Cable
#
From To Signal
1 Terminal Board: Analog
Output #0
Amplifier Amplifier Command #0
connector
Control signal to the amplifier for left
motor.
2 Terminal Board: Analog
Output #1
Amplifier Amplifier Command #1
connector
Control signal to the amplifier for right
motor.
3 Amplifier: To Load #0
connector
2 DOF Planar Robot Left Motor
connector
Power leads to the 2 DOF Planar Robot
left DC motor.
4 Amplifier: To Load #1
connector
2 DOF Planar Robot Right Motor
connector
Power leads to the 2 DOF Planar Robot
right DC motor.
5 Terminal Board: Encoder
Input #0
2 DOF Planar Robot Left En-
coder connector
Left motor encoder load shaft angle
measurement.
6 Terminal Board: Encoder
Input #1
2 DOF Planar Robot Right En-
coder connector
Right motor encoder load shaft angle
measurement.
7 Terminal Board: Digital In-
put
2 DOF Planar Robot Digital I/O
connector
Command signal for the solonoid on
channel 2.
Table 4.2: 2 DOF Planar Robot AMPAQ Wiring
Figure 4.1: Connecting the 2 DOF Planar Robot to a Dual-Channel Current Amplifier and Two-Channel DAQ
2 DOF PLANAR ROBOT User Manual
DRAFT - September 6, 2013
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General