2013:Electrical Main
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Electrical Subteam Members
- Students
- Mentors
Master Task List
High Priority
Medium Priority
Low Priority
Sub Task List
Links to Other Important Stuff
Robot Electromechanical Design Features
Sensors
- microswitch with 2" lever arm measured to have 0.25" (1/4") travel at tip after switch engages before bottoming out (not much). Travel at tip from resting to engagement is about 0.1875" (3/16").
- Measured last years optical sensor to have angle of operation of around +- 10 Degrees
- Proposed optical beam-break for climber hooks - - - new IR-only sensor is Vishay TEST2600; new IR LED is Vishay TSAL6100
- LED is 130mW/sr at center; 65mW/sr at +/- 10 degrees
- 6" distance between emitter and detector = 15.24cm (r2=232.2cm2)
- 130/232=0.56mW/cm2 yields about 1.5mA detector Ic; 65/232=0.28mW/cm2 yields about 0.8mA detector Ic; rated performance light intensity is 1mW/cm2, so we would be a bit below this but probably still usable.
- Banner sensors
- Q10RN6R is open-collector NPN (Dark Operate), so 10K pullup in Digital Sidecar is sufficient - no extra interface componets needed. Sensor power is 12Vdc @ 15mA.
- Q106 emitter requires 12Vdc at 15mA
- Omron EE-SPY415 Optical relective sensor
- Has open-collector NPN output, so 10K pullup in Digital Sidecar is sufficient - no extra interface components needed.
- Optek OP819 Slotted Optical Sensor
- LED requires 50mA. No internal resistor, so needs external limiting resistor. Vf=1.8v. If 5V supply, use 68 ohms; if 12V supply, use 180 ohma.
- Output is NPN open-collector. Output spec'd at 100uA when ON. So 10K pullup in Digital Sidecar is too small for sensor to pull it down reliably - need another transistor between like a FET. Have 100K pullup on sensor output.
- US Digital E4P shaft encoder
- output is compatibale with Digital Sidecar 5V digital IO with no further interface components needed.
Robot Lights & Driver Circuits
- Tricolor LED strip
- 2A per 150 LEDs. 40mA per LED. Approx 750mA per 2 foot strip.
- Driver circuit can be either opto-coupled MOSFET or NTD4906N FET
Electrical Main Subteam's Engineering Notebook
Engineering Notebook Templates Available at: Engineering_Notebook_Template
Please Label All Notebook Pages 2013:Electrical Main MM.DD to avoid confusion.
Component Specifications
File:2013 Motor Data Table.xls
File:Natl Instruments 9201 AnalogModule.pdf
File:GRS2011SwitchMomentary.pdf
IO Maps for Old Robots
- 2012 IO Map
- 2011 Thunderous Prime IO Map
- 2010 Thunderfoot IO Map
- 2009 Thunderplucker
- IO Pin Maps for Pre-2009 Robots
