Rotary Motion Servo Plant: SRV02

SRV02

User Manual
SRV02 User Manual

Table of Contents

1. PRESENTATION..........................................................................................................................................1
1.1. Description........................................................................................................................................1
1.2. SRV02 Options.................................................................................................................................1

2. MODULE OPTIONS AND EXPERIMENT OVERVIEW.........................................................................................2

3. SRV02 COMPONENTS...............................................................................................................................4
3.1. SRV02 Component Nomenclature...................................................................................................4
3.2. Component Description....................................................................................................................6
3.2.1. DC Motor (Component #9)....................................................................................................................6
3.2.2. Potentiometer (Component #11)............................................................................................................7
3.2.3. Tachometer (Component #13)................................................................................................................7
3.2.4. Encoder (Component #12).....................................................................................................................8

3.3. SRV02-ETS Components.................................................................................................................9

3.3.1. Slip Ring Description...........................................................................................................................10

4. SRV02 SPECIFICATIONS.........................................................................................................................10

5. SYSTEM CONFIGURATION AND SETUP........................................................................................................12

5.1. Gear Configuration.........................................................................................................................12
5.1.1. Description...........................................................................................................................................12
5.1.2. Changing Gear Configuration..............................................................................................................13

5.2. Load Configuration.........................................................................................................................13

5.2.1. Description...........................................................................................................................................13
5.2.2. Installing Load.....................................................................................................................................14

6. WIRING PROCEDURE...............................................................................................................................14

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6.1. Cable Nomenclature.......................................................................................................................14

6.2. Typical Connections using UPM....................................................................................................16
6.3. Typical Connections with the Q3...................................................................................................19

7. TESTING AND TROUBLESHOOTING.............................................................................................................20

7.1. Motor..............................................................................................................................................21
7.1.1. Testing.................................................................................................................................................21
7.1.2. Troubleshooting...................................................................................................................................21

7.2. Testing the Potentiometer...............................................................................................................21

7.2.1. Testing.................................................................................................................................................21
7.2.2. Troubleshooting...................................................................................................................................21

7.3. Tachometer.....................................................................................................................................22
7.3.1. Testing.................................................................................................................................................22
7.3.2. Troubleshooting...................................................................................................................................22

7.4. Encoder...........................................................................................................................................22
7.4.1. Testing.................................................................................................................................................22
7.4.2. Troubleshooting...................................................................................................................................23

8. TECHNICAL SUPPORT...............................................................................................................................23

9. REFERENCES...........................................................................................................................................23

APPENDIX A: MOTOR SPECIFICATION SHEET................................................................................................24

APPENDIX B: TACHOMETER SPECIFICATION SHEET.......................................................................................25

APPENDIX C: POTENTIOMETER SPECIFICATION SHEET...................................................................................26

APPENDIX D: ENCODER SPECIFICATION SHEET.............................................................................................27

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1. Presentation

1.1. Description
The Quanser SRV02 rotary servo plant, pictured in Figure 1, consists of a DC motor that is encased in a
solid aluminum frame and equipped with a planetary gearbox. That is, the motor has its own internal
gearbox that drives external gears. The basic SRV02 units comes with an potentiometer sensor that can
be used to measure angular position of the load gear. The SRV02 device can also be fitted with an
encoder to obtain a digital position measurement and a tachometer to measure the speed of the load
gear.

Figure 1: SRV02 system.

1.2. SRV02 Options

As summarized in Table 1, there are six different SRV02 options available. In any of the options,
SRV02 always includes the motor/gearbox actuator and a potentiometer. The different SRV02 options
feature additional sensors, such as a tachometer in the SRV02-T system or an encoder in the SRV02-E
model. The different options enable users to work with both analog and digital position measurements
as well as measuring the angular rate using a tachometer.

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SRV02 Option Sensor

SRV02 Potentiometer
SRV02-E Potentiometer
Encoder (1024 line)
SRV02-EHR Potentiometer
High-resolution encoder (2042 line)
SRV02-T Potentiometer
Tachometer.
SRV02-ET Potentiometer
Encoder (1024 line)
Tachometer.
SRV02-ETS Potentiometer
Encoder (1024 line)
Tachometer.
Slipring
Table 1: Summary of SRV02 Options

2. Module Options and Experiment Overview

The SRV02 rotary plant can be used stand-alone for several experiments but it also serve as a base
component for several add-on modules. Table 2 below lists these modules and the corresponding
experiments that are supplied with them. Thus a new plant is obtained by adding a module which
presents new modeling and control challenges.

