Talon SRX – User`s Guide Cross The Road
Contents
1. D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 CROSS yE ROAD CA ELECTRONICS 217 8080 Talon SRX User s Guide CROSS JAB ROAD CA ELECTRONICS The power inputs and outputs of the Talon SRX are indicated by markings on the housing They are also shown in the table below Case Marking Wire Color Wire Gauge A eege ale Positive Input V Red Co Se 5 5in 139 7mm Input Ground GND Black e SE 5 5in 139 7mm Positive Output M White en in 5 5in 139 7mm Output Ground M Green T SE 5 5in 139 7mm See None Yellow 22 AWG 11 0in 279 4mm GE Green 22 AWG 11 0in 279 4mm Note There are 2X yellow and 2X green 22AWG signal wires on each Talon SRX Signal wires of the same color are electrically identical B Copyright 2015 Cross The Road Electronics VEX Robotics Inc crosstheroadelectronics com vexpro com Updated 2015 02 01 CROSS 217 8080 mg WE a Talon SRX User s Guide EEN 1 Installing a Talon SRX Wiring a speed controller has never been easier than with the Talon SRX By following a few quick steps your robot will be up and running in no time 1 1 Wiring the Motor Output Connect the white wire to the M side of the motor and the green wire to the M side of the motor using tightly crimped connectors If the motor s inputs are not marked2. Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 217 8080 Rao C Talon SRX User s Guide 1 4 6 Encoder and Limit Switch Breakout The Encoder Breakout makes breaking out the encoder and limit switch pins even easier Part Numbers CTRE_ENC_BRK 217 4398 vexrobotics com am 2633 andymark com Quadrature Encoder The top side of the breakout has the same data port pinout as the Talon SRX A ribbon cable should be used to connect the Talon SRX to the breakout Top side solder pads are broken out for 3 3V 5V and Quadrature A and B Tip The selected colors in the diagram match the cable harness colors for some U S Digital Quadrature Encoders Although 5V is used in this example 3 3V should be used for 3 3V encoders Always check the encoder data sheet for voltage requirements On the bottom side of the breakout are three ground pads and the two pads for forward and reverse limit switch inputs Although normally open switches are illustrated normally closed switches can also be used ENC BREAKOUT VER 1 0 7 e e FLNT GNOGND RLMT wl va Reverse Limit Switch Normally Open bel NO _ Common Forward Limit Switch Normally Open a crosstheroadelectronics com vexpro com a CROSS 217 8080 E yi Talon SRX User s Guide EEN 1 4 7 Analog 5V Encoder and Limit Switch Breakout The Analog 5V Breakout is for wiring a 5V analog sens
3. as shown in the figure below Connect the remaining green and yellow signal wires using a 120 Q resistor as shown in the figure below Alternatively the Power Distribution Panel s CAN interface can be wired instead of a 120 Q resistor since the PDP has an integrated resistor To CAN H Terminal lt 120 O Resistor or PDP To CAN L Terminal After the Talon SRX has been connected to the roboRIO ensure there are no shorts then apply power and use the roboRIO Web based Configuration page to assign the Talon SRX a unique ID TIP Avoid using the default ID 0 this makes adding new default Talons easier The unique ID is a 6 bit number valid numbers are from 1 to 62 After the unique ID has been assigned remove power and repeat the process for each Talon SRX WARNING When applying power to the Talon SRX for programming its unique ID it may be tempting to connect it directly to a 12V robot battery without a breaker this is NOT recommended If the temporary power connectors short without a breaker protecting the wires there is a high risk of an electrical fire D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 CROSS 217 8080 mg WE a Talon SRX User s Guide EEN 1 3 2 Wiring the Talon SRX for use with CAN bus To wire CAN bus connect a yellow signal wire to the CAN terminal marked H on the NI roboRIO and
4. e A pre assembled PWM cable may be cut and spliced onto the Talon SRX s signal wires This option is more expensive if many Talon SRXs are being wired but may be easier for inexperienced users and may require a smaller initial investment In either case the PWM cable should be wired such that the green PWM ground and yellow PWM signal wires are on the outside of the PWM connector as shown below The center pin requires no wire When purchasing components be sure to order the correct gender PWM connector different control systems require different genders of PWM connectors The NI roboRIO requires a female PWM connector Only 2X of the 4X signal wires are needed to control the Talon SRX with PWM Do Not connect 2X PWM connectors to a single Talon SRX The 2X wires that are not used for PWM control should be electrically isolated using tape or heat shrink tubing and neatly bundled out of the way to prevent damage Standard Male 3 pin Female 3 pin plug Extension Cable required for NI roboRIO Standard female 3 pin Male 3 pin plug required Extension Cable for some control Note Signal wires of the same color are electrically identical it does not matter which wire is used as long as the color is correct After a PWM connector is installed the Talon SRX will readily interface with the NI roboRIO and many other microcontrollers The PWM signal used to control the Talon SRX must be between 1 2ms in duration with
5. Generally it s best to update to the latest crf file e Disconnect the Talon SRX from roboRIO CAN bus port If there are additional Talons to update go back and re perform this procedure Although the roboRIO and Talon D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 s a d SD CROSS ROAD 217 8080 Talon SRX User s Guide s software does not require you to power cycle the robot before re flashing each Talon making wire changes while the robot is powered is a risk factor for shorting Use best judgment on how to safely replace the upgraded Talon with the next Talon to field upgrade TIP Robot Inspectors at competition will likely check your Talons using the same steps documented here for firmware legality so be sure to update your competition robot Talons before the ship date for expedient robot inspection at competition D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 CROSS gt 217 8080 EE Talon SRX User s Guide s 1 4 Wiring Sensors to the Talon SRX 1 4 1 Data Port Pinout Sensors may be connected directly to the Talon SRX via the Data Port The Talon SRX supplies the voltage and ground to the sensor devices Do not supply external voltages or ground into the Data Port The Data Port accepts a 2x5 0 05 inch p
