WinCon Manual.pdf - Intelligent Machine Dynamics Lab

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Table of Contents Analog Input .............................................................................104 Analog Output...........................................................................106 Digital Input..............................................................................107 Digital Output...........................................................................108 Time Base..................................................................................109 Watchdog Timer.......................................................................109 Encoder Input...........................................................................110 Encoder Extras..........................................................................111 Serial Drivers.........................................................................................112 Serial Initialization ..................................................................112 Serial Output.............................................................................113 Serial Input................................................................................114 Serial Error...............................................................................116 Extra Sources........................................................................................117 Is Simulation?............................................................................117 Smooth Sine Wave....................................................................117 Sequences...................................................................................118 .................................................................................................118 Enabled Sequence..................................................................118 Triggered Sequence...............................................................119 Triggered-Enabled Sequence...............................................119 Sigmoids.....................................................................................120 Sigmoid...................................................................................120 Sigmoid (with limits).............................................................121 Triggered Sigmoid.................................................................122 Triggered Sigmoid (with limits)...........................................122 Continuous Sigmoid..............................................................123 Continuous Sigmoid (with limits)........................................124 Extra Sinks............................................................................................124 Stop With Error........................................................................125 PC Speaker................................................................................126 Transformations....................................................................................127 Discretized Transfer Function ................................................127 Discretized Zero-Pole...............................................................128 Discretized State Space.............................................................128 System Transfer Function........................................................129 System Zero-Pole......................................................................129 System State-Space...................................................................130 Double to PIC Float..................................................................130 PIC Float to Double..................................................................130 To Bytes.....................................................................................130 From Bytes................................................................................131 CRS ROBOTS.......................................................................................132 CRS A465 Blocks......................................................................132 A465 Motor Pulses to Joint Angles......................................132 A465 Joint to World..............................................................133 iv
Table of Contents A465 Forward Kinematics....................................................133 A465 Stance............................................................................134 A465 Inverse Kinematics......................................................134 A465 World to Joint..............................................................134 A465 Joint Angles to Motor Pulses......................................135 CRS Catalyst-5 Blocks.............................................................135 CAT5 Motor Pulses to Joint Angles....................................136 CAT5 Joint to World............................................................136 CAT5 Forward Kinematics..................................................136 CAT5 Inverse Kinematics....................................................136 CAT5 World to Joint............................................................136 CAT5 Joint Angles to Motor Pulses....................................136 Interfacing to Other Hardware...........................................................137 <strong>WinCon</strong> Scripting Commands in MATLAB....................................................139 wc_build.................................................................................................139 wc_clean.................................................................................................140 wc_close..................................................................................................141 wc_disconnect........................................................................................141 wc_download.........................................................................................141 wc_examples..........................................................................................142 wc_isrunning.........................................................................................142 wc_newplot............................................................................................143 wc_open..................................................................................................143 wc_openplot...........................................................................................144 wc_path..................................................................................................144 wc_refresh..............................................................................................145 wc_run....................................................................................................145 wc_save..................................................................................................146 wc_saveplot............................................................................................146 wc_select................................................................................................147 wc_setoptions.........................................................................................147 wc_start..................................................................................................148 wc_stop...................................................................................................149 wc_update..............................................................................................149 Model Examples..................................................................................................151 <strong>WinCon</strong> Demonstrations Window......................................................151 Analog Loopback Example: q_a_lpbk.mdl........................................152 Proportional Control Example: q_p.mdl............................................157 Script Example: script_q_p.m.............................................................162 v
Page 1 and 2: WinCon 3.3 Hard Real-time Performan
Page 3: Table of Contents Licencing Rules Y
Page 6 and 7: Table of Contents WinCon Principles
Page 10 and 11: Table of Contents Troubleshooting..
