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A guide to wiring your robot.

A guide to wiring your robot. Jerry Skene Past mentor – Chantilly Robotics. Email: mrskene@chantillyrobotics.org. www.chantillyrobotics.org/wiring. Presentation available online at:. Agenda. Overview of the major electrical components. Agenda. Overview of the major electrical components

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A guide to wiring your robot.

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  1. A guide to wiring your robot. Jerry Skene Past mentor – Chantilly Robotics Email: mrskene@chantillyrobotics.org

  2. www.chantillyrobotics.org/wiring Presentation available online at:

  3. Agenda • Overview of the major electrical components

  4. Agenda • Overview of the major electrical components • Power Distribution

  5. Agenda • Overview of the major electrical components • Power Distribution • Signal Distribution

  6. Agenda • Overview of the major electrical components • Power Distribution • Signal Distribution • Where to get electrical parts & tools

  7. Agenda • Overview of the major electrical components • Power Distribution • Signal Distribution • Where to get electrical parts & tools • Questions

  8. Overview of Major Components- note some components may change for 2014 season Driver Control System

  9. Major Components

  10. Major Components Battery & Connector

  11. Major Components High Amp Circuit Breaker

  12. HIGH – AMP CIRCUIT BREAKER

  13. Major Components Power Distribution Panel

  14. 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

  15. Power Distribution Module

  16. Major Components ROBOT CONTROLLER

  17. Ethernet to Wifi Radio & camera Analog, Digital and Solenoid Interface modules National Instruments Compact RIORobot Controller

  18. CRIO • 400mHz CPU, 64MB/128MB

  19. CRIO • 400mHz CPU, 64MB/128MB • Fixed positions for: • (2) Analog modules – can read potentiometer input

  20. 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

  21. 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

  22. 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

  23. Major Components Analog Module

  24. Analog Module • Requires analog header plug

  25. Analog Module • Requires analog header plug • Uses 3-wire PWM cable

  26. Analog Module • Requires analog header plug • Uses 3-wire PWM cable • Can measure robot’s battery voltage

  27. Analog Module • 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

  28. Major Components Digital Sidecar

  29. Digital Sidecar • Used to connect digital devices to cRio processor

  30. Digital Sidecar • Used to connect digital devices to cRio processor • Gets 12V from Power Distribution panel

  31. Digital Sidecar • Used to connect digital devices to cRio processor • Gets 12V from Power Distribution panel • DB-37 cable to cRIO

  32. 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

  33. 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)

  34. 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

  35. 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

  36. Major Components Solenoid Breakout

  37. Solenoid Breakout Used to connect to higher power devices, such as pneumatic solenoid control valves

  38. Major Components VICTOR & JAGUAR SPEED CONTROLLERS

  39. Jaguar Motor Speed Controller • Converts signal from CRIO/Sidecar to power motors

  40. Jaguar Motor Speed Controller • Converts signal from CRIO/Sidecar to power motors • Limit switch inputs (forward/reverse)

  41. Jaguar Motor Speed Controller • Converts signal from CRIO/Sidecar to power motors • Limit switch inputs (forward/reverse) • Coast/Brake (jumper or DIO)

  42. 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

  43. 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

  44. 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

  45. Major Components VIDEO CAMERA

  46. 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)

  47. Major Components RELAYS (SPIKES)

  48. Spike: - allows the cRIO to turn a motor or other high current load on/off

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