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2016FRCControlSystem(/s/4485)GettingStartedwiththe2016ControlSystem(/s/4485/m/13503)GettingStartedwiththe2016ControlSystem(/s/4485/m/13503/c/86641)
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Wiringthe2016FRCControlSystem
Thisdocumentdetailsthewiringofabasicelectronicsboardforbenchtoptesting.

TheimagesshowninthissectionreflectthesetupforaRobotControlSystemusingaroboRIOandVictorSPmotorcontrollers.ThesetupissimilarforJaguars,TalonSRXs,Victor88

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GatherMaterials

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Locatethefollowingcontrolsystemcomponentsandtools

Note:ThereisonesetofitemsrequiredthatisnotcontainedintheRookiekickoffkit.YouwillneedsomemethodofconnectingtheVictorSPwirestotheCIMmotorwires.Theimage
pv7=3&pv7=2&FV=fff40016%2Cfff8041a%2C1c0002%2C1c0003%2C1c00f3%2C1c00f7%2C1380001%2C138000d%2C1380059%2C1380060%2C13800b3%2C13800ba%2C13800b
foundatyourlocalhardwareorelectronicspartsstore.

KitMaterials:
PowerDistributionPanel(PDP)
roboRIO
PneumaticsControlModule(PCM)
VoltageRegulatorModule(VRM)
OM5PANradio(withpowercableandEthernetcable)
RobotSignalLight(RSL)
4xVictorSPspeedcontrollers
2xPWMycables
120ACircuitbreaker
4x40ACircuitbreaker
6AWGRedwire
10AWGRed/Blackwire
18AWGRed/Blackwire
22AWGyellow/greentwistedCANcable
2xAndersenSB50batteryconnectors
6AWGTerminallugs
12VBattery
Red/BlackElectricaltape
DualLockmaterialorfasteners
Zipties
1/4"or1/2"plywood
ToolsRequired:
WagoToolorsmallflatheadscrewdriver
Verysmallflatheadscrewdriver(eyeglassrepairsize)
Philipsheadscrewdriver
5mmHexkey(3/16"mayworkifmetricisunavailable)
1/16"Hexkey
Wirecutters,strippers,andcrimpers
7/16boxendwrenchornutdriver

CreatetheBasefortheControlSystem
Forabenchtoptestboard,cutpieceof1/4or1/2"material(woodorplastic)approximately24"x16".ForaRobotQuickBuildcontrolboardseethesupportingdocumentationforthe

LayouttheCoreControlSystemComponents

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Layoutthecomponentsontheboard.Onelayoutthatshouldworkisshownintheimagesabove.

Note:Ifcreatingtheboardforarobotchassis,pertheQuickBuildinstructionsforthelongorientation,youmaywishtoturnthebattery90degreesclockwisecompared

Fastencomponents

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UsingtheDualLockorhardware,fastenallcomponentstotheboard.NotethatinmanyFRCgamesrobottorobotcontactmaybesubstantialandDualLockaloneisunlikelytostand

AttachBatteryConnectortoPDP

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Requires:BatteryConnector,6AWGterminallugs,1/16"Allen,5mmAllen,7/16"Boxend

1.Attachterminallugstobatteryconnector.
2.Usinga1/16"Allenwrench,removethetwoscrewssecuringthePDPterminalcover.
3.Usinga5mmAllenwrench(3/16"willworkifmetricisnotavailable),removethenegative()boltandwasherfromthePDPandfastenthenegativeterminalofthebatteryconne
4.Usinga7/16"boxendwrench,removethenutonthe"Batt"sideofthemainbreakerandsecurethepositiveterminalofthebatteryconenctor

WireBreakertoPDP

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Requires:6AWGredwire,2x6AWGterminallugs,5mmAllen,7/16"boxend

Secureoneterminallugtotheendofthe6AWGredwire.Usingthe7/16"boxend,removethenutfromthe"AUX"sideofthe120Amainbreakerandplacetheterminaloverthestud

1.Cut,strip,andcrimptheterminaltothe2ndendofthered6AWGwire.
2.Usingthe7/16"boxend,securethewiretothe"AUX"sideofthe120Amainbreaker.
3.Usingthe5mm,securetheotherendtothePDPpositiveterminal.

