Quanser QUBE-Servo2-USB

The Quanser QUBE-Servo2-USB is an integrated DC-servo motor experiment. It is designed to help teach fundamental control concepts and theories on an easy-to-use and intuitive platform. For more information, visit the Quanser website for the Quanser QUBE-Servo2-USB.

The RCP Toolkit driver name for this card is qube_servo2_usb.

The features of the Quanser QUBE-Servo2-USB are:

• 1 single-ended analog input channel, 14-bit, ±3A
• 2 single-ended encoder input channels, 5V
• 1 single-ended analog output, ±15V
• 3 digital inputs
• 1 digital output
• 3 other outputs to drive RGB LED panel

The Quanser QUBE-Servo2-USB I/O channels are described below.

Clocks

There are currently no configuration options for the Quanser QUBE-Servo2-USB clocks.

Analog Inputs

The Quanser QUBE-Servo2-USB supports one analog input, which is channel zero. The analog input measures the current to the motor in Amperes. Its maximum range is ±3A.

Analog Outputs

The Quanser QUBE-Servo2-USB supports one analog output, which is channel zero. The analog output drives the motor voltage. Its maximum range is ±15V.

In order to have analog outputs set to a particular voltage when the block diagram is run or stopped, the analog outputs must be configured on the HIL Initialize VI's Analog Outputs tab.

Once the analog output ranges have been configured, set the Initial analog outputs and Final analog outputs to the desired voltages.

Digital Inputs

The Quanser QUBE-Servo2-USB supports three digital inputs, which are used for diagnostics. The digital inputs are enumerated in the table below.

Digital Outputs

The Quanser QUBE-Servo2-USB supports one digital output, which is channel zero. The digital output acts as an enable for the motor drive circuitry. When this output is low, the motor is disabled. When it is high, the motor amplifier is enabled.

Encoder Inputs

The Quanser QUBE-Servo2-USB supports two encoder inputs. Both channels provide 24-bit count values. These two channels only support 4X quadrature mode. The encoder channels are enumerated in the table below:

In order to set the encoder counters to a particular count when the model is loaded, the encoder inputs must be configured on the HIL Initialize VI's Encoder Inputs tab.

PWM Outputs

The Quanser QUBE-Servo2-USB card does not support PWM outputs.

Other Inputs

The Quanser QUBE-Servo2-USB supports one other input channel, which is a digital tachometer reading for motor 0. The units are counts/s. The channel number is 14000, which is the standard other input channel for encoder velocities.

Other Outputs

The Quanser QUBE-Servo2-USB supports three other output channels, allowing the color of the LED panel to be controlled. Note that each channel supports fractional values between 0 and 1, allowing full RGB color. Refer to the table below for a list of the channels:

Interrupts

The Quanser QUBE-Servo2-USB card, or its driver, does not support any interrupt sources.

Watchdog

The Quanser QUBE-Servo2-USB supports a watchdog timer for resetting the outputs on watchdog expiry. Namely, the analog, digital and other output channels will be reset to the user-defined values on watchdog expiry. Resetting of the outputs occurs without software intervention, and therefore may be used as a safety mechanism in the event of software failure.

To enable the resetting of the analog or digital, check the Set output on watchdog options on the respective tabs of the HIL Initialize VI parameters dialog. Set the Output on watchdog expiry fields to the desired values. Then place a CL HIL Watchdog VI in the diagram.

Once the watchdog has expired, further output is disabled until the watchdog state is cleared. Hence, in RCP, the outputs will remain in the watchdog state even after the VI is stopped, unless a CL HIL Watchdog Clear VI is used to clear the watchdog state. Restarting the VI will automatically clear the watchdog.

Board-Specific Options

The Quanser QUBE-Servo2-USB card does not support any board-specific options.

Properties

The Quanser QUBE-Servo2-USB driver currently supports the following read-only properties:

Targets

See Also

• Supported Quanser Cards

Copyright © Quanser Inc. This page was generated 2021-09-24. Submit feedback to Quanser about this page.

Link to this page.