Make sure your Ball and Beam module experiment includes the following components:

To complete your Ball and Beam module set up, you will also need the following:

Ball and Beam Quick Start Guide:

3

5a 5b 5c

1

6 7 8 9 10

2

3

1. Ball and Beam module

2. Calibration base

3. Metal ball

4. 6-pin mini-DIN to 6-pin mini-DIN analog cable

5. 9/64 Allen key

6. Quanser Workstations Resources DVD* (includes controllers; digital versions of User Manual, Quick Start Guide and courseware; and other files)

*DVD supplied with the QUARC Real-time Rapid Control Prototyping software, see Step 2

4 5 6

To set up your Ball and Beam module, please read the following instructions carefully.

Additional Components Required for Set UpSTEP 2

Check Components and DetailsSTEP 1

1. QUARC Real-time Rapid Control Prototyping Software Installation DVD

2. Rotary Servo Base Unit 3. Power Amplifier (VoltPAQ-X1 pictured)4. Remote Sensor (optional device)5. One of the following data acquisition device: a. Quanser Q2-USB, or b. Quanser Q8-USB, or c. NI PCI/PCIe with NI M and X Series Terminal Board 6. RCA to RCA cable7. 4-pin DIN to 6-pin DIN motor cable8. 5-pin DIN to 4xRCA cable9. 5-pin DIN to 5-pin DIN encoder cable10. 6-pin mini-DIN to 6-pin mini-DIN analog cable (only required if using Remote sensor)

1 2

Use

QU

ARC

Rea

l-Tim

e Ra

pid C

ontro

l Prototyping Software to control over 80 Quanser experiments. Contact info@quanser.com

for information.

SOFTWARE INSTALLATION DVDREAL-TIME RAPID CONTROL

PROTOTYPING SOFTWARE v2.3

R2011a, b and R2012a, b For MATLAB®/Simulink®

For installation procedure please refer to the Installation Guide on this DVD. For assistance, contact tech@quanser.com

© 2013 Quanser Inc. All rights reserved. www.quanser.com

4

Quanser educational solutions are powered by:

Captivate. Motivate. Graduate. Solutions for teaching and research. Made in Canada.

iNFo@QuaNSer.CoM +1-905-940-3575 QuaNSer.CoM

ten modules to teach controls from the basic to advanced level

Srv02 Base unit Flexible Link inverted pendulum

Ball and Beam

Multi-doF torsion2 doF inverted pendulum

2 doF robot

Flexible Joint Gyro/Stable platform

double inverted pendulum

2 doF Ball Balancer

With the SRV02 Base Unit, you can select from 10 add-on modules to create experiments of varying complexity across a wide range of topics, disciplines and courses. All of the experiments/workstations are compatible with LabVIEW™ and MATLAB®/Simulink®.

To request a demonstration or a quote, please email info@quanser.com.

©2012 Quanser Inc. All rights reserved. LabVIEW™ is a trademark of National Instruments. MATLAB® and Simulink® are registered trademarks of The MathWorks Inc.

uSer MaNuaLBall and Beam experiment

Set Up and Configurationstudent Workbook

ball and beam experiment for Matlab®/simulink® users Standardized for ABET* Evaluation Criteria

Developed by:Jacob Apkarian, Ph.D., QuanserMichel Lévis, M.A.Sc., Quanser

Hakan Gurocak, Ph.D., Washington State University

With the SRV02 Base Unit, you can select from 10 add-on modules to create experiments of varying complexity across a wide range of topics, disciplines and courses. All of the experiments/workstations are compatible with MATLAB®/Simulink®.

To request a demonstration or a quote, please email info@quanser.com.

©2012 Quanser Inc. All rights reserved. MATLAB® and Simulink® are registered trademarks of The MathWorks Inc.

srV02 base unit Flexible link Inverted Pendulum ball and beam

Multi-doF torsion2 doF Inverted Pendulum2 doF robot

Flexible Joint Gyro/stable Platform double Inverted Pendulum 2 doF ball balancer

student W

orkbook: ball and b

eam e

xperim

ent for Ma

tlab

®/s

imulink

® users

ten modules to teach controls from the basic to advanced level

SRV02 educational solutions are powered by:

Course material complies with:

CaPtIVate. MotIVate. Graduate. Solutions for teaching and research. Made in Canada.

