CEAL Floor Force Plates End of trail navigation bar

Table of Contents

CEAL Staircase Force Plates

Outputs the forces and torques measured in SI units (i.e., N, N.m) from up to the four (4) AMTI force plates used in the Challenging Environment Assessment Laboratory (CEAL) instrumented staircase.

Library

QUARC Applications/CEAL/Devices/Third-Party/AMTI/Force Plates

MATLAB Command Line

Click to copy the following command line to the clipboard. Then paste it in the MATLAB Command Window:

qc_open_library('quarc_library_applications/CEAL/Devices/Third-Party/AMTI/Force Plates')

Description

CEAL Staircase Force Plates

The CEAL Staircase Force Plates block outputs the forces and torques measured in S.I. units (i.e., N, N.m) from up to the four (4) AMTI force plates used in the Challenging Environment Assessment Laboratory (CEAL) staircase. The CEAL instrumented staircase consists of 8 steps with 7-inch risers and 11-inch runs. There are four AMTI force plates (specifically model BP250500-6-2000) available that can be installed under four of the treads. Each staircase force plate has a length of 0.5 m and a width of 0.25 m. The sensitivity matrix of each force plate is taken into account to calculate the measured forces and torques.

The Cartesian reference frame used is shown below.

Staircase Force Plates Reference Frame

Installation Requirements

Force Plate Connections

Install Each of the four (4) AMTI force plates should be connected to the analog input channels of the NI PCI-6255 card, as indicated in the table below.

Analog Inputs

Force Plate Serial Number and Signals

AI #0 to AI #5

SN 5072.1: Fx, Fy, Fz, Mx, My, Mz

AI #6 to AI #11

SN 5073.1: Fx, Fy, Fz, Mx, My, Mz

AI #16 to AI #21

SN 5074.1: Fx, Fy, Fz, Mx, My, Mz

AI #22 to AI #27

SN 5075.1: Fx, Fy, Fz, Mx, My, Mz

CEAL NI PCI-6255

Install The CEAL Staircase Force Plates block is meant to be used in conjunction with the CEAL NI PCI-6255 block, which provides the appropriate interface to the National Instruments PCI-6255 card used by the CEAL.

Input Ports

This block has no input ports.

Output Ports

forces and torques

A 24-element vector of double values containing the force and torque data in SI units (i.e., m and N.m) for each one of the 4 force plates. This output vector contains 4 sets of 6-element force/torque data, each ordered according to the user-selected plate location.

error

A uint8 value indicating, with a value of 1, whether two or more force plates have been assigned to the same step location on the staircase. A value of 0 indicates no error with the step assignment.

Parameters and Dialog Box

Individual Panes

Force Plates Pane

The Force Plates pane of the dialog appears as follows:

Plate 1 (SN: 5072.1) location (tunable online)

Plate 1 corresponds to the force plate whose serial number is: 5072.1. The 6 BNC cables for plate 1 (corresponding to the Fx, Fy, Fz, Mx, My, and Mz signals) must be connected to Analog Input #0 to Analog Input #5, respectively.

Select from this drop-down menu the step location ID, as previously defined, where force plate 1 is installed. This selection determines where the measured set of 6 force/torque signals for plate 1 is located in the 24-element forces and torques output vector.

Plate 1 (SN: 5072.1) 'Zoffset' (mm) (tunable online)

The 'Zoffset' value for plate 1 is a negative number representing the thickness (in mm) along the 'Z' axis of any plate(s) mounted on top of plate 1. This offset value is used in addition to 'Z0' (i.e., the negative number representing the difference between plate 1 actual origin and the plate's top along the 'Z' axis) in order to shift the origin to calculate the correct Mx and My torques on the force plate's top surface.

Plate 2 (SN: 5073.1) location (tunable online)

Plate 2 corresponds to the force plate whose serial number is: 5073.1. The 6 BNC cables for plate 2 (corresponding to the Fx, Fy, Fz, Mx, My, and Mz signals) must be connected to Analog Input #6 to Analog Input #11, respectively.

