Power Distribution Panel User`s Guide
Contents
1. is fixed in PDP Firmware 1 40 When PDP detects roboRIO is enabled it will abort extraction therefore preventing the problem condition from occurring 4 2 Firmware lt 1 40 Power and Energy Power and energy signals were not computed correctly in firmware versions earlier than 1 40 Updating to 1 40 will ensure Power and Energy signals are updated correctly 4 3 LabVIEW Energy signal is not scaled to Joules The Energy signal in LabVIEW is computed in engineering units where each unit is 0 020 Joules Multiply the signal value by 0 020 to scale to Joules 4 4 C Java Energy signal is in Millijoules The Energy signal in C Java is computed in units where each unit is 0 001 Joules Multiply the signal value by 0 001 to scale to Joules If using this signal for robot processing be sure to check for the fix whenever updating C Java libraries 4 5 Firmware lt 1 37 Current may read 2A when there is no current The current sense circuitry has biasing similar to a gyro Firmware 1 37 and on will zero the output so that OA is read when there is no load Cross The Road Electronics Page 14 1 22 2015 PDP User s Guide 1 22 2015 5 Revision History 1 2 22 Jan 15 Moved Section 4 to Section 5 Added Section 4 Functional Limitations 1 1 19 Jan 15 Added Section 2 4 for fuse replacements Added screw length details in Section 2 1 Warnings Added in Section 2 2 for inductive loads 30 Dec 14 Initial Creation Cross The Road2. Electronics Page 15 1 22 2015
3. PDP User s Guide 1 22 2015 Power Distribution Panel User s Guide Rev 1 2 ELECTRONICS Cross The Road Electronics www crosstheroadelectronics com Cross The Road Electronics Page 1 1 22 2015 PDP User s Guide 1 22 2015 Table of Contents 1 Power Distribution Panel at a Glance escaicdetecw adn tecdininctenincncocaieseemanioansecbiedurcanieeneeconaeieentoansoens 3 1 1 Connection Specifications cece eecccseeeeceeeeceeeeeceeeesaeeeeseueessaeeeseeeeteueeeseeeeseeesseeeesaaees 4 1 2 Eleciical Se CIN CAM OMS nirre a a aa aea 5 1 3 Mechanical Specifications cccccccccccccseececeeeecseeceseeeeseeeeeseeeesseeeeseueesseeeseeeesseeesseeeesaees 5 1 4 Communication Specifications sanneoaneeaneeeenennnennnennorrnonrrrerrrrrrrnrrrrnrrenrrsrersrersnersneene 5 am a E e et gD ee ee eee E E N E tT 6 2 1 Battery harness ccccccceecceecceeeceeceeeceeeceeeceecaeeseueseeeseeseeeseeeseeeseeeseeeseeeseeeseeeseesseesseees 6 ENS AUC a e het tsexteaeeceheestctekeecoehestateke cake tenaetenaanenaeheetanetnaatesc T 2a lona ACON A0 AMO Brodk Cl sepsssstecanscesneetsassennnsaessansanceaenestese aloassacansannseetosutaneconenees 7 2 2 2 Snap Action 20 30 Amp Breaker cccccceeccseeeceeeeceeeeeeeeceeeeseeeseueeseeeeseeeseueeseeeeaeeess 8 2 3 Weidmuller GOMMECIONS sarrerei tinia ai iiaia anit entiendsinebieneheuteedsinebead 9 P ODORO PON VR N oin E E E 10 ae eee OF ANS U0 8 cee a E EE E E ee ee ene ee
4. ck Washers Battery Cover m QTY 2 6 32 1 2 Length Battery Cover Flat Head Socket Cap Screw 12 Volt Supply Battery Power Supply etc O O O O Warning Do not reverse the battery voltage as this can cause permanent damage to current sense circuitry Additionally the FRC Control System Components that draw power from PDP may not have reverse battery protection and can also be damaged in a reverse battery event Cross The Road Electronics Page 6 1 22 2015 PDP User s Guide 2 2 Breakers 2 2 1 Snap Action 40 Amp Breaker sagt Vege E ga H g y f iR T SeA OT J UOT ERA IKEAS OANT sane i E jl a se ss ss ss ee le Channels 0 3 Channels 12 15 o 40 Amp Breaker o Limits Closest Red WAGO Oo Supplies Battery Power 1 22 2015 Warning Inductive loads motor compressor must have a power management device motor controller PCM spike between itself and the PDP No inductive loads motor compressor may be directly connected to the PDP channels as this can damage current sense circuitry Cross The Road Electronics Page 1 22 2015 PDP User s Guide 1 22 2015 2 2 2 Snap Action 20 30 Amp Breaker 30 Amp 20 Amp Thermal Breaker Thermal Breaker by Snap Action by Snap Action For use in PDP Channels 4 11 as i e Channels 4 11 o 30 or 20 Amp Breaker o Limits Closest Red WAGO Oo Supplies Battery Power Warning Inductive loads motor compressor must have a powe
