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www.chantillyrobotics.org/wiring
Presentation available online at:
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• Overview of the major electrical components
Agenda
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• Overview of the major electrical components• Power Distribution
Agenda
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• Overview of the major electrical components• Power Distribution • Signal Distribution
Agenda
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• Overview of the major electrical components• Power Distribution • Signal Distribution • Where to get electrical parts & tools
Agenda
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• Overview of the major electrical components• Power Distribution • Signal Distribution • Where to get electrical parts & tools• Questions
Agenda
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Overview of Major Components- note some components may change for 2014 season
Driver Control System
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Major Components
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Major Components
Battery & Connector
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Major Components
High Amp Circuit Breaker
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HIGH – AMP CIRCUIT BREAKER
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Major Components
Power Distribution Panel
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Major Components
Power Distribution Panel
Power Distribution Panel- ensures safe distribution of power to various components on your robot- supports 20 – 40 amp resettable circuit breakers- includes voltage regulators for main processor and camera
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Power Distribution Module
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Major Components
ROBOTCONTROLLER
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National Instruments Compact RIORobot Controller
Ethernet to Wifi Radio & camera Analog, Digital and SolenoidInterface modules
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CRIO•400mHz CPU, 64MB/128MB
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CRIO•400mHz CPU, 64MB/128MB• Fixed positions for:
• (2) Analog modules – can read potentiometer input
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CRIO•400mHz CPU, 64MB/128MB• Fixed positions for:
• (2) Analog modules – can read potentiometer input• (2) Digital Modules – input and output modes:
Input - reads switches, digital sensors, etc. Output - turns on/off relays, lights, etc. - controls motor speed controllers
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CRIO•400mHz CPU, 64MB/128MB• Fixed positions for:
• (2) Analog modules – can read potentiometer input• (2) Digital Modules – input and output modes:
Input - reads switches, digital sensors, etc. Output - turns on/off relays, lights, etc. - controls motor speed controllers• (1) Pneumatic Module - connects to pneumatic solenoids
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CRIO•400mHz CPU, 64MB/128MB• Fixed positions for:
• (2) Analog modules – can read potentiometer input• (2) Digital Modules – input and output modes:
Input - reads switches, digital sensors, etc. Output - turns on/off relays, lights, etc. - controls motor speed controllers• (1) Pneumatic Module - connects to pneumatic solenoids
• (2) Ethernet ports• (1) serial port (console)• 24v power
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Major Components
Analog Module
Analog Module
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• Requires analog header plug
Analog Module
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• Requires analog header plug• Uses 3-wire PWM cable
Analog Module
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• Requires analog header plug• Uses 3-wire PWM cable• Can measure robot’s battery
voltage
Analog Module
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• Requires analog header plug• Uses 3-wire PWM cable• Can measure robot’s battery
voltage• can measure analog voltage
from various sensors,such as a potentiometer or a rangefinder
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Major Components
Digital Sidecar
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Digital Sidecar
• Used to connect digital devices to cRio processor
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Digital Sidecar
• Used to connect digital devices to cRio processor
• Gets 12V from Power Distribution panel
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Digital Sidecar
• Used to connect digital devices to cRio processor
• Gets 12V from Power Distribution panel
• DB-37 cable to cRIO
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Digital Sidecar
• Used to connect digital devices to cRio processor
• Gets 12V from Power Distribution panel
• DB-37 cable to cRIO• (10) PWM outputs for motor
controllers– Jumper for servo use
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Digital Sidecar
• Used to connect digital devices to cRio processor
• Gets 12V from Power Distribution panel
• DB-37 cable to cRIO• (10) PWM outputs for motor
controllers– Jumper for servo use
• (14) Digital IO (GPIO)
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Digital Sidecar
• Used to connect digital devices to cRio processor
• Gets 12V from Power Distribution panel
• DB-37 cable to cRIO• (10) PWM outputs for motor
controllers– Jumper for servo use
• (14) Digital IO (GPIO)• (8) Relays
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Digital Sidecar
• Used to connect digital devices to cRio processor
• Gets 12V from Power Distribution panel
• DB-37 cable to cRIO• (10) PWM outputs for motor
controllers– Jumper for servo use
• (14) Digital IO (GPIO)• (8) Relays• Power status LEDs 5v, 6v, 12v
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Solenoid Breakout
Major Components
Solenoid Breakout
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Used to connect to
higher power devices,
such as pneumatic
solenoid control valves
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Major Components
VICTOR & JAGUARSPEED
CONTROLLERS
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Jaguar Motor Speed Controller
• Converts signal from CRIO/Sidecar to power motors
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Jaguar Motor Speed Controller
• Converts signal from CRIO/Sidecar to power motors
• Limit switch inputs (forward/reverse)
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Jaguar Motor Speed Controller
• Converts signal from CRIO/Sidecar to power motors
• Limit switch inputs (forward/reverse)
• Coast/Brake (jumper or DIO)
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Jaguar Motor Speed Controller
• Converts signal from CRIO/Sidecar to power motors
• Limit switch inputs (forward/reverse)
• Coast/Brake (jumper or DIO)
• Slow flashing Yellow LED indicates no valid pwm signal
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Jaguar Motor Speed Controller
• Converts signal from CRIO/Sidecar to power motors
• Limit switch inputs (forward/reverse)
• Coast/Brake (jumper or DIO)
• Slow flashing Yellow LED indicates no valid pwm signal
• Slow flashing Red LED indicates limit switch, overtemp/current, or under voltage <6V
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Jaguar Motor Speed Controller
• Converts signal from CRIO/Sidecar to power motors
• Limit switch inputs (forward/reverse)
• Coast/Brake (jumper or DIO)
• Slow flashing Yellow LED indicates no valid pwm signal
• Slow flashing Red LED indicates limit switch, overtemp/current, or under voltage <6V
• Over-current protection can cause motors to cut out inpushing matches
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Major Components
VIDEOCAMERA
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Axis M10112 Network Camera
• Ethernet Web-ready camera• Requires special crossover cable
(orange)• Fixed focus• Reset button on back• Use “Setup Axis Camera” on PC
to configure it for FRC competition use
• !!! Isolate this from the chassis (older Axis camera)
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Major Components
RELAYS(SPIKES)
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Spike: - allows the cRIO to turn a motor or other high current load on/off
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Major Components
WIRELESS BRIDGE
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Wireless Bridge
-Allows wifi communications between the driver station and the robot
-Must not be used in pit area during competition: use Ethernet cat5 tether cable instead
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Driver StationProvides remote control interface to cRIO
Major Components
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Joysticks and controllers• Two are provided in the Kit of Parts (KOP)• any USB-based controller may be used:
Xbox, etc.