Page 12 and 13: Table of Figures Figure 34 Encoder
Page 15: About WinCon 3.3 About WinCon 3.3 W
Page 19 and 20: Local and Remote Configurations Loc
Page 21: Remote Configurations These configu
Page 24 and 25: Software Requirements these package
Page 27 and 28: RTX Installation RTX Installation R
Page 29: Configuring RTX running, then adjus
Page 32 and 33: Installing Visual C++ device driver
Page 34 and 35: Configuring MATLAB Configuring MATL
Page 37: Installing the Sensoray SDK 626 Dri
Page 40 and 41: Remote Configuration Step1. For eac
Page 43: Installing WinCon Controls Installi
Page 47 and 48: Uninstalling or Upgrading WinCon Un
Page 49: WinCon Principles of Operation WinC
Page 52 and 53: WinCon Server's Client Menu Options
Page 54 and 55: WinCon Server's Window Menu Options
Page 56 and 57: WinCon Server's Keyboard Shortcuts
Page 58 and 59:
WinCon Client's File Menu Options W
Page 60 and 61:
WinCon Client's Help Menu Options W
Page 63 and 64:
Discrete Time Considerations Discre
Page 65 and 66:
Choice of Threshold Choice of Thres
Page 67 and 68:
Generating Real-Time Code Generatin
Page 69 and 70:
Setting Real-Time Workshop Options
Page 71 and 72:
Setting Simulink Options Setting Si
Page 73 and 74:
Restrictions on Real-Time Code oper
Page 75 and 76:
Restrictions on Real-Time Code Func
Page 77:
Restrictions on Real-Time Code Unti
Page 80 and 81:
Connecting to WinCon Client Connect
Page 82 and 83:
Downloading the Real-Time Code Down
Page 85 and 86:
Plotting On-Line Data Plotting On-L
Page 87 and 88:
WinCon Scope For plotting on a Scop
Page 89 and 90:
WinCon Scope Axis Menu Option Time.
Page 91 and 92:
WinCon X-Y Graph WinCon X-Y Graph A
Page 93 and 94:
WinCon Thermometer WinCon Thermomet
Page 95 and 96:
Saving On-Line Data Saving On-Line
Page 97 and 98:
Changing Parameters On-Line Changin
Page 99 and 100:
WinCon Control Panel must not be op
Page 101 and 102:
Building WinCon Control Panels Cont
Page 103:
WinCon Projects WinCon Projects A W
Page 106 and 107:
The WinCon Toolbox Figure 25 The Wi
Page 108 and 109:
Extra Sinks X-Y Graph The X-Y Graph
Page 110 and 111:
Quanser Consulting MQ3 Series Doubl
Page 112 and 113:
Quanser Consulting MQ3 Series would
Page 114 and 115:
Quanser Consulting MQ3 Series Digit
Page 116 and 117:
Quanser Consulting MQ3 Series Figur
Page 118 and 119:
Quanser Consulting MultiQ-PCI Serie
Page 120 and 121:
Page 122 and 123:
Page 124 and 125:
Page 126 and 127:
Serial Drivers Serial Drivers The S
Page 128 and 129:
Serial Drivers Sent box is checked,
Page 130 and 131:
Serial Drivers Serial Error The Ser
Page 132 and 133:
Extra Sources radians, and the samp
Page 134 and 135:
Extra Sources conjunction with the
Page 136 and 137:
Extra Sources The Sigmoid (with lim
Page 138 and 139:
Extra Sources Continuous Sigmoid (w
Page 140 and 141:
Extra Sinks PC Speaker The PC Speak
Page 142 and 143:
Transformations parameter is a vect
Page 144 and 145:
Transformations System State-Space
Page 146 and 147:
CRS ROBOTS CRS ROBOTS The Quanser T
Page 148 and 149:
CRS ROBOTS Element 0 1 -1 1 Reachin
Page 150 and 151:
CRS ROBOTS CAT5 Motor Pulses to Joi
Page 153 and 154:
WinCon Scripting Commands in MATLAB
Page 155 and 156:
wc_close wc_close Format: wc_close
Page 157 and 158:
wc_isrunning Description: The wc_is
Page 159 and 160:
wc_path However, you may find this
Page 161 and 162:
wc_saveplot As a reminder, any data
Page 163:
wc_start The model path is only req
Page 166 and 167:
WinCon Demonstrations Window Figure
Page 168 and 169:
Analog Loopback Example: q_a_lpbk.m
Page 170 and 171:
Analog Loopback Example: q_a_lpbk.m
Page 172 and 173:
Proportional Control Example: q_p.m
Page 174 and 175:
Proportional Control Example: q_p.m
Page 176 and 177:
Script Example: script_q_p.m Script
Page 178 and 179:
Script Example: script_q_p.m for I
Page 181 and 182:
Troubleshooting Troubleshooting On
Page 183 and 184:
WinCon Menu Missing from Simulink D
Page 185 and 186:
TimeBase Block Doesn't Work Figure
Page 187 and 188:
Index Stichwortverzeichnis A analog
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