Quanser QUBE-Servo 2

The Quanser QUBE-Servo 2 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 Quanser QUBE-Servo2

The QUARC driver name for this card is qube_servo2_usb.

• 1 single-ended analog input channel, 12-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
• Integrated with MATLAB/Simulink/Simulink Coder via Quanser QUARC

To select the Quanser QUBE-Servo 2 HIL board, pass qube_servo2_usb as the card type argument to the hil_open function.

The Quanser QUBE-Servo 2 I/O channels are described below.

Clocks

There are currently no configuration options for the Quanser QUBE-Servo 2 clocks.

Analog Inputs

The Quanser QUBE-Servo 2 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-Servo 2 supports one analog output, which is channel zero. The analog output drives the motor voltage. Its maximum range is ±15V.

Digital Inputs

The Quanser QUBE-Servo 2 supports three digital inputs, which are used for diagnostics. The digital inputs are enumerated in the table below.

Digital Outputs

The Quanser QUBE-Servo 2 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-Servo 2 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 value use the hil_set_encoder_counts function.

The first two encoder inputs are sampled simultaneously when measured using a single HIL Read block.

PWM Outputs

The Quanser QUBE-Servo 2 card does not support PWM outputs.

Other Inputs

The Quanser QUBE-Servo 2 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-Servo 2 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-Servo 2 card, or its driver, does not support any interrupt sources.

Watchdog

The Quanser QUBE-Servo 2 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 watchdog, use the hil_watchdog_start function. Be sure to reload the watchdog periodically using the hil_watchdog_reload function to prevent the watchdog from expiring.

To configure the values to which the output channels are reset on watchdog expiry, use the hil_watchdog_set_analog_expiration_state, hil_watchdog_set_digital_expiration_state and hil_watchdog_set_other_expiration_state functions to set the analog, digital and other output values on watchdog expiration respectively.

Once the watchdog has expired, further I/O on the outputs is disabled until the watchdog state is cleared.

Use the hil_watchdog_clear function to clear the watchdog state. Note that stopping the watchdog does not clear the watchdog state. The watchdog state must be cleared explicitly.

Board-Specific Options

The Quanser QUBE-Servo 2 card does not support any board-specific options.

Properties

The Quanser QUBE-Servo 2 driver currently supports the following read-only properties:

Targets

See Also

• Supported Quanser Cards

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