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A guide to wiring your robot.
Jerry Skene
Past mentor – Chantilly Robotics
Email: mrskene@chantillyrobotics.org
Presentation available online at:
www.chantillyrobotics.org/wiring
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Agenda
• Overview of the major electrical components
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Agenda
• Overview of the major electrical components
• Power Distribution
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Agenda
• Overview of the major electrical components
• Power Distribution
• Signal Distribution
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Agenda
•
•
•
•
Overview of the major electrical components
Power Distribution
Signal Distribution
Where to get electrical parts & tools
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Agenda
•
•
•
•
•
Overview of the major electrical components
Power Distribution
Signal Distribution
Where to get electrical parts & tools
Questions
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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
ROBOT
CONTROLLER
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Ethernet to Wifi Radio & camera
Analog, Digital and Solenoid
Interface modules
National Instruments Compact RIO
Robot Controller
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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
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Analog Module
• Requires analog header plug
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Analog Module
• Requires analog header plug
• Uses 3-wire PWM cable
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Analog Module
• Requires analog header plug
• Uses 3-wire PWM cable
• Can measure robot’s battery
voltage
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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
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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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Major Components
Solenoid Breakout
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Solenoid Breakout
Used to connect to
higher power devices,
such as pneumatic
solenoid control valves
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Major Components
VICTOR & JAGUAR
SPEED
CONTROLLERS
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Jaguar Motor Speed Controller
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Converts signal from CRIO/Sidecar to power
motors
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Jaguar Motor Speed Controller
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Converts signal from CRIO/Sidecar to power
motors
Limit switch inputs (forward/reverse)
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Jaguar Motor Speed Controller
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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
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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
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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, over
temp/current, or under
voltage <6V
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Jaguar Motor Speed Controller
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•
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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, over
temp/current, or under
voltage <6V
Over-current protection can
cause motors to cut out in
pushing matches
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Major Components
VIDEO
CAMERA
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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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Major Components
Driver Station
Provides remote control interface to cRIO
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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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Power Distribution
• Connections & polarities – what goes where
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Power Distribution
• Connections & polarities – what goes where
• Legal wire gauge and color
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Power Distribution
• Connections & polarities – what goes where
• Legal wire gauge and color
• How to make reliable connections
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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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Power Distribution
Other power connections:
- use 12 AWG or larger diameter wire for all
circuits protected by a 40A Circuit Breaker.
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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.
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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
Victor
Motor
Controller
Camera
Digital
Sidecar
Mobile
Device
Controller
Power
Distribution
Panel
Hi-amp
Circuit
Breaker
Wireless
Bridge
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Power Distribution
• How to make reliable crimp connections:
– Use a ratchet-type crimping tool on crimp connections:
YES
(Eclipse crimpers or equivalent)
NO
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Power Distribution – WAGO connectors
• Simply strip wire and push into connector – do not
tin wire first
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SIGNAL DISTRIBUTION
• Digital I/O & PWM motor control signals come from
the Digital Sidecar
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Signal Distribution
• Use 3-wire cables to connect PWM port on
Robot Controller to Victor Speed controller
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
What do they do?
• Detect information about the physical world
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Robotic Sensors
What do they do?
• Detect information about the physical world
• Convert this information into an electrical
signal suitable for the robot’s computer
controller
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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 Sensors
Optical 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
IR rangefinder
• Purpose: Measures distance to an object via
infrared emitter/detector combo
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Robotic Sensors
Ultrasonic 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 Sensors
Rotary 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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Where to get electrical parts
• 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
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Where to get answers:
• Some recommended sources:
– www.Chiefdelphi.com
• Unofficial source for information on all robotics topics
– www.Forums.usfirst.org
• Official source
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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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