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• Connections & polarities – what goes where
Power Distribution
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• Connections & polarities – what goes where• Legal wire gauge and color
Power Distribution
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• Connections & polarities – what goes where• Legal wire gauge and color• How to make reliable connections
Power Distribution
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Power Distribution
Battery: +12 volts: - RED wire: 6 AWG from battery to hi-amp breaker to power distribution panel
GND: - BLACK or BLUE wire : 6 AWG from battery to hi-amp breaker to power distribution panel
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Other power connections: - use 12 AWG or larger diameter wire for all circuits protected by a 40A Circuit Breaker.
Power Distribution
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Other power connections: - use 12 AWG or larger diameter wire for all circuits protected by a 40A Circuit Breaker. - use 14 AWG or larger diameter wire for all circuits protected by a 30A Circuit Breaker.
Power Distribution
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Power Distribution
Other power connections: - use 12 AWG or larger diameter wire for all circuits protected by a 40A Circuit Breaker. - use 14 AWG or larger diameter wire for all circuits protected by a 30A Circuit Breaker. - use 18 AWG or larger diameter wire for all circuits protected by a 20A Circuit Breaker.
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Power Distribution
PowerDistribution
Panel
WirelessBridge
MobileDevice
Controller
DigitalSidecar
Camera
Hi-ampCircuitBreaker
VictorMotor
Controller
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• How to make reliable crimp connections:– Use a ratchet-type crimping tool on crimp connections:
Power Distribution
YES(Eclipse crimpers or equivalent) NO
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• Simply strip wire and push into connector – do not tin wire first
Power Distribution – WAGO connectors
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SIGNAL DISTRIBUTION
• Digital I/O & PWM motor control signals come from the Digital Sidecar
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• Use 3-wire cables to connect PWM port on Robot Controller to Victor Speed controller
Signal Distribution
You can buy extras at InnovationFirst.com or robotmarketplace.com
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Try to keep your wiring neat – it will save you time!
Compliments to Dave Lavery - Team 116
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Robotic Sensors
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Robotic Sensors
• Detect information about the physical world
What do they do?
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Robotic Sensors
• Detect information about the physical world
• Convert this information into an electrical signal suitable for the robot’s computer controller
What do they do?
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Robotic Sensors
Simple Switch for sensing physical contact:
Function: Consists of two electrical contacts – they make or break a connection when the switch is activated
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Robotic SensorsOptical Sensor for physical presence:
interrupted & reflected type are available
Function: Consists of light source (LED) and light detector (photocell); can sense by interruption or reflection of beam
Optical Interrupter Optical Reflector
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Robotic Sensors
• Purpose: Measures distance to an object via infrared emitter/detector combo
IR rangefinder
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Robotic SensorsUltrasonic Rangefinder
Function: Measures distance to an object by means of ultrasonic sound bursts, or pings
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Robotic Sensors
Potentiometer
Function: Measures rotary input, outputs an analog value
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Robotic SensorsRotary or shaft encoder
Purpose: For precisely measuring shaft angle using a light source (LED) and light detector (photocell) with an encoder disc
Rotary Encoder Encoder Disc, read by optical sensors inside decoder
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• Some recommended sources:– andymark.com – servos, PWM cables, Talon
controller, crimp tool, etc.– Waytekwire.com – wire, etc.– Mouser.com– Allelectronics.com– Digikey.com – Jaguars, sensors, etc.– Sparkfun.com– Robotmarketplace.com
Where to get electrical parts
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• Some recommended sources:– www.Chiefdelphi.com
Unofficial source for information on all robotics topics
– www.Forums.usfirst.orgO
fficial source
Where to get answers:
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Questions ???
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Some images borrowed from Cybersonics, Team 103
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Thank you.
www.chantillyrobotics.org/wiring
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END
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