1

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)

2

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 -

4

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