Electrical Level 2
Electrical Level 2 Assembly of components.
2890 The Hawk Collective
FRC Robot Wire Guide
Battery FRC battery is a 12 volt battery that is used to power everything on the bot. First has Strict requirements about the type of battery that can be used . Nominal Voltage - 12 Volts Nominal discharge rate 20 hours Min 17Ah Max 18.2 Ah Nominal Dimensions 7.1”x3”x6.6” +/- .1” Weight Min 11 Lbs Max 14 Lbs Terminal = Nut and Bolt Style (2018 game manual)
SB-50 Anderson Connector -Can handle up to 120 amps.
- Polarized to prevent connecting backwards. -6 Gauge wire
Main Breaker -This has to be accessible from the top of the robot, and not buried under or inside anything. -It acts as the main power switch for the eintre robot. -Pressing the red button on top shuts OFF the robot and causes the “lever” to pop out on the side. -Pushing the lever in turns the robot ON. -6 gauge wire in and out with “ring type” connectors -Will trip/open if 120 Amps passes through it.
Power Distribution Board PDB manual
PDB-Power 12 Volt Sealed Lead Acid Battery SB-50 SB-50 At one end of the PDB there are two barrel like bumps. Use an Allen Key to remove the two bolts. Under that you will find two METRIC 6 Bots and lockwasher. The posts accept a ring connector at the end of 6 Gauge wire. +
Battery wires can not exceed 12 inches per segment.
Crimping Add details about crimping systems.
Soldering Add details about crimping systems.
PDB-Power SB-50 Use 6 gauge wire and 2 crimp on connectors. To make a wire to go here. Use the Hydraulic crimper in the yellow box to make this connection. Cover ends in shrink wrap leaving the loop exposed If the SB-50 has the same length legs you might have to shorten the red this to accommodate the Main Breaker. Bolt the short wire to the Positive terminal on the PDB and to the Breaker as shown. Bolt the SB-50 to the breaker and PDB.
PDB-Power SB-50 Simple math for SB-50 to PDB 2 inches
PDB- CAN
CAN connectors have 2 wires. While there is nothing special about these wires they are often colored yellow and green to distinguish them from the other power & signal wires.
CAN is a daisy chain system. Each device in the network can talk to every other device over the same two wires.
Order of devices is not critical on the CAN network is not critical ,however CAN networks need an “end of chain” indicator. This is the terminator. The PDB has a terminator built in. Its default position is ON . Which makes the PDB the last thing on the CAN network.
At this level you need to be able to match the colors of wires Yellow always goes to yellow, green to green and the nominal wire size is 20 gauge.
20 gauge
PDB- Power There are 16 power “channels” -8 channels up to 30 amps Smaller items 10-24 gauge wire
-8 channels at 40 amps Mostly used to control motors 6-12 gauge wire
PDB- Power Each channel is paired with a black and red connector. The two indicated here are connection pairs for 10 and 12 Size of the wire will be determined by the current draw of the device. Each channel can only host ONE device/circuit.
PDB Motor Controller CIM 12G 14G
PDB- Breakers Each Red channel has a “breaker” associated with it. The breaker is a resettable fuse that breaks or “trips” the circuit. This occurs when individual circuit pulls too much electricity ( current). Only 40 amps in the larger sections. 30 amps to 5 amps in the smaller section. If a fuse “trips” it will reset once the breaker “cools down”. Fuse must be the same or less than the devices maximum current draw.
PDB- Breakers
Talons = 60 amps max. We use a 40 amp breaker.
From the CTR Electronics website for Talon SRX
PDB- Wago Wago goes here Wire goes here The connectors used on the PDB are called WAGO connectors. A special Type of “screwdriver” called a wago is used to open the connector and an internal spring closes it. Pushing the Wago tool all the way in the connector will open allowing the wire to inserted into the round part of the connector. Pull it out and it will close. It is NOT a lever. If a regular screwdriver is used it could damage the connector or Screwdriver.
