/ore the de/ault setting o/ Analog &hannels set to # is /ine.
5. Add a S&ope %lo&k /rom the Si!ulin# D Sin#s /older in the Ai%rary 2ro.ser and &onne&t it to the
output o/ the 37A Read Analog %lo&k0 similarly as sho.n in +igure 30 a%o,e0
". Set the Fre-uen,) parameter in the Signal 4enerator %lo&k to 1.# 3C and the Slider 4ain %lo&k
to 1.
E. Dou%le6&li&k on the S&ope i&on.
-. Sa,e the Simulink model 9you may .ant to sa,e the model as a di//erent /ile:.
'. $o.er *@ the ampli/ier.
1#. 4o to QUARC B *uild to &ompile the &ode.
11. Cli&k on QUARC B Start to e5e&ute the &ode. As the SRV#2 rotates %a&k6and6/orth0 the S&ope
should display the potentiometer readings similarly as sho.n in +igure 4. Remark that the
readings sho.n are the ,oltage output o/ the potentiometer and not an angular measurement in
degrees or radians.
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Figure :: Reading raw &oltage %ro! the SRV02
potentio!eter"
NOTE. I' t-+ s"#/+ is n#t 0is/&%,in( %n, 0%t% %n0 t-+ SRV02 is #t%tin() t-+n s++ S+"ti#n
4.5.3 t# +1"#n'i(!+ t-+ RTW Si(n%& 2 Ti((+in( /#/+ti+s.
12. Vary the sine .a,e /re8uen&y %et.een #.1 and 2 3C and the Slider 4ain ,alue %et.een # and 2.
Jou may noti&e the dis&ontinuity present in the potentiometer0 as illustrated in +igure 5.
Figure ;: <otentio!eter reading when en,ountering its
dis,ontinuit)"
13. As dis&ussed in Re/eren&e ;5<0 the potentiometer is an a%solute sensor. (o demonstrate this0 set
the Slider 4ain to # V.
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14. Manually rotate the gears su&h that the potentiometer is reading a ,alue other than # V.
15. Stop the &ode %y &li&king on !ARC B Stop.
1". Start the &ode again0 i.e. sele&t !ARC B Start and e5amine ho. the ,oltage reading is the same
as pre,iously set.
1E. Stop the &ode again.
+!#!#! A""ing Calibration an" ,copes
(he Simulink model .ill no. %e modi/ied to read the load angle /rom the potentiometer and the
,oltage &ommanded to the motor0 similarly as sho.n in +igure ".
Figure =: Si!ulin# !odel used to send &oltage to the SRV02 and obtain angular readings %ro! the potentio!eter"
Continue to modi/y the Simulink diagram %uilt in the pre,ious se&tion .ith these steps1
1. Aa%el the S&ope %lo&k that is presently &onne&ted to the 37A Read Analog %lo&k to theta2l
5deg7. (his .ill display the angular measurement o/ the load gear in degrees.
2. Add a S&ope %lo&k /rom the Si!ulin# D Sin#s /older in the Ai%rary 2ro.ser and &onne&t it to the
output o/ the Slider 4ain %lo&k0 as sho.n in +igure "0 a%o,e. Aa%el the S&ope %lo&k V! 5V7
.hi&h stands /or the input motor ,oltage.
3. +rom the Si!ulin# D $ath 1perations &ategory in the Ai%rary 2ro.ser0 add t.o 4ain %lo&ks into
the Simulink model.
4. Conne&t the 4ain %lo&ks as illustrated in +igure ". $la&e one 4ain %lo&k %et.een the A!pli%ier
<re4Co!pensation 4ain and the 37A =rite Analog %lo&ks and la%el it $otor Calibration 5V0V7.
Add the se&ond 4ain %lo&k %et.een the 37A Read (ime%ase and theta2l S&ope %lo&ks and
denote it <otentio!eter Calibration 5deg0V7.
5. Re6&ompile the Simulink model0 i.e. &li&k on QUARC B *uild.
". Cli&k on QUARC B Start to run the &ode.
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E. *pen the V! 5V7 and theta2l 5deg7 s&opes.