Select from this drop-down menu the step location ID, as previously defined, where force plate 2 is installed. This selection determines where the measured set of 6 force/torque signals for plate 2 is located in the 24-element forces and torques output vector.

Plate 2 (SN: 5073.1) 'Zoffset' (mm) (tunable online)

The 'Zoffset' value for plate 2 is a negative number representing the thickness (in mm) along the 'Z' axis of any plate(s) mounted on top of plate 2. This offset value is used in addition to 'Z0' (i.e., the negative number representing the difference between plate 2 actual origin and the plate's top along the 'Z' axis) in order to shift the origin to calculate the correct Mx and My torques on the force plate's top surface.

Plate 3 (SN: 5074.1) location (tunable online)

Plate 3 corresponds to the force plate whose serial number is: 5074.1. The 6 BNC cables for plate 3 (corresponding to the Fx, Fy, Fz, Mx, My, and Mz signals) must be connected to Analog Input #16 to Analog Input #21, respectively.

Select from this drop-down menu the step location ID, as previously defined, where force plate 3 is installed. This selection determines where the measured set of 6 force/torque signals for plate 3 is located in the 24-element forces and torques output vector.

Plate 3 (SN: 5074.1) 'Zoffset' (mm) (tunable online)

The 'Zoffset' value for plate 3 is a negative number representing the thickness (in mm) along the 'Z' axis of any plate(s) mounted on top of plate 3. This offset value is used in addition to 'Z0' (i.e., the negative number representing the difference between plate 3 actual origin and the plate's top along the 'Z' axis) in order to shift the origin to calculate the correct Mx and My torques on the force plate's top surface.

Plate 4 (SN: 5075.1) location (tunable online)

Plate 4 corresponds to the force plate whose serial number is: 5075.1. The 6 BNC cables for plate 4 (corresponding to the Fx, Fy, Fz, Mx, My, and Mz signals) must be connected to Analog Input #22 to Analog Input #27, respectively.

Select from this drop-down menu the step location ID, as previously defined, where force plate 4 is installed. This selection determines where the measured set of 6 force/torque signals for plate 4 is located in the 24-element forces and torques output vector.

Plate 4 (SN: 5075.1) 'Zoffset' (mm) (tunable online)

The 'Zoffset' value for plate 4 is a negative number representing the thickness (in mm) along the 'Z' axis of any plate(s) mounted on top of plate 4. This offset value is used in addition to 'Z0' (i.e., the negative number representing the difference between plate 4 actual origin and the plate's top along the 'Z' axis) in order to shift the origin to calculate the correct Mx and My torques on the force plate's top surface.

Amplifiers Pane

The Amplifiers pane of the dialog appears as follows:

'Fx' channel gain (tunable online)

Select from the drop-down menu the 'Fx' channel gain (i.e., 1000, 2000, or 4000) set in the force plate MSA-6 amplifier by the jumper configuration for the 'Fx' channel gain. Referring to the MSA-6 strain gage amplifier manual, this is configured by jumper JP7.

'Fx' channel excitation voltage (tunable online)

Select from the drop-down menu the 'Fx' channel excitation voltage value (i.e., 2.5VDC, 5VDC, or 10VDC) set in the force plate MSA-6 amplifier by the jumper configuration for the 'Fx' channel excitation voltage. Referring to the MSA-6 strain gage amplifier manual, this is configured by jumper JP1.

'Fy' channel gain (tunable online)

Select from the drop-down menu the 'Fy' channel gain (i.e., 1000, 2000, or 4000) set in the MSA-6 amplifier by the jumper configuration for the 'Fy' channel gain. Referring to the MSA-6 strain gage amplifier manual, this is configured by jumper JP8.

'Fy' channel excitation voltage (tunable online)

Select from the drop-down menu the 'Fy' channel excitation voltage value (i.e., 2.5VDC, 5VDC, or 10VDC) set in the force plate MSA-6 amplifier by the jumper configuration for the 'Fy' channel excitation voltage. Referring to the MSA-6 strain gage amplifier manual, this is configured by jumper JP2.

