2015:Electrical Main: Difference between revisions

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<h1> IO Interface Map </h1>
= IO Interface Map =
<p><a _fcknotitle="true" href="2015%3ARobot%20IO%20Map">2015:Robot IO Map</a>
 
</p>
[[2015:Robot IO Map]]
<hr />
 
<p><br />
----
</p>
 
<h1> Sensors </h1>
 
<p><span style="font-size:x-large;"><span style="font-size:large;">Drive Base:</span></span>
 
</p>
= Sensors =
<ul><li><span style="font-size:x-large;"><span style="font-size:large;"><span style="font-size:small;"><span style="font-size:medium;">two encoders (left and right)</span></span></span></span>
 
</li>
<span style="font-size:x-large;"><span style="font-size:large;">Drive Base:</span></span>
<li><span style="font-size:x-large;"><span style="font-size:large;"><span style="font-size:small;"><span style="font-size:medium;">two&#160;channels for each encoder</span></span></span></span>
 
</li>
*<span style="font-size:x-large;"><span style="font-size:large;"><span style="font-size:small;"><span style="font-size:medium;">two encoders (left and right)</span></span></span></span>
<li><font size="3"><span style="line-height: 28.444446563720703px;">gyro and accelerometer compound board (am-2067, containing&#160;ADXL245 &amp;&#160;ADW22307)</span></font>
*<span style="font-size:x-large;"><span style="font-size:large;"><span style="font-size:small;"><span style="font-size:medium;">two&nbsp;channels for each encoder</span></span></span></span>
</li>
*<font size="3"><span style="line-height: 28.444446563720703px;">gyro and accelerometer compound board (am-2067, containing&nbsp;ADXL245 &&nbsp;ADW22307)</span></font>
<li><span style="font-size:x-large;"><span style="font-size:large;"><span style="font-size:small;"><span style="font-size:medium;">Need to use strafing in autonomous</span></span></span></span><span style="font-size:x-large;"><span style="font-size:large;"><span style="font-size:small;"><span style="font-size:medium;">​!</span></span></span></span>
*<span style="font-size:x-large;"><span style="font-size:large;"><span style="font-size:small;"><span style="font-size:medium;">Need to use strafing in autonomous</span></span></span></span><span style="font-size:x-large;"><span style="font-size:large;"><span style="font-size:small;"><span style="font-size:medium;">​!</span></span></span></span>
</li>
*<span style="font-size:x-large;"><span style="font-size:large;"><span style="font-size:small;"><span style="font-size:medium;">2-speed shifter (pneumatic)</span></span></span></span>
<li><span style="font-size:x-large;"><span style="font-size:large;"><span style="font-size:small;"><span style="font-size:medium;">2-speed shifter (pneumatic)</span></span></span></span>
 
</li></ul><p><span style="font-size:x-large;"><span style="font-size:large;"><span style="font-size:small;"><span style="font-size:medium;">​<span style="font-size:large;">Lifter:</span></span></span></span></span>
<span style="font-size:x-large;"><span style="font-size:large;"><span style="font-size:small;"><span style="font-size:medium;">​<span style="font-size:large;">Lifter:</span></span></span></span></span>
</p>
 
<ul><li><span style="font-size:medium;">flag sensor at bottom/home for calibration</span>
*<span style="font-size:medium;">flag sensor at bottom/home for calibration</span>
</li>
*<span style="font-size:medium;">flag sensor at&nbsp;highest extent</span>
<li><span style="font-size:medium;">flag sensor at&#160;highest extent</span>
*<font size="3"><span style="line-height: 28.444446563720703px;">63R256 encoder for interpolation between top/bottom</span></font>
</li>
*<span style="font-size:medium;">do we need hard stops?</span>
<li><font size="3"><span style="line-height: 28.444446563720703px;">63R256 encoder for interpolation between top/bottom</span></font>
*<span style="font-size:medium;">lifter needs to be physically removed</span>
</li>
*<span style="font-size:medium;">2 RS775-18 motors</span>
<li><span style="font-size:medium;">do we need hard stops?</span>
*<span style="font-size:medium;">1 Camera (Stationary)</span>
</li>
*<span style="font-size:medium;">bike brake with pneumatic actuation (double acting cylinder, single solenoid)</span>
<li><span style="font-size:medium;">lifter needs to be physically removed</span>
 