-. 7n the Signal 4enerator0 set the Fre-uen,) parameter to #.25 3C.
'. Set the Slider 4ain %lo&k to 1. (he input ,oltage signal in the V! 5V7 s&ope should %e as sho.n
in +igure E.
Figure >: Sinusoidal SRV02 input &oltage"
1#. Currently .hen the ,oltage goes positi,e the load gear rotates in the &lo&k.ise dire&tion.
3o.e,er0 the desired &on,ention is /or the load gear to rotate in the &ounter6&lo&k.ise dire&tion
.hen the ,oltage goes positi,e. (hus set the $otor Calibration 5V0V7 %lo&k to 61.
11. As des&ri%ed in Re/eren&e ;5<0 the potentiometer outputs %et.een KF6 5V .hen it rotated 352
degrees. )nter the ,alue 352 F 1# in the <otentio!eter Calibration 5deg0V7 %lo&k.
12. 7n the theta2l 5deg7 s&ope0 &li&k on the Autos,ale i&on so the y6a5is range is in&reased and the
/ull signal &an %e ,ie.ed.
13. Set the Slider 4ain %lo&k to #.
14. Rotate the load gear manually and e5amine the &orresponding response in the theta2l 5deg7
s&ope. Con/irm that0 indeed0 the &orre&t measurement is %eing taken.
15. $osition the load gear su&h that # is read in the theta2l 5deg7 s&ope .
1". Set the Slider 4ain %lo&k to 1.
1E. )5amine the relationship %et.een the input ,oltage and load position. =hen the input ,oltage
in&reases in the positi,e dire&tion0 the potentiometer angle de&reases. Add a negati,e sign to the
<otentio!eter Calibration 5deg0V7 %lo&k so the entered ,alue %e&omes 6352F1#. @o.0 the
angular position o/ the load gear0 displayed in the theta2l 5deg7 s&ope0 reads in&reasingly
positi,e .hen the &ommanded motor input ,oltage0 i.e. signal in the V! 5V7 s&ope0 is positi,e.
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Figure ?: Input &oltage s,ope" Figure @: (oad gear position response when
,alibrated"
1-. Sele&t the QUARC B Stop item to stop the &ode /rom running.
1'. $o.er *++ the ampli/ier i/ no more e5periments .ill %e ran in this session.
4.#. Meas!ring SRV02 $a%ho"eter
7n this se&tion0 the Simulink diagram designed in Se&tion 4.2 is modi/ied to in&lude the readings /rom
the ta&hometer. 2e/ore &ontinuing0 please ensure that the SRV#2 unit %eing used has a ta&hometer0 i.e.
SRV#26( option.
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Figure 10: Si!ulin# !odel used to send &oltage to SRV02 and read its potentio!eter and ta,ho!eter sensors"
!sing the Simulink diagram %uilt in the pre,ious se&tion0 go through this pro&edure to add the
ta&hometer /un&tionality1
1. Dou%le6&li&k on the 37A Read (ime%ase %lo&k to open its properties.
2. As detailed in Re/eren&e ;5<0 the ta&hometer is &onne&ted to Analog 7nput H2 on the hard.are6
in6the6loop %oard. (o add a &hannel0 set the Analog ,hannels /ield to ;#02< and &li&k on the *G
%utton.
3. Add a S&ope %lo&k and a 4ain %lo&k /rom Ai%rary 2ro.ser into the Simulink model.
4. Conne&t the S&ope and 4ain %lo&ks as depi&ted in +igure 1#0 a%o,e. (hat is0 &onne&t the 4ain
%lo&k to the output o/ Channel H2 /rom the 37A Read (ime%ase %lo&k and la%el it Ta,ho!eter
Calibration 5rp!0V7. (hen0 &onne&t the output o/ this gain %lo&k to the input o/ the S&ope %lo&k
and la%el the s&ope w2l 5rp!7. (his s&ope .ill display the measured speed o/ the load gear in
thousand re,olutions per minute.
5. Set the Signal 4enerator +re8uen&y parameter to 1.# 3C and the Slider 4ain %lo&k to 1.
". *pen the V! 5V7 and the w2l 5rp!7 s&opes.
