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