InFo@Quanser.CoM +1-905-940-3575 Quanser.CoM * ABET Inc., is the recognized accreditor for college and university programs in applied science, computing, engineering, and technology. Among the most respected accreditation organizations in the U.S., ABET has provided leadership and quality assurance in higher education for over 75 years.

Instructor Workbook: B

all and Beam

Exp

eriment for M

atlab®/

Sim

ulink® U

sers

With the SRV02 Base Unit, you can select from 10 add-on modules to create experiments of varying complexity across a wide range of topics, disciplines and courses. All of the experiments/workstations are compatible with MATLAB®/Simulink®.

To request a demonstration or a quote, please email info@quanser.com.

©2012 Quanser Inc. All rights reserved. MATLAB® and Simulink® are registered trademarks of The MathWorks Inc.

SRV02 Base Unit Flexible Link Inverted Pendulum Ball and Beam

Multi-DOF Torsion2 DOF Inverted Pendulum2 DOF Robot

Flexible Joint Gyro/Stable Platform Double Inverted Pendulum 2 DOF Ball Balancer

Ten modules to teach controls from the basic to advanced level

SRV02 educational solutions are powered by:

Course material complies with:

InSTRUcTOR WORkBOOkBall and Beam Experiment for MaTLaB®/Simulink® Users

Standardized for ABET* Evaluation Criteria

Developed by:Jacob Apkarian, Ph.D., QuanserPaul Karam, B.A.SC., QuanserMichel Lévis, M.A.SC., Quanser

Hakan Gurocak, Phd.D., Washington State University

caPTIVaTE. MOTIVaTE. GRaDUaTE. Solutions for teaching and research. Made in Canada.

InFO@QUanSER.cOM +1-905-940-3575 QUanSER.cOM * ABET Inc., is the recognized accreditor for college and university programs in applied science, computing, engineering, and technology. Among the most respected accreditation organizations in the U.S., ABET has provided leadership and quality assurance in higher education for over 75 years.

Use

QU

ARC

Real-

Time

Rapid

Contro

l Prototyping Software to control over 80 Quanser experiments. Contact info@quanser.com

for information.

RESOURCES DVD

TO SET UP QUANSER WORKSTATIONS

On this DVD:• Quick start Guides• Pre-designed Controllers• User Manuals• Instructor and Student Workbooks or Laboratory Guides

For use with

© 2013 Quanser Inc. All rights reserved. www.quanser.com

Note: These component must be purchased separately.

Install and Test QUARCSTEP 3

A. Make sure you have all required software, as listed in the QUARC Compatibility Table document located in the QUARC DVD folder.

B. See the QUARC Installation Manual for details on how to install the software.

C. Make sure you test the system using the Sine and Scope demo. You can access this by typing qc_show_demos in the Matlab prompt.

4545

0

Set Up the HardwareSTEP 4

WiringSTEP 5

Follow the procedure below to set up your Ball and Beam module.

The connections shown below are illustrated using a generic data acquisition (DAQ) device and a VoltPAQ-X1 amplifier ( you may have a different DAQ or amplifier). For full details, see the Ball and Beam User Manual (enclosed with shipment). If you do not have the Remote Sensor device, ignore the Remote Sensor related connections.

Place the Rotary Servo Base Unit on its side so that the potentiometer gear fits into the cut-out section of the calibration base.

Tighten the coupling screw into the screw hole on the large 120-tooth load gear.

While holding the servo load gear at 0 degrees, place the ball in the center of the beam. Vary the height of the support arm until the ball stays at the center of the beam (beam will be approximately horizontal).

Place the support column of the Ball and Beam module into the cut-out section of the calibration base.

