Wiring the 2015 FRC Control System

7/21/2019 Wiring the 2015 FRC Control System

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Wiring the 2015 FRC Control System

<= ; = ;= =-? =.

< = = = ; ? ' C=; < =

'I$ = ;= ' < =;;. ? <; J, ;= ',

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Gather Materials

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K ;:

M % D= %=; (%D%)

M 'I$

M %=< C=; ; (%C)

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PageWiring the 2015 FRC Control System Last Updated: 2/3/2015



M ; '; ; (')

M DA%1522 ' ( ? ??; = E= ;)

M ' =; (')

M 2 ;= ' ? =;;M 2 % ;

M 2 % -;

M 120A C

M 4 40A C

M 6 AG '

M 10 AG '/B;

M 18 AG '/B;

M 22AG ;;/= CA# ;

M 2 A== B50 ==

M 6AG <=; ;

M 16 ;; = <=; (< <? <=;)

M 12 B

M '/B; E;; ?

M D; <; =

M ?

M 1/4" 1/2" ?;

K ; '@:

M ; <;; ;-

M <;; ; (; ? )

M %;? M 5<< H (3/16" < < =;;)

M 1/16" H

M , ??, = <?

M 7/16L = = =

Create the Base for the Control System

F =? , ? 1/4L 1/2" <; ( ?;) ??<; 24" 16".

F ' & B; =; ??= <== ??

= ==.

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Layout the Core Control System Components

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Note: If creating the board for a robot chassis, per the QuickBuild instructions for the long

orientation, you may wish to turn the battery 90 degrees clockwise compared to the imageabove and spread the components on each side accordingly in order to accommodate building

box to retain the battery without hitting the CIM motors.

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Fasten components

*= D; , = ;; <?== . < = <?;

?; D; ?;<=.

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Attach Battery Connector to PDP

'@: B C==, 6AG <=; ;, 1/16" A;;=, 5<< A;;=, 7/16" B =

1. A <=; ; ==.

2. *= 1/16" A;;= =, < = %D% <=; .

3. *= 5<< A;;= = (3/16" ;; < = ;;), < = (-) = < %D% = = = <=; ==.

4. *= 7/16" = =, < = = "B" <= =

? <=; ==

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Wire Breaker to PDP

'@: 6AG , 2 6AG <=; ;, 5<< A;;=, 7/16" =

= <=; ; = 6AG . *= 7/16" =, < = <

"A*" 120A <= = ?; <=; . ; =

( < < ; , ?, = <? = ). ;= @ ? <=; %D%.

1. C, ?, = <? <=; 2= = 6AG .

2. *= 7/16" =, "A*" 120A <= .

3. *= 5<<, = %D% ? <=;.

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Insulate PDP connections

'@: 1/16" A;;=, E;; ?

1. *= ;; ?, =; === 120A . A; =; = ?

%D% <=; ;; ? = ?;. $= < =;=

<= === ? = = , = ? ??

= <=; = ?.

2. *= 1/16" A;;= =, ?; %D% <=;

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Wago connectors

= ? ;; =; = == = %D%. ==, =

<;; ; ; = =; ; ;; =; = =;

? == ? = ;, ?== <=;.

== = = %D%:

K <;; ==: A? 10AG-24AG, ? 11-12<< (7/16")

K ==: A? 6AG-12AG, ? 12-13<<(1/2")

<< ?;; = <=< === = ; = == (= ;;

= ) == = ==.

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Motor Controller Power

'@: ??, C<?, <;; F; , %;;? H , 10AG

= ; , 8 ;; = <=;

F 4 ;= ' < =;;:

1. ? = 10AG = ; = <? ;; = <=; =

2. *= %;;? , < ;= ' ? =? (

+) = ;=.

3. = == ? (; 40A <=;

?). = ;; ?? = = = ==.

4. C = ? , = = = <=;

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Weidmuller Connectors

The correct strip length is ~5/16" (8mm), not the 5/8" mentioned in the video.

A =< CA# = ? == = < <;; F --

==. = ? = <= = = == ;:

K ; 16AG 24AG (=; ; @ ? =)

K = ; ?? ??<; 5/16"K = < , ? = = ?== "=" ?= <=;

A <= === ;= = :

K = "" == <

K = ;;. I < =

= = =/ ?? .

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Page 1Wiring the 2015 FRC Control System Last Updated: 2/3/2015



roboRIO Power

'@: 10A/20A <= , ??, <;; ; , 18AG ' = B;

1. I= 10A = 20A <= = %D% = ;= = = ; = (= =

< )

2. ? 5/16" = = ; 18AG = == " C=;; %'"

<=; = %DB

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3. @ ;= ? =? = 'I$. ;

= ;= = = <?== = ;;

= = ; ; <=<=.

4. C = ? .5. *= <;; ; == ? =? ==

'I$ ( , ; C). Also make sure that the power connector is screwed down

securely to the roboRIO.

Voltage Regulator Module Power

'@: ??, <;; ; (?=;), 18AG = ;

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1. ? 5/16" = = = ; 18AG .