Module Experiment Experiment Name Description

Name #
N/A 0 SRV02 Quarc Describes how to use Quarc to drive the SRV02
Integration motor and read its sensors.
N/A 1 Modeling Model the speed of the SRV02 using a first-order
transfer function.
N/A 2 Position Control Regulate position of the SRV02 load gear to a
desired angle using PID.
N/A 3 Speed Control Control the angular rate of the SRV02 load gears
using a PI and a lead compensator.
Ball and 4 Balance Control Model the system and develop a cascade PD
beam controller to stabilize the ball to a position along the
beam.

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Module Experiment Experiment Name Description

Name #
Flexible 5 Vibration Control Derive the plant dynamics and design a controller
Joint that compensates for the flexibilities in the joint
while regulating the position of the arm tip to desired
location.
Flexible 6 Vibration Control Model the plant and identify the natural frequency of
Link the beam. Then, develop a system that controls the
tip of beam to a desired position.
Single 7 Gantry Control Obtain the dynamics of the rotary pendulum system
Pendulum and control the tip of the pendulum to a set angular
position.
Single 8 Self-Erecting Design a nonlinear energy-based swing-up controller
Pendulum Single Inverted and a linear balance compensator to swing-up the
Pendulum Control pendulum from the resting downward position to the
upright vertical position.
Double 9 Double-Inverted Model the system and then design a controller that
Pendulum Pendulum Balance balances the pendulum while the servo is tracking a
Control reference position.
Gyroscope 10 Heading Control Design a feedback loop that can maintains the
position of the SRV02 load gear, i.e. the heading,
while the rotary base underneath is manually
perturbed.
1-DOF 11 Vibration Control Control the position of the output shaft to desired
Torsion setpoint by rejecting the vibrations introduced by the
torsional member.
2-DOF 12 Vibration Control Control the position of the output shaft to desired
Torsion setpoint by rejecting the vibrations introduced by
both torsional members.
2-DOF 13 2D Task-Based Control the position of the end-effector given a
Robot Position Control desired planar (x,y) position. This involves servo
position control as well as developing the forward
and inverse kinematics of the plant.
2-DOF 14 2-DOF Gantry Control the position of the pendulum tip to a desired
Pendulum Control (x,y) position while dampening the motions of the
pendulum.
2-DOF 15 2-DOF Inverted Develop a balance controller that keeps the 2-DOF
Pendulum Pendulum Balance pendulum in the upright vertical position.
Control

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Module Experiment Experiment Name Description

Name #
Solar 16 Various Transfer function parameters are found using
Tracker frequency response and the obtained model is used
to design a servo position control. The light sensor
characteristics are identified and then used to
perform light tracking.
2D Ball 17 Position Control Control the position of a ball that is free to move on
Balancer a swiveling 2-DOF plate. The plate angles are
controlled by attached servo units and the ball
position is measured using an overhead digital
camera with image processing software.
Table 2: Modules in the rotary family package.

3. SRV02 Components
The SRV02 components are identified in Section 3.1. Some of the those components are then described
in Section 3.2.

3.1. SRV02 Component Nomenclature

The SRV02 components listed in Table 3 below are labeled in figures 2, 3, 4, 5, and 6. Note that Figure
2 shows the SRV02 in the low-gear configuration and Figure 6 is the SRV02 in the high-gear
configuration. These different gear setups will be explained later in Section 5.1.

ID # Component ID # Component
1 Top plate 13 Tachometer
2 Bottom plate 14 Ball-bearing block
3 Posts 15 Motor connector
4 Motor pinion gear: 72-teeth (low-gear) 16 Tachometer connector
5 Load gear: 72-teeth (low-gear) 17 Encoder connector
6 Potentiometer anti-backlash gear 18 S1 & S2 connector (i.e. potentiometer)
7 Anti-backlash springs 19 Motor pinion gear: 24-teeth (high-
gear)
8 Load shaft (i.e. output shaft) 20 Load gear: 120-teeth (high-gear)
9 Motor 21 Bar inertial load.
10 Gearbox 22 Disc inertial load.

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ID # Component ID # Component
11 Potentiometer 23 Thumb screws.
12 Encoder
Table 3: SRV02 components.

Figure 2: Top view of components on the SRV02 in low-

gear configuration.
Figure 3: Front view of the SRV02 components.

