2013:Electrical Main: Difference between revisions

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= Electrical Subteam Members =
= Links to Important Stuff =
 
*'''Students'''
 
 
 
 
 
*'''Mentors'''
 
 
 
 
 
= Master Task List =
 
=== High Priority ===
 
 
 
=== Medium Priority ===
 
 
=== Low Priority ===
 
 
= Sub Task List =
 
= Links to Other Important Stuff =


[[2013:Robot IO Map]]
[[2013:Robot IO Map]]


= Robot Electromechanical Design Features  =
= 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.
**LED requires 100mA for rated luminosity. Vf=1.4V. Needs external limiting resistor.  For 12V supply use 100 ohms.
**Phototransistor when ON sinks about 0.5mA or more, which would be just about right for Digital Sidecar pullup of 10K.
*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, internally limited.
*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 OPB819 Slotted Optical Sensor
**LED requires 20mA.  No internal resistor, so needs external limiting resistor. Vf=1.8v.  If 5V supply, use 150 ohms; if 12V supply, use 470 ohms.
**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. NOTE: extra transistor will invert the output.  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.
*Optek OPB815 Slotted Optical Sensor
**LED requires 20mA. No internal resistor, so needs external limiting resistor. Vf=1.7v.  If 5V supply, use 150 ohms; if 12V supply, use 470 ohms.
**Output is NPN open collector.  Output spec'd at 3.5mA, so 10K pullup in digital sidecar is sufficent; no further interface components required.


== Robot Lights & Driver Circuits ==
*Tricolor LED strip
**2A per 150 LEDs.  40mA per LED.  Approx 750mA per 2 foot strip (each color).
**Driver circuit can be either VO14642AT opto-coupled MOSFET or NTD4906N FET
***VO14642AT LED input requires 2mA drive - I2C register is capable of 3mA Ioh.


 
== Custom Circuit Boards ==
=== Optical Slot Sensors Interface for OPB819 (Climber) ===
*(8) 3-pin header
*(4) 100K resistors
*(4) NTD4906N MOSFET
*(4) 150 ohm resistors
*(1) vector board 1"x3"
=== Homemade Optical Beam Sensors (Climber) ===
*(4) TSAL6100 LED's
*(1) 4 ohm resistor
*(4) TEST2600 IR Sensor transistor
*(4) NTD4906N MOSFET
*(4) 560K resistors
*(4) vector board 1"x1"
=== +12V Distribution ===
*(1) 3-pin header
*(1) 8-pin header
*(4) 100nF (0.1uF)capacitors
*(1) 22K resistor
*(1) vector board 2"x2"
=== I2C LED Drivers ===
*(1) vector board 2"x3"
*(1) 4-pin header
*(8) 3-pin header
*(16) NTD4906N MOSFET
*(2) MCP23008 I2C 8-bit register
*(2) 18-pin IC socket


= Electrical Main Subteam's Engineering Notebook =
= Electrical Main Subteam's Engineering Notebook =
Line 55: Line 79:


[[File:Jaguar BDC-COMM.pdf|Jaguar Application/Programming Software Guide]]
[[File:Jaguar BDC-COMM.pdf|Jaguar Application/Programming Software Guide]]
[[File:2013_Motor_Data_Table.xls|2013 Motor Data]]
[[File:2013_MotorCurves.xls|2013 Motor Performance Curves]]


[[Victor 884 Speed Controllers]]
[[Victor 884 Speed Controllers]]
[[File:2012 MotorInfoRevised.pdf|2012 Motor Performance Curves]]


[[Sensors]]
[[Sensors]]
Line 79: Line 105:


[http://usdigital.com/products/encoders/incremental/rotary/kit US Digital Encoders]
[http://usdigital.com/products/encoders/incremental/rotary/kit US Digital Encoders]
[http://www.newark.com/optek-technology/opb815l/slotted-switch-transistor/dp/66F3367?whydiditmatch=rel_default&matchedProduct=815L Slotted Switch Optical Sensor]


[[File:GRS2011SwitchMomentary.pdf|Tetrix Rocker Power Switch]]
[[File:GRS2011SwitchMomentary.pdf|Tetrix Rocker Power Switch]]


= IO Pin Maps for Old Robots =
= IO Maps for Old Robots =


*[[2012:Robot IO Map|2012 IO Map]]
*[[2012:Robot IO Map|2012 IO Map]]

Latest revision as of 13:53, 6 March 2013

Links to Important Stuff

2013:Robot IO Map

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.
    • LED requires 100mA for rated luminosity. Vf=1.4V. Needs external limiting resistor. For 12V supply use 100 ohms.
    • Phototransistor when ON sinks about 0.5mA or more, which would be just about right for Digital Sidecar pullup of 10K.
  • 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, internally limited.
  • 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 OPB819 Slotted Optical Sensor
    • LED requires 20mA. No internal resistor, so needs external limiting resistor. Vf=1.8v. If 5V supply, use 150 ohms; if 12V supply, use 470 ohms.
    • 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. NOTE: extra transistor will invert the output. 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.
  • Optek OPB815 Slotted Optical Sensor
    • LED requires 20mA. No internal resistor, so needs external limiting resistor. Vf=1.7v. If 5V supply, use 150 ohms; if 12V supply, use 470 ohms.
    • Output is NPN open collector. Output spec'd at 3.5mA, so 10K pullup in digital sidecar is sufficent; no further interface components required.

Robot Lights & Driver Circuits

  • Tricolor LED strip
    • 2A per 150 LEDs. 40mA per LED. Approx 750mA per 2 foot strip (each color).
    • Driver circuit can be either VO14642AT opto-coupled MOSFET or NTD4906N FET
      • VO14642AT LED input requires 2mA drive - I2C register is capable of 3mA Ioh.

Custom Circuit Boards

Optical Slot Sensors Interface for OPB819 (Climber)

  • (8) 3-pin header
  • (4) 100K resistors
  • (4) NTD4906N MOSFET
  • (4) 150 ohm resistors
  • (1) vector board 1"x3"

Homemade Optical Beam Sensors (Climber)

  • (4) TSAL6100 LED's
  • (1) 4 ohm resistor
  • (4) TEST2600 IR Sensor transistor
  • (4) NTD4906N MOSFET
  • (4) 560K resistors
  • (4) vector board 1"x1"

+12V Distribution

  • (1) 3-pin header
  • (1) 8-pin header
  • (4) 100nF (0.1uF)capacitors
  • (1) 22K resistor
  • (1) vector board 2"x2"

I2C LED Drivers

  • (1) vector board 2"x3"
  • (1) 4-pin header
  • (8) 3-pin header
  • (16) NTD4906N MOSFET
  • (2) MCP23008 I2C 8-bit register
  • (2) 18-pin IC socket

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

Jaguar Speed Controllers

Jaguar Firmware Notes

File:Jaguar BDC-COMM.pdf

File:2013 Motor Data Table.xls

File:2013 MotorCurves.xls

Victor 884 Speed Controllers

Sensors

Servos

Micro Switches

Electrical Inventory

File:BDC24 RDK UM.pdf

File:MX5 CircuitBreaker.pdf

File:VB3 CircuitBreaker.pdf

File:Natl Instruments 9201 AnalogModule.pdf

Line Sensor Notes

US Digital Encoders

File:GRS2011SwitchMomentary.pdf

IO Maps for Old Robots

Archives

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