</li>
<span style="font-size:medium;">​<span style="font-size:large;">Gripper:</span></span>
<li><span style="font-size:medium;">2 RS775-18 motors</span>
 
</li>
*<span style="font-size: medium; line-height: 28.444446563720703px;">63R256&nbsp;</span><span style="font-size:medium;"><span style="font-size:large;"><span style="font-size:medium;">encoder after gearbox output</span></span></span>
<li><span style="font-size:medium;">1 Camera (Stationary)</span>
*<span style="font-size:medium;">flag sensor for inner home position</span>
</li>
*<span style="font-size:medium;">the motor is a&nbsp;RS550</span>
<li><span style="font-size:medium;">bike brake with pneumatic actuation (double acting cylinder, single solenoid)</span>
*<span style="font-size:medium;">2 (or 1?) banner sensors out on grippers for tote acquisition (previously ultrasonic distance sensor)</span>
</li></ul><p><span style="font-size:medium;">​<span style="font-size:large;">Gripper:</span></span>
*<span style="font-size:medium;">Flag (?) sensor for wide tote config</span>
</p>
 
<ul><li><span style="font-size: medium; line-height: 28.444446563720703px;">63R256&#160;</span><span style="font-size:medium;"><span style="font-size:large;"><span style="font-size:medium;">encoder after gearbox output</span></span></span>
<span style="font-size:medium;"><span style="font-size:large;">​Stabilizer:</span></span>
</li>
 
<li><span style="font-size:medium;">flag sensor for inner home position</span>
*<span style="font-size:medium;"><span style="font-size:large;"><span style="font-size:medium;">pneumatic on/off (single solenoid, dual acting cylinder)</span></span></span>
</li>
 
<li><span style="font-size:medium;">the motor is a&#160;RS550</span>
== Interface Circuits ==
</li>
 
<li><span style="font-size:medium;">2 (or 1?) banner sensors out on grippers for tote acquisition (previously ultrasonic distance sensor)</span>
=== <u>Banner Photodetector Sensors:</u> ===
</li>
 
<li><span style="font-size:medium;">Flag (?) sensor for wide tote config</span>
*Q10 Series (Q10AN6R Detector)
</li></ul><p><span style="font-size:medium;"><span style="font-size:large;">​Stabilizer:</span></span>
**Sensor is NPN open-collector output
</p>
**Sensor off-state leakage is 10uA max.
<ul><li><span style="font-size:medium;"><span style="font-size:large;"><span style="font-size:medium;">pneumatic on/off (single solenoid, dual acting cylinder)</span></span></span>
**Sensor on-state logic low is 0.5V max @ 10mA max
</li></ul><h2> Interface Circuits </h2>
*RoboRIO DIO [0..9]  
<h3> <u>Banner Photodetector Sensors:</u> </h3>
**Have internal 40K pullup resistors to +3.3Vdc
<ul><li>Q10 Series (Q10AN6R Detector)
**RoboRIO DIO VIL=0.8V max
<ul><li>Sensor is NPN open-collector output
**RoboRIO DIO VIH=2.0V&nbsp;min.
</li>
*Interface Circuit
<li>Sensor off-state leakage is 10uA max.
**Sensor off-state leakage of 10uA through RoboRIO pullup of 40K drops 0.4V, so logic high is 3.3V - 0.4V = 2.9V
</li>
**Logic high is safely above RoboRIO VIHmin of 2.0V
<li>Sensor on-state logic low is 0.5V max @ 10mA max
**Sensor on-state logic low of 0.5V is safely below RoboRIO VILmax of 0.8V.
</li></ul></li>
**The current that the sensor must sink is (3.3V - 0.5V) / 40Kohms = 70uA, which is well below the max sinking capability of the sensor of 10mA.
<li>RoboRIO DIO [0..9]  
**So no external interface circuit is required - the Banner Sensor detector of this type (NPN O.C.) may be wired directly to the RoboRIO DIO.
<ul><li>Have internal 40K pullup resistors to +3.3Vdc
**If desired, however, a lower resistance pullup could be added to lower the impedance of the interface, which might help reduce susceptibility to electrical interference. &nbsp;(minimum value of pullup approx. 2.7Kohms to still give good margin for logic low condition, with&nbsp;1mA current sink.)
</li>
 