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Figure 5: Top view of the components on the SRV02 in

Figure 4: Connectors view of the SRV02. high-gear configuration.

Figure 6: Inertial loads supplied with SRV02 system.

3.2. Component Description

3.2.1. DC Motor (Component #9)
The SRV02 incorporates a Faulhaber Coreless DC Motor model 2338S006 and is shown in Figure 3
with ID #9. This is a high efficiency, low inductance motor with a small rotor inductance. Therefore it
can obtain a much faster response than a conventional DC motor. The complete specification sheet of
the motor is included in Appendix A.

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CAUTION: High frequency signals applied to a motor will eventually damage the gearbox
and/or the motor brushes. The most likely source for high frequency noise is derivative feedback. If
the derivative gain is set too high, a noisy voltage will be fed into the motor. To protect your motor, you
should always band limit your signal (especially derivative feedback) to a value of 50Hz.

3.2.2. Potentiometer (Component #11)

All SRV02 models are equipped with a Vishay Spectrol model 132 potentiometer, shown in Figure 3
with label #11. It is a single turn 10 kΩ sensor with no physical stops and has an electrical range of 352
degrees. The total output range of the sensor is ±5 V over the full 352 degree range. Note that a
potentiometer provides an absolute position measurement as opposed to a relative measurement from,
for instance, an incremental encoder. See Appendix C for a full listing of the potentiometer
specifications.

Figure 7: SRV02 potentiometer wiring.

As illustrated in Figure 7, the potentiometer is connected to a ±12 V DC power supply through two
7.15 kΩ bias resistors. Under normal operations, terminal 1 should measure -5 V while terminal 3
should measure +5 V. The actual position signal is available at terminal 2.

3.2.3. Tachometer (Component #13)

The SRV02-T and SRV02-ET models come equipped with a tachometer that is directly attached to the
DC motor and is depicted with ID #13 in Figure 3. This prevents any latencies in the timing of the
response and ensures that the speed of the motor is accurately measured. Refer to Appendix B for the
tachometer specification sheet.

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Figure 8: SRV02 Tachometer wiring.

The motor and tachometer wiring diagram is shown in Figure 8. The 4-pin DIN motor connector,
component #19, connects the power amplifier to the positive and negative motor leads. This is the
motor input voltage signal that drives the motor. The 6-pin mini DIN tachometer connector, component
#18 in , is directly wired to the positive and negative tachometer terminals. This supplies a voltage
signal that is proportional to the rotational speed. The tachometer connector is typically connected to
the S3 analog input connector on the Universal Power Module.

3.2.4. Encoder (Component #12)

The SRV02-E and SRV02-EHR options have an optical encoder installed that measures the angular
position of the load shaft. It is pictured in Figure 3 with the label #12. In the SRV02-E system, the
encoder used is a US Digital S1 single-ended optical shaft encoder that offers a high resolution of 4096
counts per revolution in quadrature mode (1024 lines per revolution). The complete specification sheet
of the S1 optical shaft encoder is given in Appendix D.

The encoder in the SRV02-EHR system has a resolution of 8192 counts per revolution in quadrature
mode (2042 lines per revolution). Remark that incremental encoders measure the relative angle of the
shaft (as opposed to the potentiometer which measures the absolute angle).

Figure 9: SRV02 encoder wiring.

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The position signal generated by the encoder can be directly connected to the data-acquisition device
using a standard 5-pin DIN cable. The internal wiring of the encoder and the 5-pin DIN connector on
the SRV02, component #17, is illustrated in Figure 9.

CAUTION: Never connect the encoder to the Quanser Universal Power Module.

3.3. SRV02-ETS Components

The SRV02-ETS, pictured in Figure 10, is an SRV02-ET system with a slip ring mounted on the load
gear. This allows an external load attached on top of the slip ring unit to rotate 360 degrees freely
without any cable entanglements. In addition to the components listed in Table 3, Table 4 lists some
components found on the SRV02-ETS unit alone.

Figure 10: SRV02-ETS.

The components in Table 4 are shown and identified in Figure 11.

ID # Component ID # Component
24 Slip ring module chassis 28 Right connector on slip ring
25 Slip ring 29 Left connector on SRV02
26 Slip ring top plate 30 Right connector on SRV02
27 Left connector on slip ring
Table 4: Additional components on the SRV02-ETS.

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Figure 11: Components on the SRV02-ETS.

