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Relay control gives you only two speeds full speed or stopped Some weapon systems require that you reverse the direction of the motor, and the motors of your robot s drive train will also need to be reversible Running a motor in both directions will necessitate that you switch both sides of the motor between the plus and minus sides of the battery The circuit for doing this is called an H-bridge An H-bridge gives you the ability to reverse direction, but you ll still be going full speed in whichever direction you choose When can you get away with this Most weapons don t need more than simple on/off control A saw or spinner weapon usually needs a single relay to switch it on or off Large high-inertia spinners may need a second relay for braking purposes Hammer and lifting arm weapons will need an H-bridge arrangement for reversing direction, but they usually do not need to run at variable speeds An H-bridge using solenoids for motor control is shown in Figure 7-6 An H-bridge uses four relays, one from each motor terminal to each battery terminal In Figure 7-6, relays A and B connect one motor terminal to the positive and negative sides of the battery, respectively, and relays C and D connect the other side of the motor to the positive and negative sides of the battery When you look at Figure 7-6, imagine a vertical line passing between relays A and B, and a vertical line passing between relays C and D Then imagine a horizontal line passing through the center of the motor, connecting to the two vertical lines These lines now form the letter H; hence the term, H-bridge

because each node introduces additional delay in signaling delivery By eliminating some of the processors on the set-up, the delay can be minimized SS7 networks favor the use of quasi-associated signaling In quasi-associated signaling, both nodes are connected to the same STP The signaling path is still through the STP to the adjacent SSP

Figure 7-38 The dimension members to be displayed in the final form are selected while defining the report matrix

FIGURE 7-6

Signaling links are logically organized by link type (A through F), according to their use in the SS7 signaling network These are shown in Figure 7-7 with the full linkage in place

7:

PerformancePoint ribbon will open the report properties dialog box, as shown in Figure 7-39 The value True is selected for the Auto-indent row members property for the purpose of the examples in this chapter The reports and form templates created using PerformancePoint Add-in for Excel supports Global Filters Global Filters are filters that are applied to all the matrixes within an Excel workbook, irrespective of whether the matrixes are on the same worksheet or not Once the report or form is rendered, changing the member selection in a global filter will change the member selection for all the matrixes that use the global filter This feature is useful in cases where multiple matrixes on one or more worksheet are required to generate a single report that pertains to any member belonging to a filter dimension In the example report used in this chapter, using

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In Figure 7-6, we assume two low-current, SPDT control switches to drive the relay coils, although smaller relays with Type C (or SPDT) contacts can be used in place of the switches Note that just like the relays described in the previous section, the control switches have NO, NC, and common terminals In the resting state, the NC legs on the forward and reverse switches result in relays A and C being energized and relays B and D being de-energized No battery current can flow through the motor because no path exists from the motor to the negative terminal of the battery, and the motor terminals are shorted to each other through relays A and C The motor is stationary and locked in place To run the motor forward, the forward switch is activated, which causes relay C to de-energize and relay D becomes energized The motor now has one terminal connected to the positive side of the battery through relay A, and the other terminal connected to the negative side of the battery through relay D This makes a complete circuit and causes the motor to run To run the motor in reverse, the reverse switch is activated, causing a current flow from the battery, through relay C into the motor and out through relay B into the other side of the motor