Using the 4-pin DIN to 6-pin DIN motor cable, connect the To Load socket on the amplifier to the Motor socket on the Rotary Servo Base Unit

Rotate the servo load gear to the 0 degree position. The coupling screw should be aligned with the 0 degree position on the servo.

The Ball and Beam module is calibrated when the ball is balanced at the center of the beam and the servo load gear is at 0 degrees.

B

F

H

E

G

Before proceeding, set up and test your Rotary Servo Base Unit. For detailed instructions, see its Quick Start Guide or User Manual (enclosed with shipment).

Make sure the entire system is powered off before making any of these connections. This includes turning off your PC and the amplifier.

A

A

Once calibrated, tighten the 4 screws on the support arm using the Allen key.

MOTOR ENCODER S1 & S2

S1 & S2TACH

MOTOR ENCODER S1 & S2

S1 & S2TACH

Analog SensorInputs

S1&S2

AmplifierCommand

CurrentSense (1V=1A)

To Load

E-Stop

Amplifier Gain1X 3X

To ADC

S3

S4

Analog SensorInputs

S1&S2

AmplifierCommand

CurrentSense (1V=1A)

To Load

E-Stop

Amplifier Gain1X 3X

To ADC

S3

S4

0

4545

0

4545

0

B Using the RCA to RCA cable, connect Analog Output Channel #0 (AO #0) on the data acquisition (DAQ) device to the Amplifier Command socket on the amplifier.

Data Acquisition Device Amplifier

Calibration Base

Ball and Beam

Ball and Beam Module

Amplifier

Analog Output(AO)

0

C

D

Using the 5-pin DIN to 5-pin DIN encoder cable, connect the Encoder socket on the Rotary Servo Base Unit panel to the Encoder Input Channel #0 socket on the data acquisition device.

D

Rotary Servo Base UnitRotary Servo Base Unit

Encoders(EI)

0

Data Acquisition Device

C

Ball and Beam

Testing the Ball and Beam STEP 6Follow the procedure below to test your Ball and Beam module.

Using the 6-pin mini-DIN to 6-pin mini-DIN analog cable, connect the Ball Sensor socket on the Ball and Beam module to the outside S3 socket on the amplifier.

Using the 5-pin-DIN to 4xRCA cable, connect the To ADC socket on the amplifier to Analog Inputs #0 and #1 on the data acquisition device. Connect the red RCA connector (S3) to AI #0 and the black RCA (S4) to AI #1.

Attention Remote Sensor Users: (if you do not have the Romote Sensor device, skip to the next step.) Using the 6-pin-mini-DIN to 6-pin-mini-DIN analog cable, connect the Remote Sensor Ball Sensor socket on the Rotary Servo Base Unit to the S4 socket on the amplifier.

F

E

G

Analog SensorInputs

S1&S2

AmplifierCommand

CurrentSense (1V=1A)

To Load

E-Stop

Amplifier Gain1X 3X

To ADC

S3

S4

Analog SensorInputs

S1&S2

AmplifierCommand

CurrentSense (1V=1A)

To Load

E-Stop

Amplifier Gain1X 3X

To ADC

S3

S4

Analog SensorInputs

S1&S2

AmplifierCommand

CurrentSense (1V=1A)

To Load

E-Stop

Amplifier Gain1X 3X

To ADC

S3

S4

Amplifier

Amplifier

Amplifier

S3 (red)

S4(black)

Ball and Beam Sensor

Remote Sensor

Analog SensorInputs

S1&S2

AmplifierCommand

CurrentSense (1V=1A)

To Load

E-Stop

Amplifier Gain1X 3X

To ADC

S3

S4

Attention VoltPAQ-X1 Users: Make sure you set the GAIN on the VoltPAQ-X1 to 1 when using any Rotary Servo Base Unit experiment.

Turn ON the power switch on the VoltPAQ-X1. It is located on the rear of the device.

