Installation Levi

Magnetic Levitation System
Installation and Commissioning
33-006-0M5
MATLAB 5 Version
Feedback
Feedback Instruments Ltd, Park Road, Crowborough, E. Sussex, TN6 2QR, UK.
Telephone: +44 (0) 1892 653322, Fax: +44 (0) 1892 663719.
email: [email protected] World Wide Web Homepage: http://www.fbk.com
Manual: 33-006-0M5 Ed01 991115 Printed in England by Fl Ltd, Crowborough
Feedback Part No. 1160–330060M5
Notes
MAGNETIC LEVITATION SYSTEM
Installation and Commissioning Preface
THE HEALTH AND SAFETY AT WORK ACT 1974
We are required under the Health and Safety at Work Act 1974, to make available to users of this equipment certain information
regarding its safe use.
The equipment, when used in normal or prescribed applications within the parameters set for its mechanical and electrical
performance, should not cause any danger or hazard to health or safety if normal engineering practices are observed and they are used
in accordance with the instructions supplied.
If, in specific cases, circumstances exist in which a potential hazard may be brought about by careless or improper use, these will be
pointed out and the necessary precautions emphasised.
While we provide the fullest possible user information relating to the proper use of this equipment, if there is any doubt whatsoever
about any aspect, the user should contact the Product Safety Officer at Feedback Instruments Limited, Crowborough.
This equipment should not be used by inexperienced users unless they are under supervision.
We are required by European Directives to indicate on our equipment panels certain areas and warnings that require attention by the
user. These have been indicated in the specified way by yellow labels with black printing, the meaning of any labels that may be fixed to
the instrument are shown below:
CAUTION - CAUTION - CAUTION -

RISK OF RISK OF ELECTROSTATIC
DANGER ELECTRIC SHOCK SENSITIVE DEVICE
Refer to accompanying documents
PRODUCT IMPROVEMENTS
We maintain a policy of continuous product improvement by incorporating the latest developments and components into our equipment,
even up to the time of dispatch.
All major changes are incorporated into up-dated editions of our manuals and this manual was believed to be correct at the time of
printing. However, some product changes which do not affect the instructional capability of the equipment, may not be included until it is
necessary to incorporate other significant changes.
COMPONENT REPLACEMENT
Where components are of a ‘Safety Critical’ nature, i.e. all components involved with the supply or carrying of voltages at supply
potential or higher, these must be replaced with components of equal international safety approval in order to maintain full equipment
safety.
In order to maintain compliance with international directives, all replacement components should be identical to those originally
supplied.
Any component may be ordered direct from Feedback or its agents by quoting the following information:
1. Equipment type 2. Component value

3. Component reference 4. Equipment serial number
Components can often be replaced by alternatives available locally, however we cannot therefore guarantee continued performance
either to published specification or compliance with international standards.
33-006-0M5 i
Preface
DECLARATION CONCERNING ELECTROMAGNETIC COMPATIBILITY

Should this equipment be used outside the classroom, laboratory study area or similar such place for which it is designed and sold then
Feedback Instruments Ltd hereby states that conformity with the protection requirements of the European Community Electromagnetic
Compatibility Directive (89/336/EEC) may be invalidated and could lead to prosecution.
This equipment, when operated in accordance with the supplied documentation, does not cause electromagnetic disturbance outside
its immediate electromagnetic environment.
COPYRIGHT NOTICE
© Feedback Instruments Limited

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form or by any
means, electronic, mechanical, photocopying, recording or otherwise, without the prior permission of Feedback Instruments Limited.
ACKNOWLEDGEMENTS
Feedback Instruments Ltd acknowledge all trademarks.
IBM, IBM - PC are registered trademarks of International Business Machines.
MICROSOFT, WINDOWS 95, WINDOWS 3.1 are registered trademarks of Microsoft Corporation.
MATLAB is a registered trademark of Mathworks Inc.
ii 33-006-0M5
Installation and Commissioning Contents
TABLE OF CONTENTS
1. Introduction 1-1
1.1 Required Equipment 1-1