3.3.1. Slip Ring Description

The eight-contact slip ring channels the signals attached to the Left and Right connectors on the slip
ring, ID #27 and ID #28 depicted in Figure 11, to the Left and Right connectors on the SRV02 base, ID
#27 and ID #28 shown in Figure 11. This allows the load attached to the load gear atop the slip ring, ID
#8, to move freely 360 degrees without any cable entanglements. This is especially useful, for instance,
when used with the inverted rotary pendulum experiments.

4. SRV02 Specifications
Table 5, below, lists and characterizes the main parameters associated with the SRV02. Some of these
are used in the mathematical model.

Symbol Description Matlab Value Unit Variati

Variable on
Vnom Motor nominal input voltage. 6.0 V
Rm Motor armature resistance. Rm 2.6 Ω ±12%
Lm Motor armature inductance. Lm 0.18 mH
kt Motor torque constant k_t 7.68E-03 N·m ±12%

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Symbol Description Matlab Value Unit Variati

Variable on
ηm Motor efficiency. Eff_M 0.69 ±5%
km Back-emf constant k_m 7.68E-03 V/(rad/s) ±12%
Jm,rotor Motor shaft moment of inertia. Jm_rotor 3.90E-7 kg·m2 ±10%
Kgi Internal gearbox ratio. Kgi 14
Kge, low External low-gear configuration ratio. Kge 1
Kge, high External high-gear configuration ratio. Kge 5
Kg Low-gear Total gearbox ratio. Kg 14
High-gear total gearbox ratio. 70
ηg Gearbox efficiency. Eff_G 0.90 ±10%
Jtach Tachometer moment of inertia. Jtach 7.06E-08 kg·m2 ±10%
m24 Mass of 24-tooth gear. m24 0.005 kg
m72 Mass of 72-tooth gear. m72 0.030 kg
m120 Mass of 120-tooth gear. m120 0.083 kg
r24 Radius of 24-tooth gear. r24 6.35E-03 m
r72 Radius of 72-tooth gear. r72 0.019 m
r120 Radius of 120-tooth gear. r120 0.032 m
Jeq Equivalent high-gear moment of inertia Jeq kg·m2 ±10%
without external load. 9.76E-05
Equivalent high-gear moment of inertia Jeq kg·m2 ±10%
without external load. 2.08E-03
Beq Low-gear viscous damping coefficient Beq N·m/(rad/s) ±20%
found experimentally. 5.00E-05
High-gear viscous damping coefficient Beq N·m/(rad/s) ±20%
found experimentally. 4.00E-03
mb Mass of bar load. m_b 0.038 kg
Lb Length of bar load (from end-to-end). L_b 0.1525 m
md Mass of disc load. m_d 0.04 kg
rd Radius of disc load. r_d 0.05 m
Kpot Potentiometer sensitivity K_POT 35.2 deg/V ±2%
Kenc SRV02-E encoder resolution. K_ENC 4096 counts/rev
Kenc SRV02-EHR encoder resolution. K_ENC 8192 counts/rev

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Symbol Description Matlab Value Unit Variati

Variable on
Ktach SRV02-T tachometer sensitivity. K_TACH 1.50 kRPM/V ±2%
mmax Maximum output shaft load. 5.0 kg
fmax Maximum input voltage frequency. 50.0 Hz

Table 5: SRV02 system specifications.

5. System Configuration and Setup

As discussed in Section 5.1, the SRV02 can be setup with two different gear configurations depending
on the experiment being performed. Also, Section 5.2 shows how the SRV02 can be fitted with
different loads.

5.1. Gear Configuration

5.1.1. Description
The SRV02 can be setup in the low-gear configuration or the high-gear configuration, as pictured in
Figure 12 and Figure 13, respectively. The low-gear ratio is recommended when performing the
modeling, position control, and speed control experiments with or without the bar and disc loads. The
high-gear setup is required to be used with additional modules such as the ball-and-beam device, the
flexible link module, and the gyroscope.

Figure 12: SRV02 in low-gear configuration. Figure 13: SRV02 in high-gear configuration.

