CTR Electronics PDP Manuale utente

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

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

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TO OUR VALUED CUSTOMERS

It is our intention to provide our valued customers with the best documentation

possible to ensure 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

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1. Power Distribution Panel at a Glance

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1.1. Connection Specifications

●Battery

○Bushings Lugs x 2

○Thread M6x1 (10mm Length)

●Power Channels (All Channels provide battery power)

○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

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1.2. Electrical Specifications

Input Voltage (Vbat)

5.5-16 V

Absolute Max Input Voltage(1)

0 - 20 V

Output Voltage

●Channels 0-3, 12-15

Vbat - 40 A

●Channels 4-11

Vbat - 20 or 30 A

●VRM, PCM Weidmuller

Vbat - 20 A fused

●Controller Weidmuller

Vbat - 10 A fused

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.

Width

4.748 in.

Height

1.422 in.

Weight

1 lb. 5.3 oz.

1.4. Communication Specifications

Baud Rate

1 MB/s

CAN Termination

120 Ohm (jumper placed in the ON position).

None (jumper missing or placed in the OFF

position).

CAN High / Low

2 Ports

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2. Installing a PDP

2.1. Battery harness

●Components

○QTY 2 - M6x1 Bolts (10mm Length) Socket Head Cap Screws

○QTY 2 - 6mm Split (Lock) 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.

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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.

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2.2. Breakers

2.2.1. Snap Action 40 Amp Breaker

●Channels 0-3, 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.

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2.2.2. Snap Action 20/30 Amp Breaker

●Channels 4-11

○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.

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