E. $o.er *@ the ampli/ier.
-. 4o to QUARC B *uild to &ompile the &ode.
'. Cli&k on QUARC B Start to e5e&ute the &ode. As the SRV#2 rotates %a&k6and6/orth0 the w2l
5rp!0V7 s&ope should display the ta&hometer readings. Sin&e the Ta,ho!eter Calibration
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5#rp!0V7 gain has not %een &on/igured yet0 the s&ope is displaying the ta&hometer output
,oltage0 .hi&h is proportional to the speed o/ the load sha/t.
1#. (he %a&k6em/ &onstant o/ the ta&hometer sensor is 1.5 mVFrpm. 3o.e,er0 the measurement is
taken dire&tly /rom the motor itsel/ 9see Re/eren&e ;5<:. (hus to read the ,elo&ity o/ the gear the
ta&hometer &ali%ration gain must %e di,ided %y the gear ratio. )nter 1 F 1.5 F E# .hen using the
SRV#2 in the high6gear &on/iguration or 6 1 F 1.5 F 14 .hen using the SRV#2 in the lo.6gear
&on/iguration in the Ta,ho!eter Calibration 5#rp!0V7 gain %lo&k.
11. (he measurement .ill %e ,ery small. Cli&k on the Autos,ale i&on in the s&ope to Coom up on
the signal. Alternati,ely0 the y6range o/ the s&ope &an %e set manually. (o do this0 right6&li&k on
the y6a5is0 sele&t Aes <roperties /rom the drop6do.n menu0 and set the desired y6range ,alues.
12. )5amine the relationship %et.een the input ,oltage and load speed. =hen the input ,oltage
in&reases in the positi,e dire&tion0 the ta&hometer ,elo&ity de&reases. As .ith the potentiometer
.hen reading position0 the speed o/ the load sha/t should go positi,e .hen the input ,oltage is
positi,e. (hus add a negati,e sign to the Ta,ho!eter Calibration 5rp!0V7 %lo&k so the entered
,alue %e&omes 61 F 1.5 F E# /or high6gear or 1 F 1.5 F 14 /or lo.6gear . (he input ,oltage and load
,elo&ity s&opes should read as sho.n in +igure 11 and +igure 12.
Figure 11: Input &oltage s,ope"

Figure 12: (oad sha%t &elo,it) !easured b)
ta,ho!eter"
Note1 7/ you .ant the measurement to %e in R$M instead o/ kR$M0 enter 6 1### F 1.5 F E# /or
high6gear or 6 1### F 1.5 F 14 /or lo.6gear.
13. Sele&t the QUARC B Stop item to stop the &ode /rom running.
14. $o.er *++ the ampli/ier i/ no more e5periments .ill %e ran in this session.
4.4. Meas!ring SRV02 &n%o'er
(he Simulink diagram designed pre,iously is modi/ied to in&lude an en&oder measurement0 as
illustrated in +igure 13 %elo.. 2e/ore &ontinuing0 please ensure that the SRV#2 unit %eing used has an
en&oder0 i.e. SRV#26) option.
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Figure 19: Si!ulin# !odel used to send &oltage to the SRV02 and read its potentio!eterA ta,ho!eterA and en,oder sensors"
!sing the Simulink model designed in either se&tion 4.2 or 4.30 /ollo. this pro&edure to add en&oder
/un&tionality1
1. Dou%le6&li&k on the 37A Read (ime%ase %lo&k to open its properties.
2. Re&all that0 as instru&ted in Re/eren&e ;5<0 the en&oder is &onne&ted to )n&oder 7nput H# on the
data a&8uisition %oard. (hus set the 6n,oder ,hannels /ield to ;#<. (he de/ault en&oder
&on/igurations in the 37A 7nitialiCe %lo&k are /ine %ut keep in mind that these &an %e &hanged.
3. Add a 4ain %lo&k and a S&ope %lo&k /rom the $ath 1perations and Sin#s /olders in the Ai%rary
2ro.ser0 respe&ti,ely0 into the Simulink model.