1.2 Feedback Supplied Items 1-2
2. Packing List 2-1
3. PCL-812 CARD SETTINGS 3-1
3.1 Switch Settings – 16-bit Board 3-2

3.2 Jumper Settings 3-3
3.3 Switch SW1 Settings for 8-bit Full-length PCL-812 board 3-4
4. Installation of the PCL-812 Board 4-1
5. Control Software Installation 5-1
5.1 Installation Guide 5-1

5.2 Troubleshooting 5-6
6. Setting Up the System 6-1
6.1 Initial Set-up 6-1

6.2 Controllers 6-8
33-006-0M5 TOC 1
Contents
Notes
TOC 2 33-006-0M5
CHAPTER 1
Installation and Commissioning Introduction
1. Introduction
This manual contains a description of the components of the Magnetic Levitation System
(Maglev System), and its setting-up procedure.
The procedures described in this Section of the manual will ensure the correct:
• assembly of the system;

• switch and Jumper settings of the PCL-812 interface card;
• cable connections between the PC and the 33-210 Magnetic Levitation Unit;
• set up of the 33-301 Analogue Control Interface module.
1.1 Required Equipment
The following items of equipment, software and documentation are required to use the
system.
• IBM Compatible PC with minimum configuration:

16 Mb of memory, Math co-processor (included in 486 or Pentium
processor)
VGA screen and mouse.
Windows 95/98/NT
• MATLAB Version 5.1 or 5.2 with SIMULINK, Control System Toolbox and Signal
Processing Toolbox (from Mathworks Inc).
• Advantech PCL-812PG Enhanced Multi-Lab Card for installation in the PC with

1 x 20-way ribbon cable.
• Feedback Magnetic Levitation System consisting of the 33-210 Magnetic

Levitation Unit and the 33-301Analogue Control Interface Module (ACI).
• One CD-ROM containing software installation/uninstallation program, manuals

in Adobe Acrobat format, working files within MATLAB environment.
Manuals:
33-006-0M5 - Magnetic Levitation System - Installation and Commissioning

33-006-1M5 - Magnetic Levitation System - Getting Started
33-006-2M5 - Magnetic Levitation System - External Interface

33-006-3M5 - Magnetic Levitation System - Reference Guide
33-006-4M5 - Magnetic Levitation System - Advanced Teaching
33-006-0M5 1-1
CHAPTER 1
Installation and Commissioning Introduction
1.2 Feedback Supplied Items
The following items are supplied by Feedback under following product codes
33-210 Magnetic Levitation Mechanical Unit
33-301 Analogue Control Interface Module
33-940 Magnetic Levitation System - Control Software pack including

Advantech card
33-940I Magnetic Levitation System -Control Software pack excluding

Advantech card
33-006 33-210 plus 33-301 plus 33-940 (Composite product)
33-006I 33-200 plus 33-201 plus 33-940I (Composite product)
1-2 33-006-0M5
CHAPTER 2
Installation and Commissioning Packing List
2. Packing List
Carefully unpack the items, and remove all packaging and securing material. You should
have the following items:
1) 33-210 Magnetic Levitation Mechanical Unit

2) 33-301 Analogue Control Interface Module
3) 2 metal spheres
4) Set of 8 connecting leads as follows:
1 Brown 4/2mm 1 Red 4mm

1 Yellow 4/2mm 1 Blue 4mm
1 Green 4/2mm 1 Black 4mm
1 Violet 4/2mm
1 White 4/2mm
5) 22 kΩ resistive network, 100 Ω resistor – 1 µF capacitor series RC network,

and two blank carriers
6) Power cable for 33-210
7) PCL–812 Advantech card (if purchased)
8) One CD-ROM containing control software and manuals, and 20-way ribbon
cable
9) 500 mA fuse
Note that MATLAB is not supplied by Feedback
33-006-0M5 2-1
CHAPTER 2
Installation and Commissioning Packing List
Notes
2-2 33-006-0M5
CHAPTER 3
Installation and Commissioning PCL–812 Card Settings
3. PCL-812 CARD SETTINGS
Caution: The PCL-812Advantech contains components which can be

damaged by static electricity. Before removing the PCL-812 board from its
conductive packaging, touch your hand on a grounded metal object such as
the case of your PC. Avoid touching the components on the board or the
plated edge connectors.
Before installing the PCL-812PG interface card into your computer, make sure that the
switches and jumpers shown in Figure 3-1 are set correctly as detailed in this section.
Analogue I/O CN1

