4
TESTING AND TROUBLESHOOT-
ING
This section describes some functional tests to determine if your system is operating normally. It is assumed that
the Quanser 3 DOF Hoveris connected as described in Section 3.3. To carry out these tests, it is preferable if the
user can use a software such as
QUARC
r
or
LabVIEW™
to read sensor measurements and feed voltages to the
motor. Alternatively, these tests can be performed with a signal generator and an oscilloscope.
4.1 Motor
4.1.1 Testing
Ensure the motors are operating correctly by going through this procedure:
1. Apply approximately 4V to Analog Output Channel #0 on the DAQ to verify that the front propeller rotates.
2. Similarly, apply 4V to Analog Output Channel #1, 2, and 3 to verify that the back, left, and right motors, respec-
tively, are rotating.
4.1.2 Troubleshooting
If the motor is not responding to a voltage signal, go through these steps:
• Review the RCA and motors connections in Section 3.3.
• Ensure the power amplifier is powered on and operational, e.g., when using the Quanser VoltPAQ-X4, verify
that the green LED lit.
• Check that the data acquisition device is functional. Go through the DAQ User Manual for troubleshooting
guidelines.
• Ensure the voltage is actually reaching the motor terminals (use a voltmeter or oscilloscope).
• If the E-Stop is connected, make sure the red button is in the upper,
released
position.
4.2 Encoder
4.2.1 Testing
Follow this procedure to test each encoder on their respective motors:
1. Measure Encoder Input Channel #0 and rotate the pitch angle, i.e., axis about the front and back propellers,
up and down. Verify if any counts are being outputted.
2. Measure Encoder Input Channel #1 and rotate the roll angle, i.e., axis about the left and right propellers, up
and down. Verify if any counts are being outputted.
3. Measure the Encoder Input Channel #2 and rotate the yaw angle. Rotate the hover about the yaw axis one
full rotation and verify that 8192 is being measured (in 4x quadrature mode).
3 DOF HOVER User Manual
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