<li>RoboRIO DIO VIL=0.8V max
= Robot Indicators =
</li>
 
<li>RoboRIO DIO VIH=2.0V&#160;min.
*Lift Position
</li></ul></li>
**LED strips on rear of lift which indicate gripper height position
<li>Interface Circuit
**"Bar Graph" style display
<ul><li>Sensor off-state leakage of 10uA through RoboRIO pullup of 40K drops 0.4V, so logic high is 3.3V - 0.4V = 2.9V
**Adressable type LED strips so that can be turned on/off individually
</li>
*Gripper Open Width
<li>Logic high is safely above RoboRIO VIHmin of 2.0V
**LED strips on rear of lift at the gripper leadscrew&nbsp;
</li>
**"Bar Graph" style display from the center
<li>Sensor on-state logic low of 0.5V is safely below RoboRIO VILmax of 0.8V.
**Addressable type LED strips so that can be turned on/off individually
</li>
**When gripper Banner sensor is tripped (tote within grippers), LEDS change color
<li>The current that the sensor must sink is (3.3V - 0.5V) / 40Kohms = 70uA, which is well below the max sinking capability of the sensor of 10mA.
*LED Strip driver requirements
</li>
**30LED/m strip is 2A/m (9.5W)
<li>So no external interface circuit is required - the Banner Sensor detector of this type (NPN O.C.) may be wired directly to the RoboRIO DIO.
**60LED/m strip is 3.6A/m (18W) - preferred for high resolution "bar graph" display
</li>
**Estimated total LED strip length for robot is 3m
<li>If desired, however, a lower resistance pullup could be added to lower the impedance of the interface, which might help reduce susceptibility to electrical interference. &#160;(minimum value of pullup approx. 2.7Kohms to still give good margin for logic low condition, with&#160;1mA current sink.)
**Total 5Vdc current requirement for 60LED/m is 10.8A for 3m &nbsp;(if 80% efficient 12V/5V converter, 12V current would be 13.5A)
</li></ul></li></ul><h1> Robot Indicators </h1>
**possible 12v/5v 15A supply ($64)&nbsp;[http://www.digikey.com/product-detail/en/UWE-%F15-Q12P-C/811-2231-5-ND/2346081 Murata]
<ul><li>Lift Position
**possible 12v/5v 6A supply ($40)&nbsp;[http://www.digikey.com/product-detail/en/S24SE05006PDFA/941-1630-ND/3528206 Delta]
<ul><li>LED strips on rear of lift which indicate gripper height position
 
</li>
= Component Specifications =
<li>"Bar Graph" style display
 
</li>
[[File:Talon-SRX-Info-Sheet.pdf|Talon SRX Data Sheet]]
<li>Adressable type LED strips so that can be turned on/off individually
 
</li></ul></li>
[[File:RoboRIO User Manual.pdf|RoboRio Manual]]
<li>Gripper Open Width
 
<ul><li>LED strips on rear of lift at the gripper leadscrew&#160;
[[File:RoboRIOspecifications.pdf|RoboRIO specs]]
</li>
 
<li>"Bar Graph" style display from the center
[[File:PCM-Users-Guide.pdf|Pneumatics Control Module]]
</li>
 
<li>Addressable type LED strips so that can be turned on/off individually
[[File:VRM_User_Guide.pdf|Voltage Regulator Module]]
</li>
 
<li>When gripper Banner sensor is tripped (tote within grippers), LEDS change color
[[File:RevRoboticsMoreBoard.pdf|Rev Robotics RoboRIO Expansion Board]]
</li></ul></li>
 
<li>LED Strip driver requirements
[[File:2013 Motor Data Table.xls|2013 Motor Data]]
<ul><li>30LED/m strip is 2A/m (9.5W)
 
