2015:Electrical Main: Difference between revisions
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*<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> | *<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> | ||
*<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:x-large;"><span style="font-size:large;"><span style="font-size:small;"><span style="font-size:medium;">two channels for each encoder</span></span></span></span> | ||
*< | *<font size="3"><span style="line-height: 28.444446563720703px;">gyro and accelerometer compound board (am-2067, containing ADXL245 & ADW22307)</span></font> | ||
*<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> | ||
*<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> | *<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> | ||
| Line 18: | Line 19: | ||
<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> | ||
*<span style="font-size:medium;">flag sensor for calibration</span> | *<span style="font-size:medium;">flag sensor at bottom/home for calibration</span> | ||
*<span style="font-size:medium;">flag sensor at highest extent</span> | |||
*<font size="3"><span style="line-height: 28.444446563720703px;">63R256 encoder for interpolation between top/bottom</span></font> | |||
*<span style="font-size:medium;">do we need hard stops?</span> | *<span style="font-size:medium;">do we need hard stops?</span> | ||
*<span style="font-size:medium;">lifter needs to be physically removed</span> | *<span style="font-size:medium;">lifter needs to be physically removed</span> | ||
*<span style="font-size:medium;"> | *<span style="font-size:medium;">2 RS775-18 motors</span> | ||
*<span style="font-size:medium;">1 Camera (Stationary)</span> | |||
*<span style="font-size:medium;">bike brake with pneumatic actuation (double acting cylinder, single solenoid)</span> | |||
<span style="font-size:medium;"><span style="font-size:large;">Gripper:</span></span> | <span style="font-size:medium;"><span style="font-size:large;">Gripper:</span></span> | ||
*<span style="font-size:medium;"><span style="font-size:large;"><span style="font-size:medium;">encoder | *<span style="font-size: medium; line-height: 28.444446563720703px;">63R256 </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;">flag sensor</span> | *<span style="font-size:medium;">flag sensor for inner home position</span> | ||
*<span style="font-size:medium;">the motor is a | *<span style="font-size:medium;">the motor is a RS550</span> | ||
*<span style="font-size:medium;"> | *<span style="font-size:medium;">1 banner sensors out on grippers for tote acquisition</span> | ||
*<span style="font-size:medium;"> | *<span style="font-size:medium;">Flag (?) sensor for wide tote config</span> | ||
<span style="font-size:medium;"><span style="font-size:large;">Stabilizer:</span></span> | <span style="font-size:medium;"><span style="font-size:large;">Stabilizer:</span></span> | ||
*<span style="font-size:medium;"><span style="font-size:large;"><span style="font-size:medium;">pneumatic on/off</span></span></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> | ||
== Interface Circuits == | |||
=== <u>Banner Photodetector Sensors:</u> === | |||
*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.) | |||
== Wire Bundle to Gripper Notes == | |||
IN CHANNEL WIRES | |||
1 RS 550 Motor - 2-wire, 10/12 AWG | |||
1 Encoder both phases - 4-wire (5V, GND, ENC-A, ENC-B) 20-22 AWG | |||
2 Flag sensors - 2 shared wire for emitter, 1 wire ground share for detector, 1 wire each for detector signal | |||
TOTAL = 5 wires, 20-22 AWG | |||
1 Banner sensor - 2 wire 12V for emitter & collector - 1 wire for detector signal - 20-22 AWG | |||
TOTAL = 3 wire | |||
'''Cable Colors to Box Colors:''' White Orange - Blue | |||
Orange - Orange | |||
White Green - Black | |||
Blue - Red | |||
White Blue - Green | |||
Green - Yellow | |||
White Brown - Brown | |||
Brown - White | |||
'''Box to Box Connection (Split Ethernet)''' | |||
<u>Functions:</u> | |||
1) Encoder Phase | |||
2) 5V | |||
3) GND | |||
4) 12V | |||
5) Flag Left (secondary) | |||
6) Flag Right (primary) | |||
7) Encoder Phase | |||
8) NC | |||
<u>Colors:</u> | |||
1) White Brown | |||
2) Orange | |||
3) White orange | |||
4) White blue | |||
5) White Green | |||
6) Brown | |||
7) Blue | |||
8) Green | |||
'''Signal/Power to Box Mapping:''' Black - Ground | |||
Red - 12V | |||
Orange - 5V | |||
Blue - Banner Sensor Detector Signal | |||
Green - Encoder A | |||
Yellow - Encoder B | |||
Brown - Gripper Flag Primary | |||
White - Gripper Flag Secondary | |||
<br/>10/12 AWG | |||
+/- 12V for motor | |||
<br/>9 -- 20/22 AWG (8 if common GND for all sensors) 5V Digital GND | |||
Enc PA, Enc PB | |||
12V for flag sensors (Robot2 used 5V for flag sensors), PD GND | |||
3 Detector signals | |||
*PD GND and Digital GND the same | |||