6. However wiring index is not required for decoding the position and velocity of the encoder Forward Limit DO NOT CONNECT Reverse Limit Analog Inout Quadrature B Quadrature Encoder Lo Quadrature A 7 Quadrature Index Not required 1 3 5 Optional 10k Pull Up Resistor if required by sensor Quadrature Encoder Input D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 oe SC Talon SRX User s Guide ne 1 4 4 Forward amp Reverse Limit Switch Inputs Attach the Forward Reverse Limit Switch as shown Do not connect the GND elsewhere The Talon SRX provides a pull up to 2 5v so typically an external pull up is not needed Only use Talon SRX 3 3V or 5 0V power if an external pull up is used The default setting of Normally Open ensures an out of the box Talon SRX functions even if no limit switch is connected See the Software Reference Manual to change the default Limit Switch behavior from Normally Open Normally Open Limit Swith 3 3V Analog Input Quadrature B Forward Limit Common a Forward Limit Switch Normally Open default Normally Closed Limit Switch Forward Limit DO NOT CONNECT Reverse Limit Forward Limit Switch Normally Closed D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated
7. 02 01 CROSS NGS 3 ELECTRONICS Talon SRX User s Guide 4 Compliance FCC Compliance Statement United States This device complies with part 15 of the FCC Rules Operation is subject to the following two conditions 1 This device may not cause harmful interference and 2 This device must accept any interference received including interference that may cause undesired operation Changes or modifications not expressly approved by the party responsible for compliance could void the user s authority to operate the equipment Note This equipment has been tested and found to comply with the limits for a Class B digital device pursuant to part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference in a residential installation This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular installation If this equipment does cause harmful interference to radio or television reception which can be determined by turning the equipment off and on the user is encouraged to try to correct the interference by one or more of the following measures Reorient or relocate the receiving antenna Increase the separation between the equipment and receiver Conn
8. 2015 02 01 a 7 8080 SC Talon SRX User s Guide Analog Input Quadrature B Quadrature A Quadrature Index Forward Limit DO NOT CONNECT Reverse Limit Normally Open Limit Swith Common 5 Forward Limit Normally Closed Limit Switch DO NOT CONNECT 4 Reverse Limit NC gt Common Analog Input Quadrature B Quadrature A Quadrature Index Reverse Limit Switch Normally Closed D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 CROSS NGS 3 ELECTRONICS Talon SRX User s Guide 1 4 5 Connecting to the Data Port To maintain a sealed case the Talon SRX includes a plastic cover for the Data Port When the port is not being used the plastic cover should be installed on the case as shown below to protect the pins from foreign objects When installing the cover be sure to note its orientation 2X 4 40 x 3 16in Socket Cap Screws Data Port Cover Data Port To use the Data Port a 2x5 0 05 inch pitch connector should be wired as detailed in the previous sections and plugged in as shown below After the connector is plugged it the plastic cover may be used to retain the connector as shown below be sure to note the plastic cover s orientation 2X 4 40 x 3 16in Socket Cap Screws af a Data Cable Data Port D crosstheroadelectronics com vexpro com D
9. Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01
10. Problem Limit Switch or Soft Limit Activated Possible Solutions 1 The most likely cause is a limit switch or soft limit fault Test each limit switch by opening amp closing it manually 2 Use the roboRIO Web based Configuration page to retrieve information over CAN bus about the Limit Switch state See Software Reference Manual for more information The roboRIO Web based Configuration page can set soft limits over CAN bus The soft limits will be applicable with CAN control 3 Indication Both LEDs slowly alternate between orange and off Problem CAN bus detected but the Talon SRX is disabled or not being addressed over CAN Possible Solution Use the roboRIO Web based Configuration page to retrieve information over CAN bus about the fault Most likely the device ID of that Talon is not being used There must be an Open Motor LabVIEW or constructed CANTalon C Java with that device ID This can also be confirmed by doing a Self Test in the roboRIO Web based Configuration If the TALON IS NOT ENABLED message appears even though the robot is enabled then recheck the device IDs in the robot application Indication Flashing RED Status LEDs after calibration Problem Calibration Failed Possible Solutions 1 Inadequate travel in either the forward or reverse direction Repeat the calibration procedure and move the joystick further forward and or further reverse 2 The joystick trim is not centered Neu