</li>
[[File:2013 MotorCurves.xls|2013 Motor Performance Curves]]
<li>60LED/m strip is 3.6A/m (18W) - preferred for high resolution "bar graph" display
 
</li>
[[Sensors]]
<li>Estimated total LED strip length for robot is 3m
 
</li>
[[Servos|Servos]]
<li>Total 5Vdc current requirement for 60LED/m is 10.8A for 3m &#160;(if 80% efficient 12V/5V converter, 12V current would be 13.5A)
 
</li>
[[LED Strips]]
<li>possible 12v/5v 15A supply ($64)&#160;&lt;a href="&lt;a href="&lt;a href="<a href="http://www.digikey.com/product-detail/en/UWE-%F15-Q12P-C/811-2231-5-ND/2346081">http://www.digikey.com/product-detail/en/UWE-%F15-Q12P-C/811-2231-5-ND/2346081</a>"&gt;<a href="http://www.digikey.com/product-detail/en/UWE-%F15-Q12P-C/811-2231-5-ND/2346081">http://www.digikey.com/product-detail/en/UWE-%F15-Q12P-C/811-2231-5-ND/2346081</a>&lt;/a&gt;"&gt;&lt;a href="<a href="http://www.digikey.com/product-detail/en/UWE-%F15-Q12P-C/811-2231-5-ND/2346081">http://www.digikey.com/product-detail/en/UWE-%F15-Q12P-C/811-2231-5-ND/2346081</a>"&gt;<a href="http://www.digikey.com/product-detail/en/UWE-%F15-Q12P-C/811-2231-5-ND/2346081">http://www.digikey.com/product-detail/en/UWE-%F15-Q12P-C/811-2231-5-ND/2346081</a>&lt;/a&gt;&lt;/a&gt;"&gt;Murata&lt;/a&gt;
 
</li>
[[Micro Switches]]
<li>possible 12v/5v 6A supply ($40)&#160;&lt;a href="&lt;a href="&lt;a href="<a href="http://www.digikey.com/product-detail/en/S24SE05006PDFA/941-1630-ND/3528206">http://www.digikey.com/product-detail/en/S24SE05006PDFA/941-1630-ND/3528206</a>"&gt;<a href="http://www.digikey.com/product-detail/en/S24SE05006PDFA/941-1630-ND/3528206">http://www.digikey.com/product-detail/en/S24SE05006PDFA/941-1630-ND/3528206</a>&lt;/a&gt;"&gt;&lt;a href="<a href="http://www.digikey.com/product-detail/en/S24SE05006PDFA/941-1630-ND/3528206">http://www.digikey.com/product-detail/en/S24SE05006PDFA/941-1630-ND/3528206</a>"&gt;<a href="http://www.digikey.com/product-detail/en/S24SE05006PDFA/941-1630-ND/3528206">http://www.digikey.com/product-detail/en/S24SE05006PDFA/941-1630-ND/3528206</a>&lt;/a&gt;&lt;/a&gt;"&gt;Delta&lt;/a&gt;
 
</li></ul></li></ul>
[[Electrical Inventory]]
<h1> Component Specifications </h1>
 
<p><img src="/wiki/images/4/45/Talon-SRX-Info-Sheet.pdf" _fck_mw_filename="Talon-SRX-Info-Sheet.pdf" _fck_mw_origimgwidth="" _fck_mw_origimgheight="" alt="Talon SRX Data Sheet" style="vertical-align:middle;" />
[[File:MX5 CircuitBreaker.pdf|40A Circuit Breaker]]
</p><p><img src="/wiki/images/d/d1/RoboRIO_User_Manual.pdf" _fck_mw_filename="RoboRIO User Manual.pdf" _fck_mw_origimgwidth="" _fck_mw_origimgheight="" alt="RoboRio Manual" style="vertical-align:middle;" />
 