'Fz' channel gain (tunable online)

Select from the drop-down menu the 'Fz' channel gain (i.e., 1000, 2000, or 4000) set in the force plate MSA-6 amplifier by the jumper configuration for the 'Fz' channel gain. Referring to the MSA-6 strain gage amplifier manual, this is configured by jumper JP9.

'Fz' channel excitation voltage (tunable online)

Select from the drop-down menu the 'Fy' channel excitation voltage value (i.e., 2.5VDC, 5VDC, or 10VDC) set in the force plate MSA-6 amplifier by the jumper configuration for the 'Fy' channel excitation voltage. Referring to the MSA-6 strain gage amplifier manual, this is configured by jumper JP3.

'Mx' channel gain (tunable online)

Select from the drop-down menu the 'Mx' channel gain (i.e., 1000, 2000, or 4000) set in the force plate MSA-6 amplifier by the jumper configuration for the 'Mx' channel gain. Referring to the MSA-6 strain gage amplifier manual, this is configured by jumper JP10.

'Mx' channel excitation voltage (tunable online)

Select from the drop-down menu the 'Mx' channel excitation voltage value (i.e., 2.5VDC, 5VDC, or 10VDC) set in the force plate MSA-6 amplifier by the jumper configuration for the 'Mx' channel excitation voltage. Referring to the MSA-6 strain gage amplifier manual, this is configured by jumper JP4.

'My' channel gain (tunable online)

Select from the drop-down menu the 'My' channel gain (i.e., 1000, 2000, or 4000) set in the force plate MSA-6 amplifier by the jumper configuration for the 'My' channel gain. Referring to the MSA-6 strain gage amplifier manual, this is configured by jumper JP11.

'My' channel excitation voltage (tunable online)

Select from the drop-down menu the 'My' channel excitation voltage value (i.e., 2.5VDC, 5VDC, or 10VDC) set in the force plate MSA-6 amplifier by the jumper configuration for the 'My' channel excitation voltage. Referring to the MSA-6 strain gage amplifier manual, this is configured by jumper JP5.

'Mz' channel gain (tunable online)

Select from the drop-down menu the 'Mz' channel gain (i.e., 1000, 2000, or 4000) set in the force plate MSA-6 amplifier by the jumper configuration for the 'Mz' channel gain. Referring to the MSA-6 strain gage amplifier manual, this is configured by jumper JP12.

'Mz' channel excitation voltage (tunable online)

Select from the drop-down menu the 'Mz' channel excitation voltage value (i.e., 2.5VDC, 5VDC, or 10VDC) set in the force plate MSA-6 amplifier by the jumper configuration for the 'Mz' channel excitation voltage. Referring to the MSA-6 strain gage amplifier manual, this is configured by jumper JP6.

Targets

Target Name

Compatible*

Model Referencing

Comments

QUARC Win32 Target

Yes

Yes

QUARC Win64 Target

Yes

Yes

QUARC Linux Nvidia Target

Yes

Yes

QUARC Linux QBot Platform Target

Yes

Yes

QUARC Linux QCar 2 Target

Yes

Yes

QUARC Linux QDrone 2 Target

Yes

Yes

QUARC Linux Raspberry Pi 3 Target

Yes

Yes

QUARC Linux Raspberry Pi 4 Target

Yes

Yes

QUARC Linux RT ARMv7 Target

Yes

Yes

QUARC Linux x64 Target

Yes

Yes

QUARC Linux DuoVero Target

Yes

Yes

QUARC Linux DuoVero 2016 Target

Yes

Yes

QUARC Linux Verdex Target

Yes

Yes

QUARC QNX x86 Target

Yes

Yes

Last fully supported in QUARC 2018.

Rapid Simulation (RSIM) Target

Yes

Yes

S-Function Target

No

N/A

Old technology. Use model referencing instead.

Normal simulation

Yes

Yes

* Compatible means that the block can be compiled for the target.

 

navigation bar