11. a center neutral pulse of 1 5ms and a period between 2 9 100ms D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 Talon SRX User s Guide s Multiple Talon SRXs may be driven using a single PWM signal if a Y Cable equivalent is used to connect multiple PWM inputs to a single PWM output Note The PWM period is how fast the robot controller can send a new PWM pulse The amount of time between the rising edges of two subsequent PWM pulses should not be less than 2 9ms nor greater than 100ms Note The PWM input has a logic high minimum threshold voltage of 1 0 V The logic low maximum threshold is 0 4 V The PWM input current requirements are negligible lt 1mA This is sufficient for most 3 3V and 5V based microcontrollers that generate PWM Connecting a Talon SRX to an NI roboRIO using PWM To connect a Talon SRX to the NI roboRIO controller simply plug the Talon SRX s PWM cable into the desired PWM header in the roboRIO s PWM output with the yellow signal wire on the S or inside of the controller The green wire will connect to the GND or outside of the controller If an extension cable is needed for the Talon SRX to reach the roboRIO a standard 3 wire extension cable should be used these extension cables are available from VEX Robotics as well as many other online retailers D crosstheroadelectronics com vexpro c
12. connect a green signal wire to the CAN terminal marked L on the NI roboRIO To connect additional Talon SRXs use tightly crimped connectors to connect the signal wires green to green amp yellow to yellow as shown below For the best connection it is highly recommended that each connector is crimped and soldered The yellow and green wires should also be wrapped in a twisted pair fashion not illustrated to maximize tolerance to electrical noise Note Signal wires of the same color are electrically identical it does not matter which wire is used as long as the color is correct To CAN H Terminal To CAN L Terminalk lt 1200 Resistor or PDP After all of the Talon SRXs have been wired there will be 2 remaining signal wires connect these two wires using a 120 Q resistor or to the CAN interface on the Power Distribution Panel PDP to properly terminate the cable end D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 CROSS NGS 3 ELECTRONICS Talon SRX User s Guide 1 3 2 1 CAN Connector The CAN Connector can be used to chain Talon SRX s together without crimping connectors or soldering Each CAN Connector contains a four channel Weidmuller terminal block with two CAN pairs similar to other FRC CAN devices such as the Power Distribution Panel and Pneumatic Control Module The four holes can be used to prov
13. CROSS 217 8080 E Rt Talon SRX User s Guide s Talon SRX User s Guide ELECTRONICS Cross The Road Electronics www crosstheroadelectronics com D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road SE VEX Robotics Inc Updated 2015 02 0 Talon SRX User s Guide s Table of Contents ll EE le 4 Selen ee 5 Tue EE EE 7 1 1 Wiring the Motor ET LEE 7 Tee WING the Power le 7 1 3 Wiring the Talon SRX Signal TEE 8 1 3 1 Configuring a Talon SRX with CAN bus on a robobi eee ee eeeeceee terete eeeeeeeseneeeeeeeees 8 1 3 2 Wiring the Talon SRX for use with CAN DUS cece eee eeeeeeeee cece eeeeeeeeeeeeeeeeeeeeeeeeeeneneeeeeeeees 10 1 3 3 Wiring Talon SRX for PWM Control EE 12 1 3 4 Firmware requirements PWM and CAN bus 14 1 4 Wiring Sensors to the Talon SRX sa ccpges cece Sepnceceveyngscedertcue nsexestenjececeee dex cee nses saceaoeencteesspucseadecedee 17 1 4 1 Delta OP ue EE 17 gee Eileen E EE 18 1 4 3 Quadrature Encoder Input egciuesegetteeugegtuebterigerbroe eeeee ter Deeg hnnetiersneetemseenhonebbanes 19 1 4 4 Forward A Reverse Limit Switch Inputs 0 0 0 0 cece eee eceeeeeeeeeeeeeeeeeeeecaaeeeeeeeeeeeeeeseeeneeeeeeeees 20 1 4 5 Connecting to the Data POM cciexccctccsentciwermdsiuimndctmarmarnetecetcctengetxatnastucegetweteasuustadetdens 22 1 4 6 Encoder and Limit Switch BIGAKOUT egeouereseeekgegreug dees tiegkeeg deed DANCE ENEE 23 1 4 7 Analog 5V Encoder a
14. ORTANT Do not drive the Talon while performing these steps unless you deliberately want to recalibrate your Talon For this reason it s best to perform this check while robot is disabled Asa result when you release the B C CAL button the Talon will blink red indicating that it did not modify the calibration data If the Talon does enter calibration mode does blink red green then it has adequate firmware for complete PWM functionality and no more steps are necessary however FRC legality should be checked against the game rules If the Talon instead just changes the brake LED brake vs coast and does not enter calibration mode then it needs to be updated once using CAN bus See Section 1 3 4 2 for a simplified procedure on how to do this Additional functional limitations of the ship firmware may be found in section 21 of the Talon SRX Software Reference Manual Although most of the limitations relate to CAN bus features it is recommended that teams always check section 21 for additional functional limitations that may affect them D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 CROSS NGS 3 217 8080 ROAD E25 ELECTRONICS Talon SRX User s Guide 1 3 4 2 PWM Updating firmware for PWM use If the steps in Section 1 3 4 1 reveals that a Talon intended for PWM use has too old firmware field upgrading a Talon can be done quickly wit
15. akes installation a breeze The Talon SRX at a Glance Status B C Cal Input GND Output GND LEDs Button V M gt gt he ce 2 d Signal 7 H Wires d Positive Positive Input Output Data Port V4 M D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 217 8080 Talon SRX User s Guide Electrical Mechanical Specs Outside Dimensions ee alo SX Specs 2 75 x 1 185 x 0 96 69 9mm x 30 2mm x 24 4mm 0 23 lbf 0 10 kgf ei excluding wiring Supported Communication PWM DWCAN bus 1Mbps Protocols i Nominal Voltage 12V Min Max Voltage 6 28V Continuous Current 60A Surge Current 2 sec 100A PWM Input Pulse High Time 1 2 ms Nominal 0 6 2 4ms max PWM Input Rate Period 2 9 100ms PWM Output Chop Rate Switching Frequency ee Minimum Throttle Dead band 4 PWM Logic High 1V Min Voltage Threshold PWM Logic Low 0 4V Max Voltage Threshold PWM Input Min Current lt 1mA Max Quadrature CPR 80 000 000 Peak RPM Max Quadrature RPM 80 000 000 CPR Logic High Min Input Voltage 2 64V Quad A B Idx Limit Fwd Rev Logic Low Max Input Voltage 0 66V Quad A B Idx Limit Fwd Rev ae Voltage 0 3 3V nalog Input Min Max Voltage 0 5V Quad A B Idx Limit Fwd Rev Data Port Max Current 3 3V pint 33mA 5V pin2 50mA
