electronics board section 2012

7/30/2019 Electronics Board Section 2012

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Control System and Electrical Assembly Produced by

Ed Latimer, Team 476

Ken York, Team 476Ron Markum, Team 1750

2011


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Overview

During the next two hours students will assembleand test the control system.

You should have the required components of theKOP and RQBS parts.

After completion, the electrical assembly will betaken to the frame area and mounted onto therobot chassis.


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The Goal


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Gather the Parts

Identify and inventory the Control System Box.Report any missing components.

Locate the following: 120 amp circuit breaker. *QD battery connectors.*wiring terminals.*RQBS base plate and bag.

*Located in one of the tote boxes. Refer to KOP inventory sheets.


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Required Tools

Wire strippersWire cutters

Wire crimpersPhillips screwdriver - #2Flat Screwdriver Supplied Wago flat screwdriver

7/16,3/8 and 10mm combination wrenches Tape measure


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Required Control System Items (robot)

Place the following items on a clear workspace:

cRIO and modules, power distribution board,Jaguar controllers, digital sidecars, 120 ampbreaker, 2 PWM cables, 2 CIM motors,

Ethernet cable, connector bag, 2 DB37cables, and extra 10 and14 gauge wire.


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Read Instructions!

Peruse sections 1-5 of the 2009 Control SystemManual.

Read section 2 carefully.

Do not connect battery until instructed!

Make all electrical connections and ensure CIMmotors are secured and safe to operate beforepowering any part of the control system.


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Layout

Use the provided drilling templates, drill and 3/8 holes as indicated. Accuratelyplace templates on the base plate andtape in place. Verify the 32 spacingdimension between the two templateholes.

Refer to the pictures in the next two slides.


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Front Drill Template

Rear Drill Template


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Drill Holes in the Base Plate

Base Plate Rear Drill

Template

Tape SeveralPlaces to hold

Template inPlace

Make Sure Holes

on Both Edgesare Spaced 32 Apart Before

Taping


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Layout

These Holes willbe MatchedDrilled After

Installing on theFrame

Lay out the items similar to the picture.Leave 1- 1/4 margin around all edges as

this is the frame mounting area.

Velcro


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Wiring

Wire the large battery wires. The black wire is connecteddirectly from the half connector to the PD (Power Distribution) board.

The red wire from the half connector is attached to the 120amp circuit breaker and then on to the PD board.

Note: the 120 amp breaker uses SAE threads while the PDboard uses Metric threads. Do not swap the nuts!


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Make the connections as shown below.Use the large terminals. Make good crimps.

Use -20 screwsand nuts to mount


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Locate and install the DB37 cables.

Install Analog Bumper


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Assemble the power cable for the cRIO .(#16 AWG)


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Install cRIO power cable. Assemble DSC (DigitalSideCar) power cables . (#14 AWG)


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Attach DSC cables to PD board.


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Make power wires for Jaguar, 2 sets. (#10 AWG)Crimp supplied connectors to one end.

Connect

Terminals Here

Connect EndsHere


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Prepare 2 PWM Wires. The protective casingmust be removed from one end.

Refer to official PWM cable modificationdocument.


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Install PWM cables as indicated.

Connect Here, 1 & 2,White Wire to Inside

Connect Here,White to Outside


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The wiring of the control system bench test iscomplete. The final step is connecting 2 CIMmotors to the Jaguars.

Connect CIMs

Here


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Wiring: Drivers Station (DS)

Connect the DS as shown below. Joysticks pluginto USB 1 & 2.

Dongle


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Wiring: Tethered

Connect the blue Ethernet cable from the DS to the cRIO port.

Connect DSEthernet HerePut 120 amp breaker in the off

position.

Connect the battery. (Leave mainbreaker off.)

Plug into wall outlet for DS power .


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Bench Test

You are now ready to proceed with section 2.2.4of the 2009 FRC control system manual.

Put 120 amp breaker in the off position.Test the DS as per section 2.2.4Test tethered operation as per section 2.3

C Make sure CIMs are secured. After successful tethered test, set up systemfor wireless operation.


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Wireless Setup

Follow section 2.3.2 of the FRC Control System Manual.

The power wires to the wireless bridge need to be modified.

Cut Wire Here and Add Terminal

Black w/ white stripe


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Mount wireless bridge and install modified power wire .(Frame included for reference.)


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At this point you are ready to configure your wireless system. You must follow theinstruction carefully.

Refer to the FRC Checklist by BenjaminHeaivilin and the FRC 2009 Control SystemManual. (This will take about an hour)

After completion your system should operatewirelessly.


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Install Base Plate onto Kitbot Frame

Report back to the frame assembly area to verifyeverything is ready for the base plate installation.


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Install Base Plate onto Kitbot Frame

Match drill three holes and install 1 -3/4long bolts and nuts. Match drill base

plate at theselocations


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Complete Tests

Complete any remaining bench test not finishedin the previous slides.

AT THIS POINT, THINGS CAN MOVE! BLOCKTHE WHEEL OFF THE TABLE.

MAKE SURE NOTHING IS IN THE CHAIN

AREA OR CAN GET CAUGHT IN THE CHAIN.

KEEP ALL PERSONNEL CLEAR OF THECHAIN!


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Programming

Download the supplied default program to the cRIO.

Bench test the program.

Go to drive area.

CONGRATULATIONS!

electronics board section 2012

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