Haptic 5-DOF Wand Motor Currents Haptic 5-DOF Wand N-mm to Amps navigation bar

Table of Contents

Haptic 5-DOF Wand Motors

Converts motor currents to D/A voltages that may be used to drive the motors of the Quanser Haptic 5-DOF Wand.

Library

QUARC Targets/Devices/Quanser/Haptics/Pantographs/Haptic 5-DOF Wand/Interfacing

Description

Haptic 5-DOF Wand Motors

The Haptic 5-DOF Wand Motors block converts motor currents in amperes to D/A voltages that may be used to drive the motors of the Quanser Haptic 5-DOF Wand. Use one of the HIL blocks to write to the analog outputs connected to the amplifiers of the Quanser Haptic 5-DOF Wand. The motor currents should be input as a 6-vector in the following order of the joints: top-left-small, top-right-small, bottom-left-small, bottom-right-small, top-big, bottom-big. The motor currents are dynamically saturated so that peak currents are allowed for a brief time to get rigid haptic effects, but the currents are then reduced to prevent damage to the device.

For the Quanser Q8 card, analog output channels 0 through 5 are typically used to write to the six joint motors of the Quanser Haptic 5-DOF Wand, with channels 0 through 5 corresponding to the joints in the required order of top-left-small, top-right-small, bottom-left-small, bottom-right-small, top-big, bottom-big respectively.

Input Ports

amps

The currents to drive the motors of the six joints in amperes. The currents must be input as a 6-vector in order of the joints, i.e., top-left-small, top-right-small, bottom-left-small, bottom-right-small, top-big, bottom-big.

Output Ports

volts

The voltages required at the analog outputs to produce the desired motor currents for the six joints. The voltages are output as a 6-vector in order of the joints, i.e., top-left-small, top-right-small, bottom-left-small, bottom-right-small, top-big, bottom-big.

Data Type Support

This block supports inputs and outputs of type double.

Parameters and Dialog Box

Haptic 5-DOF Wand Motors

Amplifier gain

The gain of the QPA amplifiers driving the Haptic 5-DOF Wand. The gain of these amplifiers has changed in the latest version of the QPA. Newer QPAs will have a sticker indicating the new gain. Look for this sticker to determine whether you have a new QPA amplifier or not. Amplifiers sold in 2008 or later are likely configured for the new gain of 0.5 A/V. If you are not sure, it is safer to start with the old amplifier gain of 2 A/V because that will produce a lower current if the QPA is actually new.

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 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.

See Also

 

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