16. behavior at a specific input signal CIM RPM vs PWM Signal 7000 6000 5000 a 4000 2 Y 3000 E 52000 1000 100 80 60 40 20 0 20 40 60 80 100 PWM Signal Duty Cycle To evaluate the Talon SRX s thermal performance a 40A load was applied using CIM motors and a dynamometer Before the test a thermocouple was attached to the top of the Talon SRX The test was run for 10 minutes with temperature data being recorded at one second intervals then plotted as shown below Temp vs Time 100 Duty Cycle 40A Continuous Load 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 Time Min D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 CROSS Ch 217 8080 mg WE Talon SRX User s Guide s 2 5 Frequently Asked Questions Q Is it possible to use more than one type of speed controller A Yes it is completely safe and acceptable to use multiple types of speed controllers e g Victors amp Talons on a single robot Q Is it safe to mount a Talon SRX directly to a robot s metal frame A Yes the electronics inside the Talon SRX are separated from the case by two different layers of electrical insulation to prevent case shorts Q Does the Talon SRX require a fan A The Talon SRX does not require a fan for typical FRC use but if the robot is being used for practice or many back to back matches it is a
17. d to the motor frame or the robot chassis Indication No power output from the speed controller and the Status LEDs do NOT work Problem No input power or possible internal damage Possible Solutions If the Status LEDs on the Talon SRX are not operating properly and there is no output the Talon SRX may be internally damaged This condition is typically caused by no input power or a reversed polarity on the input Check the following 1 Disconnect the output wires 2 Ensure the Status LEDs on the Talon SRX do not illuminate at any joystick position 3 Check the input at the Talon SRX BATTERY to GND with a voltmeter If the Status LEDs are not working properly and the input is good the speed controller is probably damaged The final test to determine if the Talon SRX is damaged is to replace it with another Talon SRX that is known to function properly CAUTION Prior to replacing a potentially damaged speed controller ensure that the wires connected to the output are not shorted and the input is not reversed Also verify D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 217 8080 8 Seed Talon SRX User s Guide ne that neither of the Talon SRX s motor output leads are shorted to motor frame or the robot chassis D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015
18. ect the equipment into an outlet on a circuit different from that to which the receiver is connected Consult the dealer or an experienced radio TV technician for help ICES 003 Compliance Statement Canada This Class B digital apparatus complies with Canadian ICES 003 Cet appareil num rique de la classe B est conforme a la norme NMB 003 du Canada D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 a 7 8080 SC Talon SRX User s Guide 5 Revision History 2015 2 1 Added current ratings for Data Port 3 3V 5V to Electrical Mechanical specs Solid Orange LED state added to Section 2 3 Blink Codes Section 1 3 2 1 CAN Connector added Section 1 3 2 2 CAN Bus Wire Selection Additional content to Section 1 3 4 added 2015 1 22 Section 1 4 8 Heat Shrink Use with Breakout Added Quadrature RPM and CPR added to Electrical Mechanical specs Data Port voltage thresholds and limits added to Electrical Mechanical specs 2015 1 12 AndyMark part numbers added to Sections 1 4 6 and 1 4 7 2015 1 10 Section 1 3 4 Firmware Requirements Added Section 1 4 7 Analog 5V Encoder and Limit Switch Breakout Added Section 1 3 1 Adjusted CAN L and CAN H text label positions in figure 2015 1 2 Section 1 4 6 Encoder Breakout Added 2014 12 23 Initial Public Release D crosstheroadelectronics com vexpro com D
19. eter heat shrink This ensures that there is no risk of shorting the breakout to robot frame or other conductive surfaces This method works particularly well when using a wire loom green loom in example below D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 CROSS gt 217 8080 EE Talon SRX User s Guide s 1 5 Mounting the Talon SRX 0 175 4 44 196 8 Screw Clearance 4 98 Zip Tie Groove 351 8 92 8 Nut Pocket 1 186 30 12 210 5 32 Zip Tie Groove 2 000 50 80 2 755 69 98 The Talon SRX can be mounted using either 2X 8 32 screws or zip ties The Talon SRX s aluminum case is electrically isolated from the electronics meaning it is safe to mount directly to a robot s frame The Talon SRX s mounting location should be chosen to allow for adequate air flow around the heat fins and sides of the case For maximum heat dissipation it is recommended that the Talon SRX be securely mounted to a robot s metal frame this allows the robot to be used as a giant heat sink to aid in cooling CAUTION IN RARE CIRCUMSTANCES THE TALON SRX MAY BECOME HOT DURING USE USE CAUTION AROUND ANY TALON SRX THAT HAS RECENTLY BEEN USED ESPECIALLY ONES USED FOR HIGH CURRENT APPLICATIONS IF PROTECTED BY A 40A BREAKER THE TALON SRX MAY BECOME HOT BUT WILL NOT BECOME HOT ENOUGH TO DAMAGE ITSELF 1 6 Gene
20. good idea to use a fan to cool the Talon SRX to prevent accidental burns Q Can the Talon SRX be used with control systems other than the NI roboRIO A Yes the Talon SRX may be used with any control system that is capable of CAN bus or PWM output Q What kind of electrical connectors should I use to connect wires to the Talon SRX A The choice of electrical connectors is left to the user Electrical connectors should be appropriately sized for the wire used and current requirements For the best electrical connection it is highly recommended that wire connectors are soldered to the wire after they are crimped on Q There are 2X yellow amp 2X green input signal wires How do know which one to use A Signal wires of the same color are electrically identical it does not matter which wire is used as long as the color is correct Q Can two Talon SRXs drive the same motor A No DO NOT connect the outputs of two Talon SRXs together Damage will likely occur Q Can a single PWM output be used to drive 2X Talon SRXs A Yes Two or more Talon SRXs may be driven using a single PWM signal if a 3 wire Y Cable is used D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 CROSS NGS 3 217 8080 ROAD 3 ELECTRONICS Talon SRX User s Guide 3 Troubleshooting Indication Both LEDs alternate red amp orange Problem Damaged Hardware t