5. e 11 2 4 Blade Fuse REPlaCeMems cccccseccceeeccececeeeccececeucecseeceueeseueesueessusesseeseeeessueeseeesaeeess 12 3 LED AO E eee ee eee eee ee eee 13 4 Functional Limitations software cccccecseccseeeceeeeseeeceeeeseeeeseeeeaeeseueeseeesseeseeeeseeesneeseeeeaes 14 4 1 Firmware lt 1 40 If Robot Is Enabled Disabled Enabled Quickly FRC robot may GAS VAI NS OO acre oe tsetse spas E EE E oncnseesaennseecseresseussisaseesenese 14 4 2 Firmware lt 1 40 Power and Energy cccscccssccseeceeeeeeeceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeeseeeseeees 14 4 3 LabVIEW Energy signal is not scaled to Joules ieee cece eeee ee ee cece eee eeeeeesaeeeenaeeeeaes 14 4 4 C Java Energy signal is in Millijoules cccccceeccceeeceeeeceeeseeeceueeceeessueeseeeseeesseens 14 4 5 Firmware lt 1 37 Current may read 2A when there IS NO current cccceeeeeeeeeeeeeeees 14 Oi Me VISION FISTO i samareinimacemema ns E E ieee URmnMe beni ne tan 15 Cross The Road Electronics Page 2 1 22 2015 PDP User s Guide 1 22 2015 1 Power Distribution Panel at a Glance PCM VRM Controller Power HHn am cD 5 isal j q k p Cross The Road Electronics Page 3 1 22 2015 PDP User s Guide 1 22 2015 1 1 Connection Specifications e Battery o Bushings Lugs x 2 o Thread M6x1 10mm Length e Power Channels All Channels provide battery power o WAGO Connectors m Red Channel
6. ould be no smaller than 24 AWG smaller gauges will not lock in connector Cross The Road Electronics Page 9 1 22 2015 PDP User s Guide 1 22 2015 2 3 1 roboRIO PCM VRM PCM Fuse Weidmuller Connectors are used for connecting the roboRIO PCM and VRM modules to power See Section 2 3 Weidmuller Connectors for wire insertion and removal procedures See Section 2 4 Blade Fuse Replacements for fuse details Cross The Road Electronics Page 10 1 22 2015 PDP User s Guide 1 22 2015 2 3 2 CAN bus CAN CAN LOW HIGH Weidmuller Connectors are also used for CAN Communication See Section 2 3 Weidmuller Connectors for wire insertion and removal procedures Smart Module provides termination and may be placed at the end of CAN bus chain Termination Resistor Jumper Only place the jumper to the ON position when PDP is at the end of the CAN bus ON State Positioning the jumper closest to the inside of the PDP shown above OFF State Positioning the jumper closest to the edge of the PDP or removing the jumper Cross The Road Electronics Page 11 1 22 2015 PDP User s Guide 1 22 2015 2 4 Blade Fuse Replacements Both automotive fuses are tyoe ATM automotive blade mini fuses Spares can be purchased at most hardware stores Do not purchase ATC as they will not fit SEGRE EDD Example replacement purchase for 10A Controller fuse Cross The Road Electronics Page 12 1 22 2015 PDP Use
