2013:Electrical Main
From 1511Wookiee
Jump to navigationJump to search
Links to 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.
- 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
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