21. h the following procedure e Power off robot and disconnect Talon SRX from roboRIO s PWM port if it s connected e Locate the free yellow green CAN wire pair from the Talon Since PWM use only requires one yellow green wire pair the other should be free to use e lf the roboRIO CAN bus port is in use disconnect the CAN bus wires to free the roboRIO s CAN bus port This is done be pressing the Weidmuller connector buttons on the roboRIO and pulling out the CAN bus wires e Insert the Talon s free yellow green wire pair directly into the roboRIO s CAN bus Directly to roboRIO CAN H Terminal Directly to roboRIO CAN L Terminal lt 120 Q Resistor or PDP Note 1 Note 1 Although CAN bus requires 120Q resistor or PDP at each of the two ends of the CAN bus when connecting a single Talon to a roboRIO for the specific purpose of updating a single Talon you can likely skip terminating this end This is because the short bus length of a single Talon and the 1200 resistor integrated in the roboRIO is generally sufficient for the purpose of this procedure This is convenient since in this specifc case the Talon wire pair not connected to the roboRIO s CAN bus port will likely have a PWM connector crimped onto it e Power the robot on and follow the firmware update steps in the Software Reference Manual Section 2 3 Firmware Field upgrade a Talon SRX The attached Talon will likely have a device ID of zero
22. he Talon SRX s source voltage should never exceed 28V In addition a 40A or smaller breaker should be used in series with the Talon SRX s positive input D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 CROSS Ch 217 8080 mg WE E Talon SRX User s Guide s 1 3 Wiring the Talon SRX Signal Input The Talon SRX is capable of being controlled using either CAN bus or a PWM signal Each input type has its own pros and cons that should be carefully considered before wiring and programming The CAN bus capability of the Talon SRX is one of its most powerful features It allows up to 63 Talon SRXs to be daisy chained this means Talon SRXs can plug into each other and only require a single output on the primary robot controller CAN bus also allows two way communication between the Talon SRX and the robot controller which enables tasks like field upgrade Data Port configuration dynamic Brake Coast toggling and motor control When using CAN bus sensors that are connected to the Data Port are monitored by the Talon SRX meaning that the primary robot controller has more processing power to devote to other tasks One of the simplest ways to control a Talon SRX is using a Pulse Width Modulation PWM signal Unlike CAN bus control using PWM requires that each Talon SRX must be individually connected to a different output on the system s primary robot c
23. he device requires service Solution Contact CTRE crosstheroadelectronics com The Talon SRX is not warranted for use until the hardware is repaired DO NOT attempt to use the Talon SRX Indication Single LED alternates green amp orange Problem The device is in Boot loader Mode Solution 1 Download the latest firmware from crosstheroadelectronics com 2 Follow directions in the Software Reference Manual to field upgrade the Talon SRX Indication No LEDs are illuminated Problem No Power Check the Following 1 Is the robot battery is connected 2 Is the main breaker is turned on 3 Is the Talon SRX is connected to the Power Distribution Panel PDP 4 Are any wires are broken or shorted Indication Both LEDs slowly alternate between red amp off Problem CAN PWM is not detected Check the Following 1 Ifthe robot is using PWM is the robot disabled If the robot is using PWM is the PWM cable unplugged 2 3 If the robot is using CAN is the CAN cable plugged in 4 If the robot is using CAN is the terminator resistor correctly wired D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 CROSS NGS 3 217 8080 ROAD E25 ELECTRONICS Talon SRX User s Guide Indication Both LEDs quickly blink red then off First one LED blinks red followed immediately by the other then finally both LEDs are off for a small period of time
24. ide strain relief to the CAN wires Additionally the holes can be used for mounting to the robot frame Spacers or electrical tape may be used to prevent shorting to the robot frame HRH 1 3 2 2 CAN Bus Wire Selection Teams should consult the FRC game rules for CAN wiring requirements However it is recommended to use yellow for CANH and green for CANL for the following reasons Makes robot inspection and troubleshooting easier The colors match what is labeled on the FRC Robot Controller Power Distribution Panel nd Pneumatic Control Module The colors match the Talon SRX cable harness fed AWG 22 or similar gauge wiring can be used An electric drill can be used to twist the CANH CANL wire pair D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 CROSS Sal 217 8080 mg A Talon SRX User s Guide EEN 1 3 3 Wiring Talon SRX for PWM Control Before the Talon SRX can be controlled using a PWM signal a standard 3 pin 0 1in pitch PWM plug must be connected to the Talon SRX s signal wires This can be done in one of two ways e PWM housings and pins or sockets may be assembled directly on the Talon SRX s signal cables If many Talon SRXs are being wired this option will be cheaper but may be more difficult for inexperienced users and may have a higher initial investment due to the need of a specialized crimper
