Quanser Analog Output Connections - imdl.gatech.edu€¦ · 2 Voltage-to-Current Converters J2 J3...
Transcript of Quanser Analog Output Connections - imdl.gatech.edu€¦ · 2 Voltage-to-Current Converters J2 J3...
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Control Signal Wiring from Quanser Analog Outputs to Voltage-to-Current Converter Inputs
Quanser Analog Output Connections
Quanser MultiQTerminal Board
Analog Ouput 0 (AO0)
Analog Ouput 1 (AO1)
Analog Ouput 2 (AO2)
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Voltage-to-Current Converters
J1J3J2
Note: these modules are numbered according to the joint that they control (i.e. J1 controls joint 1).
Quanser Analog Output WiringPin out of the 9 pin connection between the analog output connections of the Quanser MultiQ board and SAMII’sexisting voltage-to-current converters:
Pin # Function Wire color
Analog Output
Connection
Voltage to current module
1 Joint 1 + Green AO 0 + J1 +6 Joint 1 - Black/Green AO 0 - J1 -2 Joint 2 + White AO 1 + J2 +7 Joint 2 - Black/White AO 1 - J2 -3 Joint 3 + Red AO 2 + J3 +8 Joint 3 - Black/Red AO 2 - J3 -
Note: black/green denotes a solid black wire that is paired with the green wire in a foil wrapper i.e. the black wire associated with the green wire, not a black wire with a green stripe (the same is true for black/red and black/white).
3
Male 9-Pin Pin Out
Pin 2: AO1/J2 + (white)
Pin 3: AO2/J3 + (red)
Pin 7: AO1/J2 -(black/white)
Pin 8: AO2/J3 -(black/red)
Pin 1: AO0/J1 + (green)
Pin 6: AO0/J1 -(black/green)
Female 9 Pin Pin Out
Pin 2: AO1/J2 +
Pin 3: AO2/J3 +
Pin 7: AO1/J2 -
Pin 8: AO2/J3 -
Pin 1: AO0/J1 +
Pin 6: AO0/J1 -
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Pin 1 Pin 1Pin 5
Pin 9Pin 6 Pin 6
Male/Female Mirror Image Pin Out
Sorry if this is completely obvious and unnecessary, but I want to be totally explicit in my documentation.
Voltage-to-Current Module Connections for Joint 1
J1 + Green
J1 -Black
5
J2 -Black
J2 + White
J3 -Black
J3 + Red
Voltage-to-Current Module Connections for Joints 2 & 3