4. Conne&t the S&ope and 4ain %lo&ks as depi&ted in +igure 130 a%o,e. (hus &onne&t the 4ain
%lo&k to the output la%eled e0 o/ the 37A Read (ime%ase %lo&k and la%el it 6n,oder Calibration
5deg0,ount7. (hen0 &onne&t the output o/ this gain %lo&k to the input o/ the S&ope %lo&k and
la%el the s&ope en,: theta2l 5deg7. (his s&ope .ill display the measured angular position o/ the
load gear in degrees.
5. Set the Fre-uen,) parameter in the Signal 4enerator %lo&k to 1.# 3C and the Slider 4ain %lo&k
to 1.
". *pen the V! 5V7 and en,: theta2l 5deg7 s&opes.
E. Sa,e the Simulink model 9you may .ant to sa,e the model as a di//erent /ile:.
-. $o.er *@ the ampli/ier.
'. 4o to QUARC B *uild to &ompile the &ode.
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SRV02 QUARC Integration Instructor Manual
1#. Cli&k on QUARC B Start to e5e&ute the &ode. As the SRV#2 rotates %a&k6and6/orth0 the en,:
theta2l 5deg7 should display the en&oder readings. Sin&e the 6n,oder Calibration 5deg0,ount7
gain has not %een &on/igured yet0 the s&ope is displaying the num%er o/ &ounts /rom the en&oder
output0 .hi&h is proportional to the position o/ the load sha/t.
11. (he measurement .ill %e ,ery large. Cli&k on the Autos,ale i&on in the s&ope to Coom out and
,ie. the entire signal. Alternati,ely0 the y6range o/ the s&ope &an %e set manually. (o do this0
right6&li&k on the y6a5is0 sele&t Aes <roperties /rom the drop6do.n menu0 and set the desired
y6range ,alues
12. As dis&ussed in Re/eren&e ;5<0 the en&oder outputs 4#'" &ounts /or e,ery /ull re,olution. (o
measure the load gear angle0 set the 6n,oder Calibration 5deg0,ount7 gain %lo&k to 3"# F 4#'"
degrees per &ount.
13. (he measurement .ill %e ,ery small. Cli&k on the Autos,ale i&on in the s&ope to Coom up on
the signal or adIust the range o/ the y6a5is manually. (he input ,oltage and position s&opes
should appear similarly as sho.n in +igure 14 and +igure 15. Remark that no /urther &ali%ration
is needed1 the en&oder position in&reases .hen the input ,oltage goes positi,e.
Figure 1:: Input sinusoidal &oltage"
Figure 1;: (oad gear angle !easured with en,oder"
14. Set the Slider 4ain %lo&k to #.
15. Mo,e around the load gear and e5amine the response in the en,: theta2l 5deg7 s&ope. Rotate the
gear so the measurement is a%out 12# degrees.
1". Sele&t the QUARC B Stop item to stop the &ode /rom running.
1E. 2egin running the &ontroller again. @oti&e in the theta2l 5deg7 s&ope that the en&oder is no.
reading # degrees. (his demonstrates the di//eren&e %et.een a relati,e position measurement0
e.g. in&remental en&oder0 and an a%solute measurement0 e.g. potentiometer.
1-. Stop running the &ontroller.
1'. $o.er *++ the ampli/ier i/ no more e5periments .ill %e ran in this session.
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SRV02 QUARC Integration Instructor Manual
4.(. )ther QUARC *!n%tions
+!1!! .igital .isplay
7t has %een sho.n ho. data /rom the output o/ a %lo&k &an %e displayed in a S&ope. 3o.e,er0 this data
&an also %e displayed using a Digital Display. 7t is sometimes %ene/i&ial to ,ie. the numeri&al ,alue o/
the %lo&k at that time instant. 7n +igure 1" /or e5ample0 the measured angle o/ the load gear is
displayed.
Figure 1=: Si!ulin# !odel that sends a &oltage to the SRV02 and displa)s the potentio!eter using both a s,ope and a
digital displa)"
+!1!#! ,a(ing ,cope .ata
(he s&opes in the Simulink model &an %e &on/igured to sa,e ,aria%les in the Matla% .orkspa&e. +or
instan&e0 to &on/igure the load gear position s&ope theta2l 5deg7 in the Simulink model /rom Se&tion 4.2
per/orm the /ollo.ing1
1. *pen the theta2l 5deg7 s&ope 9dou%le6&li&k on it:.