7. r s Guide 1 22 2015 3 LED States The STAT and COMM LEDs are multi color LEDs that can blink green orange or red The two LEDs are always the same color blink pattern The only exception to this is when the device is in boot loader LED Blink Color Fast Green Blink Robot is enabled Slow Green Blink Robot is disabled Robot is disabled Slow Orange Blink Sticky Fault present Slow Red Blink No CAN Comm COMM LED only Device is in bootloader Green Orange Blink Field upgrade necessary Both LEDS off Device is NOT powered Cross The Road Electronics Page 13 1 22 2015 PDP User s Guide 1 22 2015 4 Functional Limitations software Functional Limitations describe behavior that deviates from what is documented Feature additions and improvements are always possible thanks to the field upgrade features of the PDP 4 1 Firmware lt 1 40 If Robot ls Enabled Disabled Enabled Quickly FRC robot may momentarily disable When PDP is wired to roboRIO s CAN bus and robot enters disabled state roboRIO typically begins extracting logged records from PDP However if robot is immediately enabled after initially entering disable the roboRIO may very briefly disable as it finishes extracting PDP logs despite being enabled in the Driver Station This occasionally causes motor drive to briefly disable once after enabling robot Additionally the fault count will increment in the Driver Station lightening tab Issue
8. r management device motor controller PCM spike between itself and the PDP No inductive loads motor compressor may be directly connected to the PDP channels as this can damage current sense circuitry Cross The Road Electronics Page 8 1 22 2015 PDP User s Guide 1 22 2015 2 3 Weidmuller Connectors Wire Insertion e Disconnect PDP from Battery before adding or modifying connections Strip wire back 0 375 3 8 e Press and hold down connector button Though this isn t necessary it ensures the stripped wire does not deform and split into whiskers after excessive use A small screwdriver can be used to easily hold down the connector button Insert wire into connector opening Release connector button Pull wire to ensure wire is locked in connector Confirm wire strands are not extruded Wire Inspection e Verify that there are no whiskers outside of the connector that may cause a short e Verify that the stripped portion of the wire is not excessive enough to cause a short e Tug on the wire and verify wire does not pull out If it does then recheck gauge and or strip the wire back further Wire Removal e Press and hold down connector button immediately above connector opening Pull wire to remove from connector Limitations e Wire should not be frayed upon insertion Extruded wire may short to adjacent channels Wire should be no larger than 16 AWG larger gauges will not properly fit in connector Wire sh
9. s 4 11 e 30 Amp m 8 Red Channels 0 3 12 15 e 40 Amp m Black terminals are common o 6 Position Weidmuller Connector m PCM VRM Supply e 20 Amp fused ATM blade mini fuse m roboRIO Supply e 10 Amp fused ATM blade mini fuse m Max 16 AWG m Min 24 AWG See Section 2 3 Weidmuller Connectors for wire insert instructions e CAN o 4 Position Weidmueller Connector m Yellow CAN High x 2 m Green CAN Low x 2 Cross The Road Electronics Page 4 1 22 2015 PDP User s Guide 1 22 2015 1 2 Electrical Specifications Input Voltage Vbat 5 5 16 V Absolute Max Input Voltage 0 20V Note 1 Stresses above those listed under Absolute Maximum Ratings may cause permanent damage to the device This is a stress rating only and functional operation of the device at those or any other conditions above those indicated in the operation listings of this specification is not implied Exposure to maximum rating conditions for extended periods may affect device reliability 1 3 Mechanical Specifications Length 7 586 in 1 4 Communication Specifications Baud Rate CAN Termination 120 Ohm jumper placed in the ON position None jumper missing or placed in the OFF position Cross The Road Electronics Page 5 1 22 2015 PDP User s Guide 1 22 2015 2 Installing a PDP 2 1 Battery harness 6mm Lock Washer Aa Components QTY 2 M6x1 Bolts 10mm Length Socket Head Cap Screws QTY 2 6mm Split Lo
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