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;">1&nbsp;banner sensors out on grippers for tote acquisition</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
== Wire Bundle to Gripper Notes ==
</li>
 
<li>RoboRIO DIO VIH=2.0V&#160;min.
IN CHANNEL WIRES
</li></ul></li>
 
<li>Interface Circuit
1 RS 550 Motor - 2-wire, 10/12 AWG
<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
 
</li>
1 Encoder both phases - 4-wire (5V, GND, ENC-A, ENC-B)&nbsp;20-22 AWG
<li>Logic high is safely above RoboRIO VIHmin of 2.0V
 
</li>
2 Flag sensors - 2 shared wire for emitter, 1 wire ground share for detector, 1 wire each for detector signal
<li>Sensor on-state logic low of 0.5V is safely below RoboRIO VILmax of 0.8V.
 
</li>
  TOTAL = 5 wires, 20-22 AWG
<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>
1 Banner sensor - 2 wire 12V for emitter & collector - 1 wire for detector signal - 20-22 AWG
<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.
 
</li>
  TOTAL = 3 wire
<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.)
 
</li></ul></li></ul><h1> Robot Indicators </h1>
 
<ul><li>Lift Position
'''Cable Colors to Box Colors:''' White Orange - Blue&nbsp;
<ul><li>LED strips on rear of lift which indicate gripper height position
 
</li>
Orange - Orange
<li>"Bar Graph" style display
 
</li>
White Green - Black
<li>Adressable type LED strips so that can be turned on/off individually
 
</li></ul></li>
Blue - Red
<li>Gripper Open Width
 
<ul><li>LED strips on rear of lift at the gripper leadscrew&#160;
White Blue - Green
</li>
 
<li>"Bar Graph" style display from the center
Green - Yellow
</li>
 
<li>Addressable type LED strips so that can be turned on/off individually
White Brown - Brown
</li>
 
<li>When gripper Banner sensor is tripped (tote within grippers), LEDS change color
Brown - White
</li></ul></li>
 
<li>LED Strip driver requirements
 
<ul><li>30LED/m strip is 2A/m (9.5W)
'''Box to Box Connection (Split Ethernet)'''
</li>
 
<li>60LED/m strip is 3.6A/m (18W) - preferred for high resolution "bar graph" display
<u>Functions:</u>
</li>
 
<li>Estimated total LED strip length for robot is 3m
1) Encoder Phase
</li>
 
<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)
2) 5V
</li>
 
<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;
3) GND
</li>
 
<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;
4) 12V
</li></ul></li></ul>
 
<h1> Component Specifications </h1>
5) Flag Left (secondary)
<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;" />
 
</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;" />
6) Flag Right (primary)
</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;" />
 
</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;" />
7) Encoder Phase
</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;" />
 
</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;" />
8) NC
</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;" />
 
</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>
 
</p><p><a href="Servos">Servos</a>
<u>Colors:</u>
</p><p><a _fcknotitle="true" href="LED%20Strips">LED Strips</a>
 
</p><p><a _fcknotitle="true" href="Micro%20Switches">Micro Switches</a>
1) White Brown
</p><p><a _fcknotitle="true" href="Electrical%20Inventory">Electrical Inventory</a>
 
</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;" />
2) Orange
</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;" />
 
</p><p><a href="http://usdigital.com/products/encoders/incremental/rotary/kit">US Digital Encoders Link</a>
3) White orange
</p><p><a href="https://wpilib.screenstepslive.com/s/4485/m/24166/l/144972-status-light-quick-reference">Electrical Indicators Reference Link</a>
 
</p>
4) White blue
<h1> Archives </h1>
 
<ul><li><a href="2014%3AElectrical%20Main">2014 Electrical Main</a>
5) White Green
</li>
 
<li><a href="2013%3AElectrical%20Main">2013 Electrical Main</a>
6) Brown
</li>
 
<li><a href="2012%3AElectrical%20Main">2012 Electrical Main</a>
7) Blue
</li>
 
<li><a href="2011%3AElectrical%20Main">2011 Electrical Main</a>
8) Green
</li>
 
<li><a href="2010%3AElectrical%20Main">2010 Electrical Main</a>
 
</li>
'''Signal/Power to Box Mapping:''' Black - Ground
<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>
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&nbsp;
**"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&nbsp;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:Talon-SRX-Info-Sheet.pdf|Talon SRX Data Sheet]]
 
[[File:RoboRIO User Manual.pdf|RoboRio Manual]]
 
[[File:RoboRIOspecifications.pdf|RoboRIO specs]]
 
[[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:Atmel_ATmega32U4.pdf|Arduino processor data sheet]]
 
[[File:2013 Motor Data Table.xls|2013 Motor Data]]
 
[[File:2013 MotorCurves.xls|2013 Motor Performance Curves]]
 
[[File:2015 Motor Information.pdf|2015 Motor Data]]
 
[[Sensors]]
 
[[Servos|Servos]]
 
[[LED Strips]]
 
[[Micro Switches]]
 
[[Electrical Inventory]]
 
[[File:MX5 CircuitBreaker.pdf|40A Circuit Breaker]]
 
[[File:VB3 CircuitBreaker.pdf|20A/30A Circuit Breaker]]
 
[http://usdigital.com/products/encoders/incremental/rotary/kit US Digital Encoders Link]
 
[https://wpilib.screenstepslive.com/s/4485/m/24166/l/144972-status-light-quick-reference Electrical Indicators Reference Link]
 
= Archives =
 
*[[2014:Electrical Main|2014 Electrical Main]]
*[[2013:Electrical Main|2013 Electrical Main]]
*[[2012:Electrical Main|2012 Electrical Main]]
*[[2011:Electrical Main|2011 Electrical Main]]
*[[2010:Electrical Main|2010 Electrical Main]]
*[[2009:Electrical Main|2009 Electrical Main]]
[[Category:Pages with broken file links]]

Latest revision as of 13:31, 1 March 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
  • 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

  • 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: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:Atmel ATmega32U4.pdf

File:2013 Motor Data Table.xls

File:2013 MotorCurves.xls

File:2015 Motor Information.pdf

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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