JP9
Digital Out JP4

JP1
JP3
JP8
Digital In JP2
SW1
ON
JP5
JP6 Analogue I/O CN2
1 2 3 4 5 6 7 8
JP7
Figure 3-1: 16 bit PCL-812PG Interface Card - Switch and Jumper Positions
Note: The board shown above is a 16 bit short board. Some users may have
the 8 bit full length PCL- 812 board for which the SW1 switch settings are
☞
different. If you have this board, refer to the settings in the following section
for the 8 bit board.
Other settings and cable connections are the same for both boards.
33-006-0M5 3-1
CHAPTER 3
Installation and Commissioning PCL-812 Card Settings
3.1 Switch Settings – 16-bit Board
Switch SW1 controls the base address for I/O transfer (switches 1-6) and the CPU wait
states (Switches 7-8). They should be set as follows.
Note: The software always refers to decimal settings,

whereas the Instruction Manual
☞ for the PCL-812 board refers to hexadecimal settings. For convenience, both
decimal and hex addresses are shown in the table below.
SW1 Base Address Selection
I/O Address Range (hex SW1 Switch Position

and decimal)
1 2 3 4 5 6
200-20F (512-527 Dec) OFF ON ON ON ON ON
210-21F (528-543 Dec) OFF ON ON ON ON OFF
220-22F (544-559 Dec) * OFF ON ON ON OFF ON
230-23F (560-575 Dec) OFF ON ON ON OFF OFF
300-30F (768-783 Dec) OFF OFF ON ON ON ON
3F0-3FF (1008-1023 Dec) OFF OFF OFF OFF OFF OFF
* Factory default setting
☞
Note: Some video cards or floppy disk drives use the higher base addresses
such as 1008 (Hex 3F0), and should be avoided if possible.
SW1 Wait State Selection
Time Delay SW1 Switch Settings

7 8
0* ON ON
2 OFF ON
4 ON OFF
6 OFF OFF
* Factory default setting
3-2 33-006-0M5
CHAPTER 3
3.2 Jumper Settings
The Jumpers on the PCL-812 board should be set in the positions indicated below:
JP1 - Trigger Source Selection
JP1
INT O
TRG O
EXT O
JP2 - Counter Input Clock Selection
JP2
INT O
CLK O
EXT O
JP3, JP4 - D/A Reference Selection
JP3 O O O D/A1
JP4 O O O D/A2
INT VREF EXT
JP5 - IRQ Level Selection
2 3 4 5 6 7 X
O O O O O O O
O O O O O O O
JP5
JP6, JP7 - DMA Channel Selection
1 3 X 1 3 X
O O O O O O
O O O O O O
JP6 JP7
33-006-0M5 3-3
CHAPTER 3
JP8, JP9 - D/A Internal Reference, A/D Maximum Input Voltage Selection
10 5 5
JP8 O O O
JP9 O O O
Depending on the specification and configuration of your PC, you may need to change the
Base Address and Wait State settings.
☞ Note: None of the other settings need to be changed.
3.3 Switch SW1 Settings for 8-bit Full-length PCL-812 board
I/O Address Range (hex SW1 Switch Position