25. itch keyed cable that is available from many online retailers as well as VEX Robotics The ribbon cable used by the Data Cable is very thin as a result some teams may find a breakout board helpful when wiring sensors Note Leave unused Data Port Pins floating Pin 1 Data Port Quadrature B Quadrature A DO NOT CONNECT Reverse Limit Quadrature Index Data Port Pinout D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 217 8080 Talon SRX User s Guide SC 1 4 2 Analog Input Attach the analog sensor as shown Do not connect the GND line elsewhere Only use 3 3V as the analog sensor voltage source Although the figure explicitly shows a potentiometer a 3 3V Analog Encoder can also be wired similarly Forward Limit DO NOT CONNECT Reverse Limit Analog Sensor Quadrature Index Analog Sensor Input D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 3 aka sian Talon SRX User s Guide 1 4 3 Quadrature Encoder Input Attach the Quadrature Encoder as shown Do not ground the GND line elsewhere Connect either the 3 3V or 5 0V as required by your sensor DO NOT CONNECT THE 3 3V OUTPUT TO THE 5V OUTPUT Some encoders may have an Index pin Talon supports counting the rising edges on the Index rail so that robot controller can react to it
26. l wire is plugged into the L terminal of the CAN controller The CAN bus has two ends each ending in either the roboRIO the PDP with the termination resistor jumper placed in the ON position or a 120 O resistor If the PDP is not at the end of the CAN bus its termination resistor jumper should be in the OFF position and an explicit 120 Q resistor should be present at the end of the bus If using a PWM signal to control Talon SRXs it is a good idea to double check the following The PWM connector is wired as shown on page 10 The PWM connector is plugged in with the correct orientation The spare Yellow and Green wires of the twisted pair are electrically insulated from each other The Talon SRX automatically checks for valid PWM or CAN bus on power up No additional configuration is necessary D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 CROSS Ch 217 8080 mg WE E Talon SRX User s Guide s 2 Additional Information 2 1 Brake amp Coast Modes The Talon SRX has two modes Brake and Coast When a neutral signal is applied to the Talon SRX in Brake mode the motor will resist rotation especially high speed rotation This is accomplished by essentially shorting the motor leads together which causes a Back Electromotive Force Back EMF to resist the rotation of the
27. motor Brake mode does not have any effect when the motor is not rotating but can make a large difference in robot behavior when used on a motor attached to a high reduction gearbox Brake mode does not impact performance when the motor is being driven by the Talon SRX When a neutral signal is applied to the Talon SRX in Coast mode Back EMF will not be generated so the motor s rotation will not be affected by the Talon SRX An added feature of the Talon SRX is its ability to toggle between Brake amp Coast modes during operation using CAN bus 2 1 1 Switching Between Brake amp Coast Using the B C CAL Button To switch between Brake and Coast mode simply push the B C CAL button at any time The Talon SRX is in Brake mode when the button is illuminated red and Coast when the red light is turned off Brake Coast settings are saved even if power is removed from the Talon SRX 2 1 2 Switching Between Brake amp Coast Using CAN bus Use the roboRIO Web based Configuration page for CAN selection between Brake and Coast Modes 2 1 3 Switching Between Brake amp Coast Using CAN Control Frames Each supported programming language includes an API that allows active switching between Brake amp Coast modes during a match See Software Reference Manual for more information D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 CROSS gt 217 8080 EE Tal
28. nd Limit Switch Dreakout 24 1 4 8 Heat Shrink Use with Breakout unn 25 1 5 Mounting dE e E 26 1 6 General Robot Wiring Guidelines as se osc oes ees weve cee ve et ee ee 26 1 7 Applying Power for the First Time 27 2 Additional Information EE 28 21x Brake amp Coast Mode E 28 2 1 1 Switching Between Brake amp Coast Using the B C CAL Button sssessssssssrrneessesrrrrrene 28 2 1 2 Switching Between Brake amp Coast Using CAN DUS cccceeeeeeeeeeeeeeeeeeeeeeeeeteeeeneeeeeeeeeees 28 2 1 3 Switching Between Brake amp Coast Using CAN Control Frames eesssssssseeneesseserrrreen 28 22 PWM CUNO e EE 29 2 2 1 To Calibrate the Talon E E 29 D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 217 8080 Talon SRX User s Guide CROSS H ROAD CA ELECTRONICS 2 2 2 To Restore Default Kellen esoguer ges geegdek deed gd deed deeg deCrgeg 30 2 O BINK TEE 31 2 4 Perormance AIA iocdoasedinonedopedoatdonedepebopedeatdopebepebapedentdobedepebopedentbonebepebopebeabbopebepebepebeabbonebennets 32 2 5 Frequently Asked QUESTIONS E 33 3 ES ege ee 34 A Eeler 38 5 Revision KEtOEN eegdeegeegdueteu eees gege de Geer GedeCen eer ECEdede Sege eege Gegen eegen 39 D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 CROSS 217 8080 mg WE i Tal
29. om D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 CROSS Sal 217 8080 mg WE Talon SRX User s Guide s 1 3 4 Firmware requirements PWM and CAN bus Typically a Talon is shipped with firmware version 0 28 Teams should always check the FRC game rules to determine what is the required minimum firmware version for Talon SRX PWM CAN bus Teams that utilize CAN bus will likely want to field upgrade to the latest available firmware for the latest features and improvements 1 1 or newer Instructions can be found in the Software Reference Manual Additionally teams may need to field upgrade to meet the minimum firmware version in the FRC game rules Teams that utilize PWM may still require a firmware update if an out of the box Talon has older firmware than 0 28 Firmware that predates 0 28 will have these symptoms e Press and holding B C CAL Button will not enter calibration mode red green LED blink e Limit switch features not present closing limit switches has no impact e Boot up sequence will illuminate the B C CAL Button for 500ms 1 3 4 1 PWM Checking firmware version As a result it is recommended that teams using PWM first determine if a Talon has adequate firmware by press and holding the B C CAL button and confirming that the Talon enters calibration mode LEDs will blink a red green pattern See Section 2 2 1 for full procedure on entering calibration mode IMP
