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A guide to wiring your robot.

Jerry Skene

Past mentor – Chantilly RoboticsEmail: mrskene@chantillyrobotics.org

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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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