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5.1.2. Changing Gear Configuration

Follow this procedure to change between high-gear and low-gear ratio:
1. Using the supplied Allen keys, loosen the set screws on the three gear shafts.
2. Remove the gears from the shafts.
3. Slide the new gears into place as described below:
● Low-gear configuration shown in Figure 12: place the 72-tooth gear, ID#5 in Figure 2,
onto the load shaft, ID #8 in Figure 2, and the 72-tooth pinion gear, ID#4 in Figure 2, on
the motor shaft.
● High-gear configuration depicted in Figure 13: slide the 120-tooth gear, ID#20 in Figure
5, followed by the 72-tooth gear, ID#8 in Figure 5, on the load shaft and place the 20-
tooth pinion gear, ID #19 in Figure 5, on the motor shaft.
Note: The potentiometer gear, component #6 in Figure 5, is an anti-backlash gear and special
precaution need to be taken when installing it. In order to insert it properly, rotate its two faces
against each other such that the springs are partially pre-loaded. Do not fully extend the springs
when you pre-load the gears.

4. Ensure the teeth of all the three gears are meshed together. Remark that in the high-gear setup,
the top 72-tooth load gear is meshed with the potentiometer gear, ID #6 in Figure 5.
5. Tighten the set-screws on each shaft with the supplied Allen keys.

5.2. Load Configuration

5.2.1. Description
The SRV02 is supplied with two external loads: a bar and a disk. These can be attached to the SRV02
load gear to vary the moment of inertia seen at the output. The SRV02 with the end of the bar load
connected is pictured in Figure 14. Either the end of the bar or the center of the bar can be used. In
Figure 15 the SRV02 with the disk load attached is shown.

Figure 15: SRV02 with disk load

Figure 14: SRV02 with end of bar load attached . attached.

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5.2.2. Installing Load

Follow this procedure to connect either the bar or disc load to the load gear:
1. Slide the center hole of the load on the output shaft of the SRV02, component # 8 in Figure 2.
For the bar load (ID #21 in Figure 6), use either the center hole in the middle of the bar or the
center hole at the an end of the bar onto the output shaft.
2. Align the two holes adjacent to the center hole with the screw holes of the load gear.
3. Using the two 8-32 thumb screws provided, ID #23 in Figure 6, fasten the inertial load to the
output gear. The SRV02 with the bar load and the disk load attached is shown in Figure 14 and
Figure 15, respectively. Make sure all the screws are properly tightened before operating the
servo unit.
CAUTION: Do not apply a load greater than 5 kg at any time.

For instructions on how to install one the SRV02 modules (e.g. rotary flexible joint) see the user
manual corresponding to that module.

6. Wiring Procedure
The following is a listing of the hardware components used in this experiment:
● Power Amplifier: Quanser UPM 1503/2405, or equivalent.
● Data Acquisition Board: Quanser Q8, Q4, Q3 ControlPaQ-FW, or equivalent.
● Rotary Servo Plant: Quanser SRV02, SRV02-T, SRV02- E, SRV02- EHR,
SRV02-ET, or SRV02-ETS.
See the references listed in Section 9 for more information on these components. The cables supplied
with the SRV02 are described in Section 6.1 and the procedure to connect the above components is
given in Section 6.2.

6.1. Cable Nomenclature

Table 6, below, provides a description of the standard cables used in the wiring of the SRV02 system.

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Cable Designation Description

5-pin-DIN This cable connects an analog output of the
to data acquisition terminal board to the power
RCA module for proper power amplification.

Figure 16 "From Digital-To-Analog" Cable

4-pin-DIN This cable connects the output of the power

to module, after amplification, to the desired
6-pin-DIN DC motor on the servo. One end of this
cable contains a resistor that sets the
amplification gain. For example when
carrying a label showing "5" at both ends,
the cable has that particular amplification
gain. Typically a load cable gain of “1” is
Figure 17 "To Load" Cable Of Gain 1 used for most SRV02 experiments.

5-pin-stereo- This cable carries the encoder signals

DIN between an encoder connector and the data
to acquisition board (to the encoder counter).
5-pin-stereo- Namely, these signals are: +5VDC power
DIN supply, ground, channel A, and channel B.
Figure 18 "Encoder" Cable

6-pin-mini- This cable carries analog signals (e.g., from

DIN joystick, plant sensor) to the UPM, where
to the signals can be either monitored and/or
6-pin-mini- used by a controller. The cable also carries a
DIN ±12VDC line from the UPM in order to
power a sensor and/or signal conditioning
Figure 19 "From Analog Sensors" Cable circuitry.

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Cable Designation Description

5-pin-DIN This cable carries the analog signals,
to unchanged, from the UPM to the Digital-To-
4xRCA Analog input channels on the data
acquisition terminal board.

Figure 20 "To Analog-To-Digital" Cable

Table 6 Cable Nomenclature

6.2. Typical Connections using UPM

This section describes the typical connections used for to connect the SRV02 plant to a data-acquisition
board and a power amplifier. The connections are described in detail in the procedure below and
summarized in Table 7.

