2017:Electrical Main
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Insert details/designs/drawings/info/notes relevant to overall electrical systems here....
Speed Controllers
Circuit Breakers
Sensors
Sensor Types
- Shaft Encoders
- Grayhill 63R256 and 61KS256 optical shaft encoders are presently used.
- Present availability as of 1/15/17:
- 63R256: Digikey $77 with 206 in stock, Newark $87 with no stock, Mouser $54 with 1 in stock
- 61KS256: Digikey $62 with no stock, Newark $81 with 7 in stock, Mouser $67 with 18 in stock
- Both are electrically the same and the physical dimensions are the same
- Both are 256 pulses per revolution
- Present availability as of 1/15/17:
- CTR Magnetic shaft encoder
- 1024 pulses per revolution
- Grayhill 63R256 and 61KS256 optical shaft encoders are presently used.
- Optical Beam Sensors (Banner-like)
- Omron SW1839-ND or similar
- Sheets/Omron PDFs/E3F_E3R.pdf Panasonic EX-10 Series
Sensor Measurements:
- SW1839-ND
- MB1010 LV-MaxSonar-EZ1
- Ultrasonic (sonar) sensor
- Set up on bench at a height of 9"
- Monitored analog output with voltmeter - with the 5V supply, scaling is 9.76V/inch
- First tried a flat board approx 12X16 oriented perpendicular to the sensor:
- with board at 12", measurement was 10"
- with board at 16", measurement was 15"
- with board at 24", measurement was 23"
- With board laid down flat on tabletop, approx 3/4" thick:
- with board front edge at 24", measurement was 25"
- with board front edge at 16", measurement was 17"
- With board horizontal but held at the same height at the center of the sensor:
- with board front edge at 24", measurement was 22"
- With a Fuel ball on the tabletop, the center of the ball approx 6.5" below the center of the sensor::
- with the front of the ball at 12", measurement was 10"
- with the front of the ball at 16", measurement was 15"
- with the front of the ball at 24", measurement was 22"
- Conclusions:
- the sensor can be fooled by any object within it's field of view - the measurement will be of the closest object, even if it is not the largest object.
- Accuracy between different sized objects at the same distance may be about 2" variation.
- Depending upon the mounting height of the sensor, it will respond to objects on the floor.
- A narrower field of view might be desireable.
- Calibration:
- The sensor was power cycled with a shoebox at 24" from the sensor.
- The initial value was very repeatable at powerup with a reading of 24.9"