InsulatePDPconnections

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Requires:1/16"Allen,Electricaltape

1.Usingelectricaltape,insulatethetwoconnectionstothe120Abreaker.AlsoinsulateanypartofthePDPterminalswhichwillbeexposedwhenthecoverisreplaced.Onemeth
2.Usingthe1/16"Allenwrench,replacethePDPterminalcover

Wagoconnectors
Wago Connector Instructions

ThenextstepwillinvolveusingtheWagoconnectorsonthePDP.TousetheWagoconnectors,insertasmallflatbladescrewdriverintotherectangularholeatashallowanglethena

SmallWagoconnector:Accepts10AWG24AWG,strip1112mm(~7/16")
LargeWagoconnector:Accepts6AWG12AWG,strip1213mm(~1/2")

Tomaximizepulloutforceandminimizeconnectionresistancewiresshouldnotbetinned(andideallynottwisted)beforeinsertingintotheWagoconnector.

MotorControllerPower
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Requires:WireStripper,SmallFlatScrewdriver,

Foreachofthe4VictorSPmotorcontrollers:

1.Cutandstriptheredandblackpowerinputwireswire,theninsertintooneofthe40A(larger)Wagoterminalpairs.

WeidmullerConnectors
Weidmuller Connector Instructions

Thecorrectstriplengthis~5/16"(8mm),notthe5/8"mentionedinthevideo.

AnumberoftheCANandpowerconnectorsinthesystemuseaWeidmullerLSFserieswiretoboardconnector.Thereareafewthingstokeepinmindwhenusingthisconnectorfor

Wireshouldbe16AWGto24AWG(consultrulestoverifyrequiredgaugeforpowerwiring)
Wireendsshouldbestrippedapproximately5/16"
Toinsertorremovethewire,pressdownonthecorresponding"button"toopentheterminal

Aftermakingtheconnectionchecktobesurethatitiscleanandsecure:

Verifythatthereareno"whiskers"outsidetheconnectorthatmaycauseashortcircuit
Tugonthewiretoverifythatitisseatedfully.Ifthewirecomesoutandisthecorrectgaugeitneedstobeinsertedfurtherand/orstrippedbackfurther.

roboRIOPower

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Requires:10A/20Aminifuses,Wirestripper,verysmallflatscrewdriver,18AWGRedandBlack

1.Insertthe10Aand20AminifusesinthePDPinthelocationsshownonthesilkscreen(andintheimageabove)
2.Strip~5/16"onboththeredandblack18AWGwireandconnecttothe"VbatControllerPWR"terminalsonthePDB
3.MeasuretherequiredlengthtoreachthepowerinputontheroboRIO.Takecaretoleaveenoughlengthtoroutethewiresaroundanyothercomponentssuchasthebatteryan
4.Cutandstripthewire.
5.UsingaverysmallflatscrewdriverconnectthewirestothepowerinputconnectoroftheroboRIO(redtoV,blacktoC).Alsomakesurethatthepowerconnectorisscrewed

VoltageRegulatorModulePower

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Requires:Wirestripper,smallflatscrewdriver(optional),18AWGredandblackwire

1.Strip~5/16"ontheendoftheredandblack18AWGwire.
2.Connectthewiretooneofthetwoterminalpairslabeled"VbatVRMPCMPWR"onthePDP.
3.Measurethelengthrequiredtoreachthe"12Vin"terminalsontheVRM.Takecaretoleaveenoughlengthtoroutethewiresaroundanyothercomponentssuchasthebattery
4.Cutandstrip~5/16"fromtheendofthewire.
5.ConnectthewiretotheVRM12Vinterminals.

PneumaticsControlModulePower(Optional)

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Requires:Wirestripper,smallflatscrewdriver(optional),18AWGredandblackwire

Note:ThePCMisanoptionalcomponentusedforcontrollingpneumaticsontherobot.