PDB- Small power outs At the bottom of the PDB there are a few special outputs protected by “regular Fuses” that will fail one time and have to be replaced. 16 Gauge wire Use 16 gauge wire to connect the Rio,PCM,and VCM
Robot Rio
Robot Rio - Ports - CAN CAN connector is the communications backbone of the robot. We use CAN to communicate to the PCM, Motor controllers, and PDB. The newer versions of the Rio have the colors printed on them Yellow = High Green = Low
Robot Rio - Ports - Motor controllers 2890 typically uses Talon SRX motor controllers. These use the CAN network for their speed and direction signals (along with a whole host of other signals).
Robot Rio - Ports - Motor controllers 2890 prefers to connectorize as many connections as we can to make swapping parts easier. We are currently using Anderson PowerPole connectors for motors The green and white wires should all be wired the same way and changed in code. Power Pole Cim Mini Cim Bag motor
Anderson Power Pole Tongue Hood 2890 assembles the power poles tongue down red on right
Robot Rio - Ports - USB in Used to make the Rio look like a device on the usb network of another computer. Can be used to access the silver Silverlight diagnostic screen or to “drop code”
Robot Rio - Ports - USB Host USB devices such as cameras can be plugged in here and are accessible by the Rio itself.
Robot Rio - Ports - Ethernet Main way most teams access the Rio Used to communicate directly with the drive station in “Tethered mode” or via WiFi with the radio in wireless mode.
Robot Rio - Ports - DIO Digital Input / Output Can only send a ON or OFF signal Can only receive ON or OFF signals
Fire solenoids Limit Switches. Connect servos Ultrasonics Indicator lights Mode Switches -Black = Ground - -Red = 5 Volts + -White = Single / Data
Often used to :
Robot Rio - Ports - RSL Robot Safety Light- Used as a signaling light to show communications status. ROBOT WILL NOT ENABLE WITHOUT LIGHT INSTALLED -Red = 5 Volts + -Black = Ground -
Robot Rio - Ports - Relay Controls mechanical switches called relays. Relays typically have 2 states as listed on the board Forward & Reverse. If forward is HIGH reverse is LOW If reverse is HIGH froward is LOW
-forward = 5 Volts + -reverse = 5 Volts + -Black = Ground -
Robot Rio - Ports - Analog IN Used to “Read” a signal that varies from 0-5v
-White = Single / Data -Red = 5 Volts + -Black = Ground -
Potentiometers Optical (light) sensors Some types of gyros / accelerometers Often used to :
Robot Rio - buttons Reset =reboots the FPGA and Processor in the Rio when the button is held down for 5 seconds. User = Button that can be accessed in the code. Not debounced
Robot Rio - Ports - PWM Sends out a signal that switches on and off very quickly. This signal is primarily used for motor controllers and servos. Positive Voltage here is 6V. When connected to a motor controller its wires are: Red, White, Black When connected to a servo it is White, Red, Black
Robot Rio -Lights - RSL Mimics the RSL light showing connection status.
Voltage Regulator Module
Pneumatic Control Module
Radio ¼ inch jack Center + The standard connection for the radio is a ¼” barrel jack. Look at the label on the bottom of the radio to determine the Voltage and current. Voltage must be the same. Current should be HIGHER.
Radio Poe Injector 2890 has been experimenting with Power Over Ethernet into the POE Port on the radio Ethernet
To Achieve Electronic Technician Level 2 Memorize the details of this presentation Take and pass (100%) the Pretest for Electronics Technician Level 2 Schedule an in person test with a Electronics Trainer to construct a board Demonstrate wire stripping Demonstrate Crimping of Farules, Anderson Power Poles Wire and test a basic electrical board. Talon, PWM motor controller, Limit switch, RSL, servo, PCM, VCM, Radio, Pass the Electronics Technician Level 2 Test with 95% proficiency or better.
Next-Electronic Technician Level 3 Memorize all LED error codes for RIo and Talons. Troubleshoot a electronics board with introduced errors.