= Robot Indicators = | |||
*Lift Position | |||
**"Bar Graph" style display on LED panel | |||
**Adressable type LED strips so that can be turned on/off individually | |||
*Gripper Open Width | |||
**"Bar Graph" style display from the center on LED panel | |||
**Addressable type LED strips so that can be turned on/off individually | |||
**When gripper Banner sensor is tripped (tote within grippers), LEDS change color | |||
*Other Functions | |||
**LED strips at top of lift on front and back (just below cameras) | |||
**Indicate drive shifter high gear or low gear | |||
**Indicate strafing wheel down | |||
*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 2.5m | |||
**Total 5Vdc current requirement for 60LED/m is 10.8A for 3m | |||
**12v to 5v converter from previous year's robots (used for wireless gateway) can do 5A. | |||
= Component Specifications = | = Component Specifications = | ||
| Line 40: | Line 190: | ||
[[File:RoboRIO User Manual.pdf|RoboRio Manual]] | [[File:RoboRIO User Manual.pdf|RoboRio Manual]] | ||
[[File:RoboRIOspecifications.pdf|RoboRIO specs]] | |||
[[File:PCM-Users-Guide.pdf|Pneumatics Control Module]] | [[File:PCM-Users-Guide.pdf|Pneumatics Control Module]] | ||
[[File:VRM User Guide.pdf|Voltage Regulator Module]] | |||
[[File:RevRoboticsMoreBoard.pdf|Rev Robotics RoboRIO Expansion Board]] | [[File:RevRoboticsMoreBoard.pdf|Rev Robotics RoboRIO Expansion Board]] | ||
[[File:Atmel_ATmega32U4.pdf|Arduino processor data sheet]] | |||
[[File:2013 Motor Data Table.xls|2013 Motor Data]] | [[File:2013 Motor Data Table.xls|2013 Motor Data]] | ||
[[File:2013 MotorCurves.xls|2013 Motor Performance Curves]] | [[File:2013 MotorCurves.xls|2013 Motor Performance Curves]] | ||
[[File:2015 Motor Information.pdf|2015 Motor Data]] | |||
[[Sensors]] | [[Sensors]] | ||
| Line 53: | Line 211: | ||
[[Servos|Servos]] | [[Servos|Servos]] | ||
LED Strips | [[LED Strips]] | ||
[[Micro Switches]] | [[Micro Switches]] | ||
| Line 66: | Line 224: | ||
[https://wpilib.screenstepslive.com/s/4485/m/24166/l/144972-status-light-quick-reference Electrical Indicators Reference Link] | [https://wpilib.screenstepslive.com/s/4485/m/24166/l/144972-status-light-quick-reference Electrical Indicators Reference Link] | ||
= Archives = | = Archives = | ||
Latest revision as of 13:31, 1 March 2015
IO Interface 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
- 1 banner sensors out on grippers for tote acquisition
- Flag (?) sensor for wide tote config
Stabilizer:
- pneumatic on/off (single solenoid, dual acting cylinder)
Interface Circuits
Banner Photodetector Sensors:
- 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.)
Wire Bundle to Gripper Notes
IN CHANNEL WIRES
1 RS 550 Motor - 2-wire, 10/12 AWG
1 Encoder both phases - 4-wire (5V, GND, ENC-A, ENC-B) 20-22 AWG
2 Flag sensors - 2 shared wire for emitter, 1 wire ground share for detector, 1 wire each for detector signal
TOTAL = 5 wires, 20-22 AWG
1 Banner sensor - 2 wire 12V for emitter & collector - 1 wire for detector signal - 20-22 AWG
TOTAL = 3 wire
Cable Colors to Box Colors: White Orange - Blue
Orange - Orange
White Green - Black
Blue - Red
White Blue - Green
Green - Yellow
White Brown - Brown
Brown - White
Box to Box Connection (Split Ethernet)
Functions:
1) Encoder Phase
2) 5V
3) GND
4) 12V
5) Flag Left (secondary)
6) Flag Right (primary)
7) Encoder Phase
8) NC
Colors:
1) White Brown
2) Orange
3) White orange
4) White blue
5) White Green
6) Brown
7) Blue
8) Green
Signal/Power to Box Mapping: Black - Ground
Red - 12V
Orange - 5V
Blue - Banner Sensor Detector Signal
Green - Encoder A
Yellow - Encoder B
Brown - Gripper Flag Primary
White - Gripper Flag Secondary
10/12 AWG
+/- 12V for motor
9 -- 20/22 AWG (8 if common GND for all sensors) 5V Digital GND
Enc PA, Enc PB
12V for flag sensors (Robot2 used 5V for flag sensors), PD GND
3 Detector signals
- PD GND and Digital GND the same
Robot Indicators
- Lift Position
- "Bar Graph" style display on LED panel
- Adressable type LED strips so that can be turned on/off individually
- Gripper Open Width
- "Bar Graph" style display from the center on LED panel
- Addressable type LED strips so that can be turned on/off individually
- When gripper Banner sensor is tripped (tote within grippers), LEDS change color
- Other Functions
- LED strips at top of lift on front and back (just below cameras)
- Indicate drive shifter high gear or low gear
- Indicate strafing wheel down
- 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 2.5m
- Total 5Vdc current requirement for 60LED/m is 10.8A for 3m
- 12v to 5v converter from previous year's robots (used for wireless gateway) can do 5A.
Component Specifications
File:RoboRIOspecifications.pdf
File:2013 Motor Data Table.xls
File:2015 Motor Information.pdf
Electrical Indicators Reference Link