1.Strip~5/16"ontheendoftheredandblack18AWGwire.
2.Connectthewiretooneofthetwoterminalpairslabeled"VbatVRMPCMPWR"onthePDP.
3.Measurethelengthrequiredtoreachthe"Vin"terminalsontheVRM.Takecaretoleaveenoughlengthtoroutethewiresaroundanyothercomponentssuchasthebatteryan
4.Cutandstrip~5/16"fromtheendofthewire.
5.ConnectthewiretotheVRM12Vinterminals.

RadioPowerandEthernet

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Note:Thisisdifferentthanthe2015radio!!!!!

Requires:Wirestripper,smallflatscrewdriver(optional),OM5PANpowerwiring,Ethernetcable

1.Strip~5/16"offofeachwireonthepowercord.
2.Locatethewirewiththewhitestripesonit(onewirehaswhitestripes,theotherhaswriting)andattachittoeitherofthetworedterminalsonthe"12V/2A"supplyoftheVRM.
3.Connecttheotherwire(withwritingonit)totheblackterminalimmediatelytotherightoftheredterminalusedabove.
4.PlugthebarrelconnectorintothebackoftheOM5PAN
5.PlugtheEthernetcableintoeitherportonthebackoftheOM5PANandintotheroboRIO.

Note:IfyouwishtoverifythepolarityoftheradiopowerconnectionusingaDMMorContinuitytester,theconnectoriscenterpinpositive.Thismeansthatthewireconnectingtother

RoboRIOtoPCMCAN

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Requires:Wirestripper,smallflatscrewdriver(optional),yellow/greentwistedCANcable

Note:ThePCMisanoptionalcomponentusedforcontrollingpneumaticsontherobot.IfyouarenotusingthePCM,wiretheCANconnectiondirectlyfromtheroboRIO(showninthis

1.Strip~5/16"offofeachoftheCANwires.
2.InsertthewiresintotheappropriateCANterminalsontheroboRIO(Yellow>YEL,Green>GRN).
3.MeasurethelengthrequiredtoreachtheCANterminalsofthePCM(eitherofthetwoavailablepairs).Cutandstrip~5/16"offthisendofthewires.
4.InsertthewiresintotheappropriatecolorcodedCANterminalsonthePCM.YoumayuseeitheroftheYellow/GreenterminalpairsonthePCM,thereisnodefinedinorout.

PCMtoPDPCAN

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Requires:Wirestripper,smallflatscrewdriver(optional),yellow/greentwistedCANcable

Note:ThePCMisanoptionalcomponentusedforcontrollingpneumaticsontherobot.IfyouarenotusingthePCM,wiretheCANconnectiondirectlyfromtheroboRIO(showninthe

1.Strip~5/16"offofeachoftheCANwires.
2.InsertthewiresintotheappropriateCANterminalsonthePCM.
3.MeasurethelengthrequiredtoreachtheCANterminalsofthePDP(eitherofthetwoavailablepairs).Cutandstrip~5/16"offthisendofthewires.
4.InsertthewiresintotheappropriatecolorcodedCANterminalsonthePDP.YoumayuseeitheroftheYellow/GreenterminalpairsonthePDP,thereisnodefinedinorout.

Note:ThePDPshipswiththeCANbusterminatingresistorjumperinthe"ON"position.ItisrecommendedtoleavethejumperinthispositionandplaceanyadditionalCANnodesbet

PWMCables

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Requires:(Optional)2xPWMYcable

Option1(Directconnect):

1.ConnectthePWMcablesfromeachVictorSPdirectlytotheroboRIO.TheblackwireshouldbetowardstheoutsideoftheroboRIO.Itisrecommendedtoconnecttheleftsidet

Option2(Ycable):

1.Connect1PWMYcabletothePWMcablesfortheVictorSPscontrollingonesideoftherobot.ThebrownwireontheYcableshouldmatchtheblackwireonthePWMcable.
2.ConnectthePWMYcablestothePWMportsontheroboRIO.ThebrownwireshouldbetowardstheoutsideoftheroboRIO.ItisrecommendedtoconnecttheleftsidetoPWM

RobotSignalLight

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Requires:Wirestripper,2pincable,RobotSignalLight,18AWGredwire,verysmallflatscrewdriver

1.Cutoneendoffofthe2pincableandstripbothwires
2.Inserttheblackwireintothecenter,"N"terminalandtightentheterminal.
3.Stripthe18AWGredwireandinsertintothe"La"terminalandtightentheterminal.
4.Cutandstriptheotherendofthe18AWGwiretoinsertintothe"Lb"terminal
5.Inserttheredwirefromthetwopincableintothe"Lb"terminalwiththe18AWGredwireandtightentheterminal.
6.ConnectthetwopinconnectortotheRSLportontheroboRIO.TheblackwireshouldbeclosesttotheoutsideoftheroboRIO.