</p><p><img src="/wiki/images/6/62/RoboRIOspecifications.pdf" _fck_mw_filename="RoboRIOspecifications.pdf" _fck_mw_origimgwidth="" _fck_mw_origimgheight="" alt="RoboRIO specs" style="vertical-align:middle;" />
[[File:VB3 CircuitBreaker.pdf|20A/30A Circuit Breaker]]
</p><p><img src="/wiki/images/2/28/PCM-Users-Guide.pdf" _fck_mw_filename="PCM-Users-Guide.pdf" _fck_mw_origimgwidth="" _fck_mw_origimgheight="" alt="Pneumatics Control Module" style="vertical-align:middle;" />
 
</p><p><img src="/wiki/images/5/59/VRM_User_Guide.pdf" _fck_mw_filename="VRM User Guide.pdf" _fck_mw_origimgwidth="" _fck_mw_origimgheight="" alt="Voltage Regulator Module" style="vertical-align:middle;" />
[http://usdigital.com/products/encoders/incremental/rotary/kit US Digital Encoders Link]
</p><p><img src="/wiki/images/d/d4/RevRoboticsMoreBoard.pdf" _fck_mw_filename="RevRoboticsMoreBoard.pdf" _fck_mw_origimgwidth="" _fck_mw_origimgheight="" alt="Rev Robotics RoboRIO Expansion Board" style="vertical-align:middle;" />
 
</p><p><img src="/wiki/images/7/7f/2013_Motor_Data_Table.xls" _fck_mw_filename="2013 Motor Data Table.xls" _fck_mw_origimgwidth="" _fck_mw_origimgheight="" alt="2013 Motor Data" style="vertical-align:middle;" />
[https://wpilib.screenstepslive.com/s/4485/m/24166/l/144972-status-light-quick-reference Electrical Indicators Reference Link]
</p><p><img src="/wiki/images/4/45/2013_MotorCurves.xls" _fck_mw_filename="2013 MotorCurves.xls" _fck_mw_origimgwidth="" _fck_mw_origimgheight="" alt="2013 Motor Performance Curves" style="vertical-align:middle;" />
 
</p><p><a _fcknotitle="true" href="Sensors">Sensors</a>
= Archives =
</p><p><a href="Servos">Servos</a>
 
</p><p><a _fcknotitle="true" href="LED%20Strips">LED Strips</a>
*[[2014:Electrical Main|2014 Electrical Main]]
</p><p><a _fcknotitle="true" href="Micro%20Switches">Micro Switches</a>
*[[2013:Electrical Main|2013 Electrical Main]]
</p><p><a _fcknotitle="true" href="Electrical%20Inventory">Electrical Inventory</a>
*[[2012:Electrical Main|2012 Electrical Main]]
</p><p><img src="/wiki/images/f/fd/MX5_CircuitBreaker.pdf" _fck_mw_filename="MX5 CircuitBreaker.pdf" _fck_mw_origimgwidth="" _fck_mw_origimgheight="" alt="40A Circuit Breaker" style="vertical-align:middle;" />
*[[2011:Electrical Main|2011 Electrical Main]]
</p><p><img src="/wiki/images/5/54/VB3_CircuitBreaker.pdf" _fck_mw_filename="VB3 CircuitBreaker.pdf" _fck_mw_origimgwidth="" _fck_mw_origimgheight="" alt="20A/30A Circuit Breaker" style="vertical-align:middle;" />
*[[2010:Electrical Main|2010 Electrical Main]]
</p><p><a href="http://usdigital.com/products/encoders/incremental/rotary/kit">US Digital Encoders Link</a>
*[[2009:Electrical Main|2009 Electrical Main]]
</p><p><a href="https://wpilib.screenstepslive.com/s/4485/m/24166/l/144972-status-light-quick-reference">Electrical Indicators Reference Link</a>
[[Category:Pages with broken file links]]
</p>
<h1> Archives </h1>
<ul><li><a href="2014%3AElectrical%20Main">2014 Electrical Main</a>
</li>
<li><a href="2013%3AElectrical%20Main">2013 Electrical Main</a>
</li>
<li><a href="2012%3AElectrical%20Main">2012 Electrical Main</a>
</li>
<li><a href="2011%3AElectrical%20Main">2011 Electrical Main</a>
</li>
<li><a href="2010%3AElectrical%20Main">2010 Electrical Main</a>
</li>
<li><a href="2009%3AElectrical%20Main">2009 Electrical Main</a>
</li></ul><span class="fck_mw_category" _fcknotitle="true">Pages with broken file links</span>