H I 1.5A/1.0A

800mA/400mA

100 VAC - 132 VAC/200 VAC - 240 VAC/

100 VAC - 132 VAC or200 VAC - 240 VAC

47Hz - 63Hz

Fuse Type: 3AG, Slow-Blow

FUSEFUSE FUSEFUSE

Amplifier Amplifier (rear)

Analog Output

(ADC/AI)

0

1Data Acquisition (DAQ) Device

Ball Position Sensor

Ball Position Sensor

Make sure your PC and amplifier are powered ON.

On the Resources DVD (supplied with the QUARC and Servo Base Unit package), locate the Quick Start Folder: Rotary\Ball and Beam\ Quick Start. Copy the Quick Start folder to your local hard drive.

A B

Double-click on the HIL Initialize block and choose the board that is installed on your system (e.g. Q2-USB).

Open the Simulink model file (.mdl) found under the Quick Start folder on your hard drive.

Configure HIL Initialize window

E F Once the model code has been compiled, click on the Connect To Target button.

Click on the Build Model button on the Simulink model toolbar.

Click on the Simulink Stop button to stop the running model.

I

C D

HThe scopes should look similar to those shown here. If not, refer to the Trouble-shooting section at the end of this guide.Note: To obtain a response in the Remote Sensor Ball Position scope, you need to have a Remote Sensor module connected. Then manually move the ball along its beam.

Click on the Run button to start the QUARC real-time model.

G

The Motor is not responding.

A. Review Connection in Steps 5B and 5C.

B. Ensure the power amplifier is powered on and operational, i.e., when using VoltPAQ-X1, verify that the green LED is lit.

C. Verify that the data acquisition (DAQ) device is functional. Go through the DAQ User Manual for troubleshooting guidelines.

D. Ensure the voltage is actually reaching the motor terminals. See the Ball and Beam User Manual for details.

The Ball/Remote Position Sensor is not measuring.

A. Review Connection in Steps 5E, 5F, and 5G. Make sure cables are firmly connected.

B. Ensure the power amplifier is working, i.e., when using VoltPAQ-X1 verify that the green LED is lit.

C. Verify that the data acquisition (DAQ) device is functional. Go through the DAQ User Manual for troubleshooting guidelines.

D. When the ball is sitting at the very end of the beam, it may not always be in contact with the sensor.

In this case the reading will initially be 0 V, but when the ball begins moving, the sensor signal will quickly rise to about 4.5 V and then begin decreasing.

E. Measure the voltage across the sensor. See the Ball and Beam User Manual for details.

The Encoder is not reading.

A. Review Connection in Step 5D.

B. Verify that the data acquisition (DAQ) device is functional. Go through the DAQ User Manual for troubleshooting guidelines.

1. Make sure cables are firmly connected.2. Make sure the Rotary Servo Base Unit has been set up and tested successfully. Go through the Rotary Servo Base Unit Quick Start Guide or User Manual set up and troubleshooting section for more information.

LEARN MORE To find out about the full range of Quanser Rotary Control modules, visit www.quansercontrollabs.com

Expand the Rotary Servo Base Unit to the following popular experiments using Quanser Rotary Control add-ons modules.

Inverted Pendulum Flexible Link Flexible Joint

STILL NEED HELP? For further assistance from a Quanser engineer, contact us at tech@quanser.com or call +1-905-940-3575.

TROUBLESHOOTING Please review the following before contacting Quanser’s technical support engineers.

Double Inverted Pendulum

©2013 Quanser Inc. All rights reserved. MATLAB® and Simulink® are registered trademarks of The MathWorks, Inc. V.1

Getting an error when trying to build or run the Quick Start Simulink model (.mdl)

A. Type ver in the Matlab Command Window and verify that QUARC is on the list. If not, then go through the QUARC Quick Installation Guide to install QUARC. If it is listed, run mex-setup as described in the QUARC Installation Guide.

B. If the “… specific kernel level driver for the specified card could not be found” error is prompted when you attempt to run, then you may not have selected the correct data acquisition (DAQ) device in the HIL Initialize block or the DAQ device has not been installed properly (refer to the DAQ device User Manual).