YoumaywishtotemporarilysecuretheRSLtothecontrolboardusingziptiesorDualLock(itisrecommendedtomovetheRSLtoamorevisiblelocationastherobotisbeingconstru

CircuitBreakers

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Requires:4x40Acircuitbreakers

Insert40ampCircuitBreakersintothepositionsonthePDPcorrespondingwiththeWagoconnectorstheTalonsareconnectedto.Notethat,forallbreakers,thebreakercorrespond

IfworkingonaRobotQuickBuild,stophereandinserttheboardintotherobotchassisbeforecontinuing.

MotorPower

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Requires:Wirestripper,wirecrimper,phillipsheadscrewdriver,wireconnectinghardware

ForeachCIMmotor:

1.StriptheendsoftheredandblackwiresfromtheCIMandthewhiteandgreenwiresfromtheVictorSP
2.ConnectthemotorwirestotheVictorSPoutputwires(itisrecommendedtoconnecttheredwiretothewhiteM+output)

Theimagesaboveshowexamplesusingwirenutsorquickdisconnectterminals.

Warning:WirenutsarenotrecommendedforpermanentFRCuseastheyarenotintendedforvibrationenvironments.Theyareshownonlyasanexampleofapossible

TheDigikey(http://www.digikey.com/productsearch/en?pv7=3&pv7=2&FV=fff40016%2Cfff8041a%2C1c0002%2C1c0003%2C1c00f3%2C1c00f7%2C1380001%2C138000d%2C13800
disconnectingorspliceconnectorsortheycantypicallybefoundatyourlocalhardwareorelectronicspartsstore.

BatteryBox

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Requires:PlywoodScraps,plywoodcuttingtool(e.g.saw),10x2"woodscrews,drill,1/8"drillbut,Philipsheaddriverbitorphilipsheadscrewdriver,velcrowrap

Constructabatterybox.thedesignshownusesscrapsofplywoodleftoverfromcuttingouttheelectronicsboard(4pieces4"x1.5"fortheshortsidesofthebatterystacked2high,3p

Note:Thebatteryboxshownhereisanexample,sufficientfordrivingtherobot.Teamsshouldensurethattheirbatterywillbesecurelyheldintheirfinaldesigninthef

STOP

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STOP!!

Beforeplugginginthebattery,makesureallconnectionshavebeenmadewiththeproperpolarity.Ideallyhavesomeonethatdidnotwiretherobotchecktomakesureallconnection

Startwiththebatteryandverifythattheredwireisconnectedtothepositiveterminal
Checkthattheredwirepassesthroughthemainbreakerandtothe+terminalofthePDPandthattheblackwiretravelsdirectlytotheterminal.
Foreachmotorcontroller,verifythattheredwiregoesfromtheredPDPterminaltotheTaloninputlabeledwiththered+(notthewhiteM+!!!!)
ForeachdeviceontheendofthePDP,verifythattheredwireconnectstotheredterminalonthePDPandtheredterminalonthecomponent.
VerifythatthewirewiththewhitestripeontheradiopowersupplyisconnectedtotheredterminaloftheRadiosupplyontheVRM

Itisalsorecommendedtoputtherobotonblockssothewheelsareoffthegroundbeforeproceeding.Thiswillpreventanyunexpectedmovementfrombecomingdang

ManageWires
Requires:Zipties

Nowmaybeagoodtimetoaddafewziptiestomanagesomeofthewiresbeforeproceeding.Thiswillhelpkeeptherobotwiringneat.

ConnectBattery

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ConnectthebatterytotherobotsideoftheAndersenconnector.Powerontherobotbymovingtheleveronthetopofthe120Amainbreakerintotheridgeonthetopofthehousing.

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