Revision as of 11:59, 4 February 2015

IO Interface Map

2015:Robot IO Map


Sensors

Drive Base:

  • two encoders (left and right)
  • two channels for each encoder
  • gyro and accelerometer compound board (am-2067, containing ADXL245 & ADW22307)
  • Need to use strafing in autonomous​!
  • 2-speed shifter (pneumatic)

​Lifter:

  • flag sensor at bottom/home for calibration
  • flag sensor at highest extent
  • 63R256 encoder for interpolation between top/bottom
  • do we need hard stops?
  • lifter needs to be physically removed
  • 2 RS775-18 motors
  • 1 Camera (Stationary)
  • bike brake with pneumatic actuation (double acting cylinder, single solenoid)

​Gripper:

  • 63R256 encoder after gearbox output
  • flag sensor for inner home position
  • the motor is a RS550
  • 2 (or 1?) banner sensors out on grippers for tote acquisition (previously ultrasonic distance sensor)
  • Flag (?) sensor for wide tote config

​Stabilizer:

  • pneumatic on/off (single solenoid, dual acting cylinder)

Interface Circuits

  • Q10 Series (Q10AN6R Detector)
    • Sensor is NPN open-collector output
    • Sensor off-state leakage is 10uA max.
    • Sensor on-state logic low is 0.5V max @ 10mA max
  • RoboRIO DIO [0..9]
    • Have internal 40K pullup resistors to +3.3Vdc
    • RoboRIO DIO VIL=0.8V max
    • RoboRIO DIO VIH=2.0V min.
  • Interface Circuit
    • Sensor off-state leakage of 10uA through RoboRIO pullup of 40K drops 0.4V, so logic high is 3.3V - 0.4V = 2.9V
    • Logic high is safely above RoboRIO VIHmin of 2.0V
    • Sensor on-state logic low of 0.5V is safely below RoboRIO VILmax of 0.8V.
    • The current that the sensor must sink is (3.3V - 0.5V) / 40Kohms = 70uA, which is well below the max sinking capability of the sensor of 10mA.
    • So no external interface circuit is required - the Banner Sensor detector of this type (NPN O.C.) may be wired directly to the RoboRIO DIO.
    • If desired, however, a lower resistance pullup could be added to lower the impedance of the interface, which might help reduce susceptibility to electrical interference.  (minimum value of pullup approx. 2.7Kohms to still give good margin for logic low condition, with 1mA current sink.)

Robot Indicators

  • Lift Position
    • LED strips on rear of lift which indicate gripper height position
    • "Bar Graph" style display
    • Adressable type LED strips so that can be turned on/off individually
  • Gripper Open Width
    • LED strips on rear of lift at the gripper leadscrew 
    • "Bar Graph" style display from the center
    • Addressable type LED strips so that can be turned on/off individually
    • When gripper Banner sensor is tripped (tote within grippers), LEDS change color
  • LED Strip driver requirements
    • 30LED/m strip is 2A/m (9.5W)
    • 60LED/m strip is 3.6A/m (18W) - preferred for high resolution "bar graph" display
    • Estimated total LED strip length for robot is 3m
    • Total 5Vdc current requirement for 60LED/m is 10.8A for 3m  (if 80% efficient 12V/5V converter, 12V current would be 13.5A)
    • possible 12v/5v 15A supply ($64) Murata
    • possible 12v/5v 6A supply ($40) Delta

Component Specifications

File:Talon-SRX-Info-Sheet.pdf

File:RoboRIO User Manual.pdf

File:RoboRIOspecifications.pdf

File:PCM-Users-Guide.pdf

File:VRM User Guide.pdf

File:RevRoboticsMoreBoard.pdf

File:2013 Motor Data Table.xls

File:2013 MotorCurves.xls

Sensors

Servos

LED Strips

Micro Switches

Electrical Inventory

File:MX5 CircuitBreaker.pdf

File:VB3 CircuitBreaker.pdf

US Digital Encoders Link

Electrical Indicators Reference Link

Archives

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