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PDP User’s Guide

3/28/2018

Cross The Road Electronics Page 2 3/28/2018

Table of Contents

1. Power Distribution Panel at a Glance ..................................................................................... 4

1.1. Connection Specifications ............................................................................................... 5

1.2. Electrical Specifications ................................................................................................... 6

1.3. Mechanical Specifications ............................................................................................... 6

1.4. Communication Specifications ......................................................................................... 6

2. Installing a PDP ..................................................................................................................... 7

2.1. Battery harness ............................................................................................................... 7

2.1.1. Split Washer .............................................................................................................. 8

2.2. Breakers .......................................................................................................................... 9

2.2.1. Snap Action 40 Amp Breaker .................................................................................... 9

2.2.2. Snap Action 20/30 Amp Breaker ..............................................................................10

2.3. Weidmuller Connectors ..................................................................................................11

2.3.1. roboRIO, PCM, VRM ................................................................................................12

2.3.2. CAN bus ..................................................................................................................13

2.4. Blade Fuse .....................................................................................................................14

2.4.1. Blade Fuse Replacements .......................................................................................15

2.5. WAGO OperatingTool .....................................................................................................15

3. LED States ............................................................................................................................16

4. Functional Limitations (software) ...........................................................................................17

4.1. Firmware <1.40: If Robot Is Enabled/Disabled/Enabled Quickly, FRC robot may
momentarily disable. ..............................................................................................................17

4.2. Firmware <1.40: Power and Energy ...............................................................................17

4.3. LabVIEW: Energy signal is not scaled to Joules. ............................................................17

4.4. C++/Java: Energy signal is in Millijoules. ........................................................................17

4.5. Firmware <1.37: Current may read ~2A when there is no current. ..................................17

4.6. FRC2016 roboRIO: CAN Device does not appear in web page diagnostics. ..................18

4.7. FRC 2018: CTRE CAN Receive Timeout ........................................................................19

5. Troubleshooting Tips and Common Questions ......................................................................20

5.1. What is the threshold for Vbat fault? ...............................................................................20

5.2. Are sticky faults cleared during/after a firmware field-update? ........................................20

5.3. Do I need to firmware-update? Where are the files? ......................................................20

Содержание PDP

Страница 1: ...PDP User s Guide 3 28 2018 Cross The Road Electronics Page 1 3 28 2018 Power Distribution Panel User s Guide Revision 1 6 Cross The Road Electronics www crosstheroadelectronics com ...

Страница 2: ...acements 15 2 5 WAGO OperatingTool 15 3 LED States 16 4 Functional Limitations software 17 4 1 Firmware 1 40 If Robot Is Enabled Disabled Enabled Quickly FRC robot may momentarily disable 17 4 2 Firmware 1 40 Power and Energy 17 4 3 LabVIEW Energy signal is not scaled to Joules 17 4 4 C Java Energy signal is in Millijoules 17 4 5 Firmware 1 37 Current may read 2A when there is no current 17 4 6 FR...

Страница 3: ...nsure successful use of your CTRE products To this end we will continue to improve our publications examples and support to better suit your needs If you have any questions or comments regarding this document or any CTRE product please contact support crosstheroadelectronics com To obtain the most recent version of this document please visit www ctr electronics com 6 Revision History 21 ...

Страница 4: ...PDP User s Guide 3 28 2018 Cross The Road Electronics Page 4 3 28 2018 1 Power Distribution Panel at a Glance ...

Страница 5: ...ower WAGO Connectors 8 Red Channels 4 11 30 Amp 8 Red Channels 0 3 12 15 40 Amp Black terminals are common 6 Position Weidmuller Connector PCM VRM Supply 20 Amp fused ATM blade mini fuse roboRIO Supply 10 Amp fused ATM blade mini fuse Max 16 AWG Min 24 AWG See Section 2 3 Weidmuller Connectors for wire insert instructions CAN 4 Position Weidmueller Connector Yellow CAN High x 2 Green CAN Low x 2 ...

Страница 6: ...ause 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 Width 4 748 in Height 1 422 in Weight 1 lb ...

Страница 7: ...k Washers Battery Cover QTY 2 6 32 1 2 Length Battery Cover Flat Head Socket Cap Screw 12 Volt Supply Battery Power Supply etc 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 ...

Страница 8: ...cs Page 8 3 28 2018 2 1 1 Split Washer Warning Care should be taken to ensure the split washers are installed under the screw head If this is not done the robot could exhibit several forms of power brownout issues as the cable harness loosens over time ...

Страница 9: ...Channels 12 15 40 Amp Breaker Limits Closest Red WAGO Supplies Battery Power 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 ...

Страница 10: ...30 or 20 Amp Breaker Limits Closest Red WAGO Supplies Battery Power 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 ...

Страница 11: ... is not excessive enough to cause a short 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 Press and hold down connector button immediately above connector opening Pull wire to remove from connector Limitations Wire should not be frayed upon insertion Extruded wire may short to adjacent channels Wire should be no larger...

Страница 12: ... 12 3 28 2018 2 3 1 roboRIO PCM VRM 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 ...

Страница 13: ...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 ...

Страница 14: ... Warning Also take care to ensure fuses are fully seated into the fuse holders The fuses should descend at least as far as the figure below different brand fuses have different lead lengths It should be nearly impossible to remove the fuse with bare hands without the use of pliers If this is not properly done the robot radio may exhibit intermittent connectivity issues ...

Страница 15: ... hardware stores Do not purchase ATC as they will not fit Example replacement purchase for 10A Controller fuse 2 5 WAGO OperatingTool A small flathead screwdriver may be used to operate the WAGO connectors More information and video can be found online at http wpilib screenstepslive com However there is an available tool designed specifically for WAGO connectors that teams may choose to purchase ...

Страница 16: ...ad Electronics Page 16 3 28 2018 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 ...

Страница 17: ...ghtening tab Issue 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 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 ...

Страница 18: ... the device ID so as to work around this limitation The user can either Power cycle just the missing ID device and manually refresh the browser until device appears or alternatively disconnect CAN bus between the robot controller and the missing ID device Then power cycle or reboot the roboRIO Navigate to the roboRIO s webpage and wait until page fully renders Now reconnect CAN bus and manually re...

Страница 19: ...can result in a CTRE CAN Timeout error being reported in the console DriverStation This seems to be a result of automatic LiveWindow behavior with the PDP and can be fixed by disabling LiveWindow telemetry LiveWindow can either be disabled for the PDP object LiveWindow disableTelemetry _pdp or by disabling all LiveWindow telemetry LiveWindow disableAllTelemetry It is also possible to get CTRE CAN ...

Страница 20: ... and clear faults Updating and Configuring Pneumatics Control Module and Power Distribution Panel At the time of writing this link can be used http wpilib screenstepslive com s 4485 m 24166 l 216217 updating and configuring pneumatics control module and power distribution panel 5 3 Do I need to firmware update Where are the files The ship firmware of the PDP is not FRC legal The latest CRF can be ...

Страница 21: ... 2 1 1 added for lock washer Section 2 4 has additional content for fuse seating Section 5 moved to Section 6 Section 5 added 1 3 19 Feb 15 Section 2 5 Added 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 1 0 30 Dec 14 ...

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