and decimal)
1 2 3 4 5 6
200-20F (512-527 Dec) ON ON ON ON ON X
210-21F (528-543 Dec) ON ON ON ON OFF X
220-22F (544-559 Dec) * ON ON ON OFF ON X
230-23F (560-575 Dec) ON ON ON OFF OFF X
300-30F (768-783 Dec) OFF ON ON ON ON X
3F0-3FF (1008-1023 Dec) OFF OFF OFF OFF OFF X
Note: An “X” in the table above means that this switch is not used.
3-4 33-006-0M5
CHAPTER 4
Installation and Commissioning Installation of the PCL-812 Board
4. Installation of the PCL-812 Board
JP9
Analogue I/O CN1
JP4
Digital Out JP1
JP3
JP8
Digital In
JP2
SW1
ON
JP5
JP6 Analogue I/O CN2 20 way ribbon
1 2 3 4 5 6 7 8
JP7
cable
Figure 4-1: PCL-812 Interface Card Ribbon Cable Connections
One slot required at the rear of the PC for the 20-way analogue port socket. Use screws
to secure the card to the casing of the PC. Refer to Figure 4-1.
Carefully install the interface card in a spare slot on the PC motherboard (or in a slot on
the passive backplane, if your PC has this type of architecture - common with some 19-
inch rack mounted PC’s). If in any doubt as to the correct procedure, consult the
documentation supplied with the PC.
Warning: Turn OFF and disconnect the mains power supply

BEFORE opening the computer
Before opening the computer, it is important to ensure that it is switched off and that the
mains power supply is not connected.
Once you have opened the computer, check to see if there are any other cards installed;
for example, a network or sound card. It is important to determine the addresses of any
such cards as your Magnetic Levitation System will not function correctly if there is
another card using all, or part of, the address space assigned to the PCL-812PG interface
card.
33-006-0M5 4-1
CHAPTER 4
Installation and Commissioning Installation of the PCL-812 Board
Notes
4-2 33-006-0M5
CHAPTER 5
Installation and Commissioning Control Software Installation
5. Control Software Installation
5.1 Installation Guide
Insert CD-ROM into drive. Disk should auto start; if auto-play is not enabled, then proceed
as follows:
1. Click on START
2. Select RUN and enter d:install.exe where d: is the CD-ROM drive.
3. Click on OK.
The installation program should now be running.
Follow the on-screen instructions (Figure 5-1).
Figure 5-1: Software Installation and User Information Windows
Choose SETUP to continue the installation program.
33-006-0M5 5-1
CHAPTER 5
Make sure that the installation process has identified your operating system (Figure 5-2).
The Executable for MATLAB will always be in the ‘bin’ (binary) subdirectory.
Figure 5-2: Installation Settings Window
The destination directory is the storage space for all new files and programs (Figure 5-2).
Select from the Components window (see Figure 5-3 and 5-4), the Maglev software.
Note: By default the installation package will select all software packages
☞ produced by Feedback Instruments Ltd. Select only the software package

you have purchased, and de-select the rest. Failure to do so will cause the
installation routine to hang-up (Figures 5-3 and 5-4).
Figure 5.3: Components (1) Window
5-2 33-006-0M5
CHAPTER 5
Figure 5-4: Components (2) Window
Ensure that the base address is the same as indicated by switches selection on the
Advantech PCL 812-PG board (Figure 5-5).
Figure 5-5: I/O Board Settings Window
Figure 5-6 is an informative window, showing which applications can run in MATLAB.
Figure 5-6: MATLAB Commands Window
33-006-0M5 5-3
CHAPTER 5
Figure 5-7 shows the end of the installation procedure.
Figure 5-7: Installation Complete Window
To start the Maglev software, return to the desktop window and double-click on MATLAB
icon (Figure 5-8).
Figure 5-8: Desktop Window
5-4 33-006-0M5
CHAPTER 5
Type at MATLAB prompt: >> ml and the following window will be displayed (Figure 5-9).
This is the main control window for the Magnetic Levitation System.
Figure 5-9: Magnetic Levitation System Main Control Window
33-006-0M5 5-5
CHAPTER 5
5.2 Troubleshooting
Message Solution
Undefined function or variable MATLAB can not find ML_CALL.DLL file.
ml_call
GetHistory - memory allocation Not enough memory to perform GetHistory
error function. Free some memory in your Windows
system (e.g. close unused applications)
Cannot open ML_PAR.INI file. Copy ml_par.ini file from your CD-ROM source
Base address is set to zero. into MATLAB root directory.
Cannot find BaseAddress Check presence of the BaseAddress line.
parameter in the ML_PAR.INI
file. Base address is set to zero.
5-6 33-006-0M5
CHAPTER 6
Installation and Commissioning Setting Up the System
6. Setting Up the System
Place the 33-210 Magnetic Levitation Unit on a level surface and allow sufficient room for
the 33-301 Interface Module, PC and mouse. Plug the mains power lead into the rear of
the 33-210.
6.1 Initial Set-up
Setting up the system in stand alone analogue mode
The system is capable of operation without any computer control software in standalone
mode. Connect the Control output socket directly to the Drive input socket. Set the Gain
control to its midway position. Ensure that the supplied RC Network is fitted into the
Network1and the Resistive Network is fitted to the Network 2. The RC network has a 1 µF
capacitor in series with a 100 Ω resistor and Network 2 is a 22 kΩ resistor. Refer to Figure
6-1 for correct connections.
Heat Sink
Coil
20 way Ribbon Cable to PCL-812 Board
IR Detectors
AD1 AD2 DA1 DA2 +15V