Follow these steps to connect the SRV02 system:

1. It is assumed that the Quanser Q4 or Q8 board is already installed as discussed in the Reference
[1]. If another data-acquisition device is being used, e.g. NI M-Series board, then go to its
corresponding documentation and ensure it is properly installed.
2. Make sure everything is powered off before making any of these connections. This includes
turning off your PC and the UPMs.
3. Connect the 5-pin-DIN to RCA cable from the Analog Output Channel #0 on the terminal
board to the From D/A Connector on the Quanser Universal Power Module, or UPM. See cable
#1 shown in Figure 21 and Figure 22. This carries the attenuated motor voltage control signal,
Vm/Ka, where Ka is the UPM amplifier gain.
4. Connect the 4-pin-stereo-DIN to 6-pin-stereo-DIN that is labeled Gain 1 from To Load on the
UPM to the Motor connector on the SRV02. See connection #2 shown in Figure 22 and Figure
23. This cable sets the gain of the amplifier to 1 and the connector on the UPM-side is black in
colour. The cable transmits the amplified voltage that is applied to the SRV02 motor and is
denoted Vm.
5. If the SRV02 has the -E option then the encoder can be used to measure the load shaft angle.
Connect the 5-pin-stereo-DIN to 5-pin-stereo-DIN cable from the Encoder connector on the
SRV02 panel to Encoder Input # 0 on the terminal board, as depicted by connection #3 in
Figure 21 and Figure 23. This carries the load shaft angle measurement and is denoted by the
variable θl.
CAUTION: Any encoder should be directly connected to the Quanser terminal board (or
equivalent) using a standard 5-pin DIN cable. DO NOT connect the encoder cable to the

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UPM!
6. Connect the To A/D socket on the UPM to Analog Inputs #0-3 on the terminal board using the
5-pin-DIN to 4xRCA cable, as illustrated in Figure 21 and Figure 22. The RCA side of the
cable is labeled with the channels. Note that the cable with label "1" is goes to Analog Input
Channel #0.
7. Connect the S1 & S2 connector on the SRV02 to the S1 & S2 socket on the UPM using the 6-
pin-mini-DIN to 6-pin-mini-DIN cable. See connection #5 in Figure 22 and Figure 23. This
carries the voltage signal from the potentiometer that is proportional to the load shaft angle and
is represented by variable θl.
8. Connect the TACH connector on the SRV02 to the S3 socket on the UPM using the 6-pin-mini-
DIN to 6-pin-mini-DIN cable. This connection is labeled #6 in Figure 22 and Figure 23. It
carries the measured load shaft rate from the tachometer and is denoted by the variable ωl.

Figure 21: Connections on the Quanser Q8 Terminal

Board.

Figure 22: Connections on the Quanser UPM-1503.

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Figure 23: Connections on the Quanser SRV02 device.

Cable # From To Signal

1 Terminal Board: UPM "From D/A" Control signal to the UPM
Analog Output #0 connector
2 UPM "To Load" SRV02 "Motor" Power leads to the SRV02 DC motor.
connector connector
3 Terminal Board: SRV02 "Encoder" Encoder load shaft angle measurement.
Encoder Input #0 connector
4 UPM "To A/D" Terminal Board: Carries the analog signals connected to the
connector S1 to Analog Input #0 S1 & S2, S3, and S4 connectors on the UPM
S2 to Analog Input #1 to the data-acquisition board.
S3 to Analog Input #2
S4 to Analog Input #3
5 UPM "S1 & S2" SRV02 “S1 & S2” Potentiometer load shaft angle measurement.
connector connector
6 UPM "S3" SRV02 “Tach" Tachometer load shaft rate measurement.
connector connector
Table 7 SRV02 system wiring summary when using the UPM.

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6.3. Typical Connections with the Q3

This section describes the typical connections used to connect the SRV02 plant to the Q3 ControlPaQ-
FW data-acquisition board, which has its own built-in amplifiers. The connections are described in
detail in the procedure below and summarized in Table 8.