2. C== = <=; ? ;; " ' %C %'" = %D%.

3. ;= @ "12=" <=; = '. ;

= ;= = = <?== = ;; = = ; ; <=<=.

4. C = ? 5/16" < = .

5. C== ' 12= <=;.

Pneumatics Control Module Power (Optional)

'@: ??, <;; ; (?=;), 18AG = ;

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#: %C = ?=; <?== =;;= ?=< = .

1. ? 5/16" = = = ; 18AG .2. C== = <=; ? ;; " ' %C %'" = %D%.

3. ;= @ "=" <=; = '. ; =

;= = = <?== = ;; =

= ; ; <=<=.

4. C = ? 5/16" < = .

5. C== ' 12= <=;.

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Radio Power and Ethernet

'@: ??, <;; ; (?=;), DA%1522 ? ??;, DA% 1522 E=

;

1. C ";; " DA%1522 ? ??; ( = ?; = AC ;; ;).

<<= ; <;; ?; = ;;- = .

;= ?; = ;

;.

2. ? 5/16" = ? .

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3. ? = (= ?, =) =

<=; = "' %" ??; '.

4. C== ( = = ) ; <=; <<;

<=; .5. %; ; == = DA%1522

6. %; E= ; = = ? = DA% 1522 = =

'I$.

#: I ?; ? === = D C== ,

== = ?= ?. <= === <=; ;

== = ==, === ; <=; ; ==

==.

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RoboRIO to PCM CAN

'@: ??, <;; ; (?=;), ;;/= CA# ;

#: %C = ?=; <?== =;;= ?=< = . I =

= %C, CA# === ; < 'I$ (= = ?) %D%

( = = ?).

1. ? 5/16" CA# .

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2. I= = ??? CA# <=; = 'I$ (;;->E, G=-

>G'#).

3. ;= @ CA# <=; %C ( ;;

?). C = ? 5/16" = .4. I= = ??? ; CA# <=; = %C. <

;;/G= <=; ? = %C, = = = .

PCM to PDP CAN

'@: ??, <;; ; (?=;), ;;/= CA# ;

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#: %C = ?=; <?== =;;= ?=< = . I =

= %C, CA# === ; < 'I$ (= = ?)

%D% ( = ?).

1. ? 5/16" CA# .

2. I= = ??? CA# <=; = %C.

3. ;= @ CA# <=; %D% ( ;;

?). C = ? 5/16" = .

4. I= = ??? ; CA# <=; = %D%. <

;;/G= <=; ? = %D%, = = = .

#: %D% ? CA# <== 9<? = "$#" ?=. I

<<= ; 9<? = ?= = ?; = =; CA# = =

'I$ = %D% (;= %D% = ). I ?; %D% = <; (;= ? %D% CA# <=;) < 9<? "$FF" ?= =

?; = 120 < <== = CA# =.

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PWM Cables

'@: 2 % -;, 2 % ;

F ? ;= ':

1. C== 1 % -; ;=. = = -; ; =

;= ( B < = )

2. C== % ; -;. = = -; ?= ;

= ; % ;.

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3. C== % ; = % ? = 'I$. ; ;

'I$. I <<= == ; % 0 =

% 1 < ?<<= ?=, = ==;

;; ;= = ==; = 9 =;

Robot Signal Light

'@: ??, 2 ?= ;, ' =; , 18AG , <;; ;

1. C = = 2 ?= ; = ?

2. I= ; = =, "#" <=; = = <=;.

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3. ? 18AG = = = "" <=; = = <=;.

4. C = ? = 18AG = = "" <=;

5. I= < ?= ; = "" <=; 18AG =

= <=;.6. C== -?= == ' ? = 'I$. ; ;

; 'I$.

< <?; ' =; = ? D; (

<<= < ' < ; ;= = =)

Circuit Breakers

'@: 4 40A

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Battery Box

'@: %; ?, ?; = ; (.. ), 10 2" , ;;, 1/8" ;; ,

%;? ?;? , ; ?

C= . = = ? ?; ; < =

;= (4 ? 4"1.5" 2 , 3 ? 6"1.5"

= = 2 = ). * ; ? < ? ? ;;

;?

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STOP

STOP!!

B ?;= = , < ;; === = < ?? ?;.

I;; <= = < ;; === .

K = == ? <=;

K C ? <= = + <=; %D% =

; ; ; - <=;.

K F < =;;, < %D% <=; ;=

=? ;; + (= +!!!!)

K F = = %D%, == <=; =

%D% = <=; = <?==.

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K ? = ? ??; ==

<=; ' ??; = '

It is also recommended to put the robot on blocks so the wheels are off the ground beforeproceeding. This will prevent any unexpected movement from becoming dangerous.

Manage Wires

'@: ?

# < < ? <= < ?=. ;

;? ? = =.

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Connect Battery

C== A== ==. % = <=

; = ? 120A <= = = ? =.

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Documents

Wiring the 2015 FRC Control System