2012 CONTROL SYSTEM

fatfallenleafΗλεκτρονική - Συσκευές

15 Νοε 2013 (πριν από 3 χρόνια και 10 μήνες)

94 εμφανίσεις

2012 CONTROL SYSTEM

Antonio
Rufo

Main Components


Driver Station


cRIO


4 or 6 port


Digital Sidecar


Analog Breakout


Solenoid Breakout


Power Distribution Board


Motor Controllers


Jaguars and Victors


Relays


Spikes and Beta


Solenoids


Wireless Router

Sensors


Encoders


Gyros


Accelerometers


Limit Switches


Line sensors


IR sensors


Cameras




Techniques


Color Codes


Gauges


Rules


Wiring

Driver Station


Laptop can be purchased in
kit of parts


Any laptop can be
configured into driver
station


Requires stop button


Breakout board for non
-
USB
connections


IP must be configured to
team number 10.XX.XX.5



6 Port
cRIO


+2 unusable slots


4 pin power connector


2 Ethernet ports


Micro Processor


16Kb
Freescale


FPGA


RAM: 720Kb


IO Transfer Rate: 622Mb/s


NEW 4 Port
cRIO


All ports usable


2 pin power connector


1 Ethernet


Micro Processor


32Kb
Freescale


FPGA


RAM: 2088Kb


IO Transfer Rate
: 1Gb/s

Digital Sidecar


Features


2pin
power
connector


DB37 connector


10 PWM ports


14 GPIO ports


8 Relay ports


1 crossover port (I2C)



Typical Applications


Motor Controller
communication


Spike communication


Digital Sensor
communication

Analog Breakout


Features


2pin power connector


DB25 connector


8 Analog ports


Typical Applications


Gyros


Encoders


Accelerometers


Any analog sensor


Solenoid Breakout


Features


2pin power connector


DB25
connector


8 Solenoid ports


Typical Applications


Controlling duel
direction solenoids


Power Distribution Board


Features


Battery connections


Specific power pins for
cRIO
, Digital Sidecar, and Camera


8, 40 amp, power connectors


12, 20
-
30 amp, power connectors


WAGO connectors


Typical Application


Used to power all of the components that are in the
electronics layout




Motor Controllers

Jaguars


Features


PWM control


CAN Bus control


Coast/Brake jumpers


Built in Forward/Reverse
Limit Switch inputs


Analog Potentiometer input


Direct Encoder input


Run off 40amp breaker



Victors


Features


PWM control


Smaller package


Run off 40amp breaker

Relays

Spikes (old)


Features


1 Relay module


PWM control


Typical Applications


Can preform full forward, full
reverse, and stop


Controlling 2 different devices
in 1 direction


Controlling one device in 2
direction




David Relays (Beta)


Features


2 Relay modules


2 PWM control inputs


1 power source


Smaller package


Typical Applications


Same as old relay but can
control up to 4 devices of one
relay

Solenoids


Features


2 way Pneumatic
controllers


12V and 24V


Can be assembled in
multiple ways

Wireless Router

Sensors: Encoders


Digital


Measure shaft position,
speed and direction


Unique position ever .25
degrees


10,000rpm range


Magnetic


8 bits of 360 degrees


30,00rpm range


Measures spinning magnet


*Data based on KOP sensors


Sensors: Gyros


Analog device


Senses angular changes
in the top surface axis


Sensors: Accelerometers


Digital connection


3 axis device


Measures:


Acceleration


Dynamic acceleration
(vibration)


Static acceleration (gravity)


Isolate from metal



Sensors


Camera


Connects to Ethernet


Limit Switches


Digital devices used for
feedback


IR Sensors


Analog devices


Could be used for object
detection



Line Sensors


Analog Device


Form of IR sensor


Detects changes in floor
reflectiveness


Sonar


Analog device


Could be used for object
detection

Wiring


Gauges (AWG)


Battery
to
PD must be 6 AWG


40amp minimum 12 AWG


30amp minimum 14 AWG


20amp minimum 18 AWG


Color Code


Positive: Red, White, Brown or
Black with stripe


Negative: Solid Black or Blue


Techniques


Create layout with wire paths
in mind


Leave space for bending wires


Shortest most direct path for
connection (but not to close)


Strap down wires along path


Try to keep crossing or floating
wires to a minimum


Label wires


1 wire per
WAGO


Check for isolated frame



QUESTIONS???