Metal
sphere
0V
Set Point
-15V
33-210
RC
33-301
Disturbance in
Measured Value
Gain
Drive Input
Control Output
Figure 6-1: Magnetic Levitation System showing the 33-210 Magnetic Levitation Unit and the 33-301
Interface Module with Lead Connections
33-006-0M5 6-1
CHAPTER 6
Setting up the system for use with control software
Before the 33-210 can operate via MATLAB, it is necessary to connect up the 33-301
Interface Module to the PCL-812 Advantech Card using connector CN2 (when you view
the Advantech Card fitted into a PC-Desktop style, CN2 is the lower connector). The
connectors are keyed and can only be inserted one way.
Remove connection between Control O/P and Drive I/P.
Make the following connections between the 33-301 and the 33-210:
1. Connect AD1 to the measured value socket.
2. Connect AD2 to the control output socket.
3. Connect DA1 to the drive input socket.
4. Connect DA2 to the disturbance input socket.
5. Connect the ±15 V and the ground sockets on the 33-301 and the 33-210
together, observing polarity.
Having made the connections between the interface and the 33-210, set up the Interface
Module. To run the MATLAB Magnetic Levitation software, start up the computer and run
MATLAB. Type ML and the Magnetic Levitation program will run. The screen shown
below is displayed (Figure 6-2).
Figure 6.2: Magnetic Levitation System Main Screen
6-2 33-006-0M5
CHAPTER 6
Double-click on Set Base Address and check that it shows the base address of your card
(Advantech or RT-DAC).
To run the tuning program, select Calibration of the 33-301 ACI button in the Main
Control Window. It is necessary to tune Analogue Control Unit 33-301 because the
electronic circuits in the Magnetic Levitation are not identical in all copies. The following
window opens (Figure 6-3):
Figure 6-3: Setting Up the System (1) Window
Follow instructions given in the Message Windows (Figure 6-4 to 6-15) . After tuning, the
system is ready to work.
33-006-0M5 6-3
CHAPTER 6
6-4 33-006-0M5
CHAPTER 6
33-006-0M5 6-5
CHAPTER 6
6-6 33-006-0M5
CHAPTER 6
33-006-0M5 6-7
CHAPTER 6
6.2 Controllers
Discrete Analogue Controller
When operating in Discrete Analogue Control mode, the MATLAB program simply
monitors the control system within the 33-210; therefore, this demonstration will show if all
connections, set-ups and communications are correct.
In order to set the MATLAB program into Discreet Analogue Control mode, double-click
on Parameters of the Controller block in the Main MATLAB window. Select Discrete
Analogue Controller and then click on the Start Algorithm button (Figure 6-16).
Figure 6-16: Magnetic Levitation: Set Controller Parameters Window
Connect a voltmeter(set to dc Volts) between the left-hand side of the Network 1 and
0Volts. Set the Gain pot about half-way round. While holding the sphere within the
detectors, adjust the set-point control for a reading about 0 Volts.
Using the internal signal generator within MATLAB, select a square wave, having periods
1 to 4 set to 4 rads/sec and level 1 set to 0.3, level 2 set to 0, level 3 set to 0.3, and level
4 set to 0. Ensure you use the Set button when you have completed this change.
6-8 33-006-0M5
CHAPTER 6
The response of the system together with input variable and other signals may be plotted
on a single shot in the Stethoscope. To activate this, double-click on this block
(Figure 6-2).
Select the information you want to display followed by Collect data(10 sec) or Get Data
Buffer. The result is plotted as shown in Figure 6-17.
Figure 6-17: Stethoscope for Magnetic Levitation Window
To Stop the Analogue control application, double-click on the Stop Practical button on the
Main Control window.
To experiment with other applications, see the Getting Started Manual (33-006-1M5).
33-006-0M5 6-9
CHAPTER 6
Notes
6-10 33-006-0M5