30. on SRX User s Guide s 2 2 PWM Calibration The PWM calibration of a Talon SRX determines how to scale the PWM input signal to output voltage Different controllers may have different max and min PWM signals that may not correspond to the same Talon SRX outputs Calibrating the Talon SRX allows it to adjust for these differences so that a max signal results in a max output Calibrating can also correct issues caused by joysticks or gamepads with off center neutral outputs The Talon SRX s default calibration is compatible with the NI roboRIO control system 2 2 1 To Calibrate the Talon SRX 1 Press and hold the B C CAL button until the Status LEDs begin to rapidly blink red amp green B C CAL Button 2 While holding the button move the joystick or other input signal to full forward then to full reverse This can be done multiple times The Talon SRX is looking for max amp min PWM values during this step so ensure that the joystick reaches its full max and full min 3 Release the joystick and allow it to return to neutral After the joystick is in the neutral position release the B C CAL button 4 If the Talon SRX was calibrated properly the status LEDs will blink green several times If the calibration failed the status LEDs will blink red and the previous calibration will be kept Note Calibration profiles are saved to persistent memory persist across power cycles D crosstheroadelectr
31. on SRX User s Guide EEN Talon SRX User s Guide The Talon SRX is a speed controller designed through collaboration between VEX Robotics VEX com amp Cross the Road Electronics crosstheroadelectronics com that allows fine control and high performance of brushed DC motors in competition robotics applications The Talon SRX handles high current loads with minimal voltage drop and heat generation Its linear output and Brake Coast options allow for precise motor control making it well suited for everything from drivetrains to shooter wheels The Talon SRX s Data Port and CAN bus features make it the most capable motor controller available for competition robotics The Data Port allows Quadrature Encoders Limit Switches and Analog Sensors to be connected directly to the motor controller Sensors that are connected through the Data Port are directly processed by the Talon SRX freeing up resources in the primary robot controller for more complex user code When using CAN bus up to 63 Talon SRXs can communicate with the primary robot controller for tasks like field upgrade Data Port Configuration dynamic Brake Coast toggling and motor control The lightweight aluminum case was designed using extensive Finite Element Heat Transfer Analysis FEHTA The result is a fully sealed design that makes fans optional This combined with a 3 25 sq in footprint a variety of built in mounting options and super flexible high strand count leads m
32. onics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 217 8080 Talon SRX User s Guide CROSS 5 AB ROAD CA ELECTRONICS 2 2 2 To Restore Default Calibration 1 Remove power from the Talon SRX Hold the B C CAL button down While holding down the button restore power to the Talon SRX Continue holding the button until the status LEDs blink green then release the button DLNS D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 217 8080 Talon SRX User s Guide 2 3 Blink Codes Status LEDs Blink Talon SRX State Code Flashing Red Green Calibration Mode Blinking Green Successful Calibration Blinking Red Failed Calibration Blink Codes During Normal Operation LEDs Colors Talon SRX State PEE Forward throttle is applied pat GE Blink rate is proportional to Duty Cycle ae Reverse throttle is applied H Sit See Blink rate is proportional to Duty Cycle None None No Power is being applied to Talon SRX LEDs Alternate Off Orange CAN bus detected robot disabled LEDs Alternate Off Slow Red CAN bus PWM is not detected LEDs Alternate Off Fast Red Fault Detected LEDs Alternate Red Orange Damaged Hardware EED SoN Off Red Forward Limit Switch or Forward Soft Limit towards M AEDS ee Off Red Reverse Limit Switch
33. ontroller Talon SRXs cannot be daisy chained in PWM mode When using PWM to control the Talon SRX only limit switches or equivalent binary switches may be used with the Data Port Encoders or Analog sensors cannot be used 1 3 1 Configuring a Talon SRX with CAN bus on a roboRIO Talon SRX automatically detects CAN bus traffic so there is no need to select CAN vs PWM The only configuration that is necessary is assigning Device IDs to prevent common ID Talons more than one Talon with the same device ID This is acommon problem condition that prevents reliable communication between the primary robot controller and other CAN devices However the roboRIO Web based Configuration page is tolerant of common ID Talons to a degree up to typically five or less common ID Talons so you can discover firmware update modify settings and change the device ID of acommon ID Talon to an unused device ID More information can be found in the Software Reference Manual D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 CROSS gt 217 8080 E Talon SRX User s Guide s Another option is to explicitly ensure each Talon SRX has a unique ID assigned to it prior to wiring the entire CAN bus harness To do this connect a yellow signal wire to the NI roboRIO CAN terminal marked H and connect a green signal wire to the NI roboRIO CAN terminal marked L
34. or Reverse Soft Limit towards M LED1 Only closest to Green Orange In Boot loader M V Neutral throttle is applied Both Solara Throttle is zero or is within dead band B C CAL Blink Codes B C CAL Button Color Talon SRX State Solid Red Brake Mode Off Coast Mode 1 LEDs Alternate Status LEDs are different colors at all times The 2X LEDs will swap colors when blinking 2 1X Status LED will blink followed shortly by the other with a long pause before repeating The direction of the blink indicates the Talon SRX s current state D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 217 8080 Talon SRX User s Guide EEN 2 4 Performance Data The Talon SRX was designed to provide a predictable linear response over a wide range of PWM signals To demonstrate its linearity an experiment was performed by using a calibrated Talon SRX controlled by a VEX Arm Cortex based Microcontroller to drive a Mini CIM motor under no load The PWM signal was varied from 100 to 100 at regular intervals Finer intervals were measured near 100 0 and 100 duty cycle During the test the PWM signal and Mini CIM output were recorded and plotted as shown below Note This plot should only be used to evaluate the linearity of the Talon SRX s output This plot should not be used to predict a motor s