Follow these steps to connect the SRV02 to the Q3:

1. Make sure everything is powered off before making any of these connections. This includes
turning off your PC and the Q3.
2. Connect the 4-pin-stereo-DIN to 6-pin-stereo-DIN from PWM Output #0 on the Q3 to the
Motor connector on the SRV02. See connection #1 shown in Figure 24 and Figure 26. The
cable transmits the controlled current that is applied to the SRV02 motor and is denoted Im.
3. If the SRV02 has the -E option then the encoder can be used to measure the load shaft angle.
Connect the 5-pin-stereo-DIN to 5-pin-stereo-DIN cable from the Encoder connector on the
SRV02 panel to Encoder Input # 0 on the Q3 board, as depicted by connection #3 in Figure 24
and Figure 26. This carries the load shaft angle measurement and is denoted by the variable θl.
CAUTION: Any encoder should be directly connected to the Quanser terminal board (or
equivalent) using a standard 5-pin DIN cable. DO NOT connect the encoder cable to the
UPM!
4. Connect the TACH connector on the SRV02 to the S1 & S2 socket on the SRV02 using the 6-
pin-mini-DIN to 6-pin-mini-DIN cable. This connection is labeled #3 in Figure 26. It carries
the measured load shaft rate from the tachometer and is denoted by the variable ωl.
5. Connect the free S1 & S2 connector on the SRV02 to the Analog Input socket on the back of
the Q3 board using the 6-pin-mini-DIN to 6-pin-mini-DIN cable. See connection #4 in Figure
25 and Figure 26. This carries the voltage signals from both the potentiometer and the
tachometer that is proportional to the load shaft angle and rate, respectively. The load shaft
position measurement is represented by variable θl and the rate is denoted by the variable ωl.
6. Connect the power cable from the Power connector on the back of the Q3 device, shown by
connection #5 in Figure 25, to the supplied 18 V Transformer, which plugs into the wall outlet.
7. Using the supplied FireWire cable, connect the FireWire connector on the back panel of the
Q3, as depicted by label #6 in Figure 25, to a FireWire port on your PC.

Figure 25: Connections on the back panel of the Q3.

Figure 24: Connection on front panel of Q3.

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Figure 26: Connections on SRV02 from Q3.

Cable # From To Signal

1 Q3: SRV02 "Motor" Power leads to the SRV02 DC motor.
PWM Output #0 connector
2 Q3: SRV02 "Encoder" Encoder load shaft angle measurement.
Encoder Input #0 connector
3 SRV02 “Tach" SRV02 “S1 & S2” Tachometer load shaft rate measurement.
connector connector
4 SRV02 "S1 & S2" Q3: Analog Input Potentiometer load shaft angle measurement
connector connector and tachometer load shaft rate measurement.
5 Q3: 18V Power Transformer Supplies power to the Q3.
Power Cable
6 Q3: FireWire PC: FireWire Carries the PWM, analog input, and digital
connector connector I/O signals.
Table 8 SRV02 system wiring summary when using the Q3.

7. Testing and Troubleshooting

This section describes some functional tests to determine if your SRV02 is operating normally. It is
assumed that the SRV02 is connected as described in the Section 6.2, above. To carry out these tests,
it is preferable if the user can use a software such as Quarc or LabVIEW to read sensor measurements

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and feed voltages to the motor. See Reference [3] to learn how to interface the SRV02 with Quarc.
Alternatively, these tests can be performed with a signal generator and an oscilloscope.

7.1. Motor
7.1.1. Testing
Ensure the SRV02 motor is operating correctly by going through this procedure:
1. Apply a voltage to analog output channel #0 of the terminal board using, for example, the Quarc
software.
2. The motor gear, component #4 shown in Figure 2, should rotate counter-clockwise when a
positive voltage is applied and clockwise when a negative voltage is applied. Remark that the
motor shaft and the load shaft turn in opposite directions.

7.1.2. Troubleshooting
If the motor is not responding to a voltage signal, go through these steps:
● Verify that the power amplifier is functional. For example when using the Quanser UPM
device, is the red LED in the top-left corner lit?
● Check that the data-acquisition board is functional, e.g. the red LED on the Quanser Q4/Q8
terminal board should be bright red. The DAC board fuse may be burnt and need replacement.
● Make sure the voltage is actually reaching the motor terminals (use a voltmeter or oscilloscope).
● If the motor terminals are receiving the signal and the motor is still not turning, your motor
might be damaged and will need to be repaired. Please see Section 8 for information on
contacting Quanser for technical support.

7.2. Testing the Potentiometer

7.2.1. Testing
Test the SRV02 potentiometer with the following procedure:
1. Using a program such as Quarc, measure the analog input channel #0.
2. The potentiometer should output a positive voltage when the potentiometer gear, component #6
in Figure 2, is rotated counter-clockwise. The measurement should increase positively towards
+5V until the discontinuity is reached, at which point the signal abruptly changes to -5V and
begins to increase again.