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Magnetic Levitation System

Installation and Commissioning

THE HEALTH AND SAFETY AT WORK ACT 1974

CAUTION - CAUTION - CAUTION -

1. Equipment type 2. Component value

DECLARATION CONCERNING ELECTROMAGNETIC COMPATIBILITY

© Feedback Instruments Limited

1.1 Required Equipment 1-1

2. Packing List 2-1

3. PCL-812 CARD SETTINGS 3-1

3.1 Switch Settings – 16-bit Board 3-2

4. Installation of the PCL-812 Board 4-1

5. Control Software Installation 5-1

5.1 Installation Guide 5-1

6. Setting Up the System 6-1

6.1 Initial Set-up 6-1

• assembly of the system;

1.1 Required Equipment

• IBM Compatible PC with minimum configuration:

• Advantech PCL-812PG Enhanced Multi-Lab Card for installation in the PC with

• Feedback Magnetic Levitation System consisting of the 33-210 Magnetic

• One CD-ROM containing software installation/uninstallation program, manuals

33-006-0M5 - Magnetic Levitation System - Installation and Commissioning

33-006-2M5 - Magnetic Levitation System - External Interface

1.2 Feedback Supplied Items

33-210 Magnetic Levitation Mechanical Unit

33-301 Analogue Control Interface Module

33-940 Magnetic Levitation System - Control Software pack including

33-940I Magnetic Levitation System -Control Software pack excluding

33-006 33-210 plus 33-301 plus 33-940 (Composite product)

33-006I 33-200 plus 33-201 plus 33-940I (Composite product)

1) 33-210 Magnetic Levitation Mechanical Unit

1 Brown 4/2mm 1 Red 4mm

5) 22 kΩ resistive network, 100 Ω resistor – 1 µF capacitor series RC network,

Note that MATLAB is not supplied by Feedback

3. PCL-812 CARD SETTINGS

Caution: The PCL-812Advantech contains components which can be

Analogue I/O CN1

Digital Out JP4

3.1 Switch Settings – 16-bit Board

Note: The software always refers to decimal settings,

SW1 Base Address Selection

I/O Address Range (hex SW1 Switch Position

* Factory default setting

SW1 Wait State Selection

Time Delay SW1 Switch Settings

* Factory default setting

3.2 Jumper Settings

JP1 - Trigger Source Selection

JP2 - Counter Input Clock Selection

JP3, JP4 - D/A Reference Selection

JP5 - IRQ Level Selection

JP6, JP7 - DMA Channel Selection

☞ Note: None of the other settings need to be changed.

3.3 Switch SW1 Settings for 8-bit Full-length PCL-812 board

I/O Address Range (hex SW1 Switch Position

4. Installation of the PCL-812 Board

Analogue I/O CN1

Figure 4-1: PCL-812 Interface Card Ribbon Cable Connections

Warning: Turn OFF and disconnect the mains power supply

5. Control Software Installation

5.1 Installation Guide

Follow the on-screen instructions (Figure 5-1).