2. Cli&k on <ara!eters i&on.
3. 7n the <ara!eters .indo.0 sele&t the +ata 3istor) ta%.
4. Sele&t the Sa&e data to wor#spa,e &he&k %o5.
5. Change the Variable name /ield to a desired ,aria%le0 e.g. theta2l.
". Set For!at to Arra).
E. 2y de/ault0 the (i!it data points to last %o5 is set to 5###. (his means that only the last 5###
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SRV02 QUARC Integration Instructor Manual
points o/ data .ill %e sa,ed in the ,aria%le. (hus0 gi,en that the &ontroller runs at 1 k3C0 this
implies that the last 5 se&onds o/ data sho.n in the theta2l 5deg7 s&ope .ill %e &aptured.
-. Cli&k on the 1B %utton.
'. Sa,e the Simulink model.
1#. Sele&t QUARC B *uild to re%uild the model.
11. Cli&k on QUARC B Run.
12. A/ter the &ontroller has ran /or at least 5 se&onds0 &li&k on QUARC B Stop to &ease running the
&ode.
13. =hen the &ontroller is stopped0 the ,aria%le is sa,ed to the .orkspa&e. (he ,aria%le theta2l is a
t.o6dimensional array .ith 5### elements. (he /irst ,e&tor is the running time and the se&ond
,e&tor is the position o/ the load gear. (o plot these into a Matla% /igure0 see the s&ript sho.n in
and the resulting s&ope that is generated a/ter the s&ript is ran.
%% Example of Loading Response Data
%
%% Load sample data from the Matlab workspace into variables
% Time vector (s)
t theta!l("#$)%
% Load gear position (deg)
th!l theta!l("#&)%
%
%% 'lot response
plot(t#th!l#(r)()%
label((*theta!l (deg)()
xlabel((time (s)()%
title((*bf +R,-& .pen)loop 'osition Response()%
Tet 1: Sa!ple s,ript used to plot sa&ed &ariable theta2l in a $atlab %igure"
Figure 1>: $atlab %igure showing !easured response %ro! the
sa&ed theta2l &ariable"
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SRV02 QUARC Integration Instructor Manual
+!1!&! ,ignal an" Triggering
7/ a s&ope is not displaying any tra&es .hen running !ARC in )5ternal mode or you .ish to adIust
the amount o/ data that &an %e displayed0 then the Signal L (riggering properties need to %e &on/igured.
+ollo. this pro&edure these settings1
1. 7n the Simulink model0 sele&t the Tools B 6ternal $odel Control <anel item.
2. Cli&k on the Signal C Triggering %utton and the .indo. sho.n in +igure 1- .ill load.
Figure 1?: Signal and Triggering window %or a Si!ulin# diagra! with a single S,ope"
3. As sho.n in +igure 1-0 ensure the Ar! when ,onne,tion to target option is sele&ted so that the
s&ope plots in/ormation .hen the !ARC &ontroller is running.
4. (he +uration spe&i/ies the amount o/ points that are plotted. 7/ the %u//er is set to 1#0### points
and the &ontroller runs at a sampling rate o/ 1 k3C0 i.e. sampling inter,al o/ #.##1 s0 then the
s&ope .ill plot up to 1# se&onds o/ data. (hus to ,ie. up to 2# se&onds the +uration .ould
ha,e to %e &hanged to 2# se&onds.
5. Make sure you &li&k on the Appl) %utton to &ommit the &hanges.
". Cli&k on Close .hen done.
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SRV02 QUARC Integration Instructor Manual
1! References
;1< DA !ser Manual
;2< !ARC !ser Manual 9type doc /0arc in Matla% to a&&ess:.
;3< !ARC 7nstallation Manual.
;4< Ampli/ier !ser Manual.
;5< SRV#2 !ser Manual.
Document Number 701 Reision 1!2 "age 1(