7.2.2. Troubleshooting
Follow the steps below if the potentiometer is not measuring correctly:
● Verify that the power amplifier is functional. For example when using the Quanser UPM
device, is the red LED in the top-left corner lit? Recall that the analog sensor signal goes
through the UPM before going to the data-acquisition device. Therefore the UPM needs to be

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turned on to read the potentiometer.

● Check that the data-acquisition board is functional, e.g. the red LED on the Quanser Q4/Q8
terminal board should be bright red. If not then the DAC board fuse may be burnt and need
replacement.
● Measure the voltage across the potentiometer. Ensure the potentiometer is powered with a ±12V
at the 6-pin-mini DIN connector and ±5V at the potentiometer terminals, as described in Section
3.2.2. If the voltage from the wiper does not change when you rotate the potentiometer shaft,
your potentiometer needs to be replaced. Please see Section 8 for information on contacting
Quanser for technical support.

7.3. Tachometer
7.3.1. Testing
Test the tachometer on the SRV02 by performing the following:
1. Apply a 2.0 V signal to Analog Output Channel #0 in order to drive the motor.
2. Measure Analog Input Channel #2 to read the tachometer. When applying 2.0 V to the motor,
the tachometer should be measuring a value of approximately 3.0 V.

7.3.2. Troubleshooting
If no signals are received from the tachometer, go through this method:
● Verify that the power amplifier is functional. For example when using the Quanser UPM
device, is the red LED in the top-left corner lit? Recall that the analog sensor signal goes
through the UPM before going to the data-acquisition device. It needs to be turned on to read
from the tachometer.
● Check that the data-acquisition board is functional, e.g. the red LED on the Quanser Q4/Q8
terminal board should be bright red. If not then the DAC board fuse may be burnt and need
replacement.
● Measure the voltage across the tachometer. When moving the load gear back and forth, is the
voltage being measured changing? If not, then the tachometer needs to be replaced. Please see
Section 8 for information on contacting Quanser for technical support.

7.4. Encoder
7.4.1. Testing
Follow this procedure to test the SRV02 encoder:
1. Measure Encoder Input Channel #0 using, for instance, the Quarc software.
2. Rotate the SRV02 load gear, component #5 in Figure 2, one rotation and the encoder should
measure 4096 counts (or 8192 when using the SRV02-EHR option) in quadrature mode.
Note: Some data acquisition systems do not measure in quadrature and, in this case, one-quarter
of the expected counts are received, i.e. 1024 counts in the SRV02-E or 2048 in the SRV02-

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EHR. In addition, some data acquisition systems measure in quadrature but increment the count
by 0.25 (as opposed to having an integer number of counts). Make sure the details of the data-
acquisition system being used is known. The counters on the Quanser DAC boards, such as the
Q4 or Q8 systems, measure in quadrature and therefore a total of four times the number of
encoder lines per rotation, e.g. a 1024-line encoder results in 4096 integer counts for every full
rotation.

7.4.2. Troubleshooting
If the encoder is not measuring properly, go through this procedure:
● Check that the data-acquisition board is functional, e.g. the red LED on the Quanser Q4/Q8
terminal board should be bright red. If not, then the terminal board or DAC board fuses may be
burnt and need replacement.
● Check that both the A and B channels from the encoder are properly generated and fed to the
data-acquisition device. Using an oscilloscope, there should be two square waves, signals A and
B, with a phase shift of 90 degrees. If this is not observed then the encoder may be damaged and
need to be replaced. Please see Section 8 for information on contacting Quanser for technical
support.

8. Technical Support
To obtain support from Quanser, go to http://www.quanser.com/ and click on the Tech Support link.
Fill in the form with all the requested software and hardware information as well as a description of the
problem encountered. Also, make sure your e-mail address and telephone number are included. Submit
the form and a technical support person will contact you.

Note: Depending on the situation, a support contract may be required to obtain technical
support.

9. References
[1] Quanser. Q4/Q8 User Manual.
[2] Quanser. SRV02 User Manual.
[3] Quanser. Rotary Experiment #0: SRV02 Quarc Integration.

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Appendix A: Motor Specification Sheet

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Appendix B: Tachometer Specification Sheet

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Appendix C: Potentiometer Specification Sheet

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Appendix D: Encoder Specification Sheet

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