35. or and limit switches What makes this breakout unique is that it scales a 5V analog signal to 3 3V using a resistor divider and voltage buffer Part Number 217 4401 vexrobotics com am 2634 andymark com 5V Magnetic Shaft Encoders like the U S Digital MA3 just work since the breakout shifts the encoders native 5V output to a Talon SRX compliant 3 3V signal D The top side has the 5V power signal and ground pads for the analog sensor A ribbon cable should be used to a connect the Talon SRX to the breakout S S 0 to 5V signal Tip The selected colors in the diagram Zo match a typical cable harness colors for Sensor GND some U S Digital Magnetic Encoders Reverse Limit Switch Forward Limit Switch Additionally the limit switch Moraally Open Normally Open pads are also available on the top side Note that the c oon NO 52 reverse limit switch is on the left side GND GNO On the bottom are two additional ground pads to pair with the limit switch pads Although normally open switches are illustrated normally closed switches can also be used D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 CROSS ay Talon SRX User s Guide s 1 4 8 Heat Shrink Use with Breakout Another advantage to using the Quadrature or Analog Encoder Breakout is that they are designed to be encapsulated with large diam
36. ral Robot Wiring Guidelines An important yet frequently forgotten aspect of wiring is strain relief All electrical connections should be isolated from any pulling or tugging that may result in a poor connection Once the Talon SRX is fully wired zip ties should be used to ensure that all electrical connections are protected Note When zip tying wires down it is crucial to avoid sharp edges on the robot Wires that are anchored to sharp edges can become worn over time and cause a short D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 CROSS 217 8080 mg WE a Talon SRX User s Guide EEN 1 7 Applying Power for the First Time Before applying power for the first time it is a good idea to double check the following The red wire is connected to the positive source The black wire is connected to the source ground All electrical connections are secure and electrically isolated wrapped in electrical tape heat shrink tubing or similar A 40A or smaller breaker is in series with the Talon SRX s positive power input There are no short circuits on the Talon SRX s output If using CAN bus to control Talon SRXs it is a good idea to double check the following A unique ID has been assigned to each Talon SRX A yellow signal wire is plugged into the H terminal of the CAN controller A green signa
37. the polarity of the input may be chosen by the user Be sure to connect the output wires to motors with consistent polarity so each motor will rotate the same direction when given the same PWM signal Reversing the output wire connections will result in the motor rotating the opposite direction when given the same PWM signal In many cases the output leads of the Talon SRX will not be long enough to reach the motor it is controlling so an extension cable will be required Extension cables should be made using appropriately sized wire and connected using tightly crimped connectors Note For the most robust connection it is highly recommended that all connectors are crimped and soldered 1 2 Wiring the Power Input WARNING TO MAXIMIZE PERFORMANCE THE TALON SRX DOES NOT INCLUDE REVERSE POLARITY PROTECTION IF POWER IS APPLIED BACKWARDS THE TALON SRX MAY BE PERMANENTLY DAMAGED To power the Talon SRX connect the positive input red wire to the selected positive terminal of the Power Distribution Panel PDP and the input ground black wire to the corresponding ground terminal In many cases the Talon SRX may be wired directly to the robot s PDP without extension cables this is preferable since it reduces the number of electrical connections If the robot s design does not allow for a direct connection to the PDP extension cables may be used Always keep good electrical practices in mind when designing a robot s electrical system T
38. tral cannot be extremely far from center D crosstheroadelectronics com vexpro com D Copyright 2015 Cross The Road Electronics VEX Robotics Inc Updated 2015 02 01 cross SDN 217 8080 mg A Talon SRX User s Guide s Indication No power output from the speed controller although the Status LEDs work Problem Possible internal damage Possible Solutions If the Status LEDs on the Talon SRX are operating properly and there is no output the Talon SRX may be internally damaged This condition is typically caused by a short circuit on the output or there has been an over current condition that caused a failure Check the following 1 Ensure the Status LEDs are changing between ORANGE RED and GREEN with joystick movement from Neutral Full Reverse amp Full Forward 2 Disconnect the motor and check the output M to M with a voltmeter The meter should read between battery voltage with corresponding full range joystick movement If the Status LEDs are working properly but the outputs are not working properly the speed controller is probably damaged The final test to determine if the Talon SRX is damaged is to replace it with another Talon SRX that is known to function properly CAUTION Prior to replacing a potentially damaged speed controller ensure that the wires connected to the output are not shorted and the input is not reversed Also verify that neither of the Talon SRX s motor output leads are shorte
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