Versions Compared

Old Version 33

changes.mady.by.user Joshua C Leighton

Saved on

compared with

New Version Current

changes.mady.by.user Joshua C Leighton

Saved on

Key

  • This line was added.
  • This line was removed.
  • Formatting was changed.
Comment: Migration of unmigrated content due to installation of a new plugin

...

Section
Column
width500px

LED Control:

DOUT1 - pin1 on motor driver DB15 connector
+5V taken from LED driver 

        

External connector shared with e-stop:
Bottom right - LED + 
Bottom left - LED -  

Column
width500px

Motor Driver:

Roboteq I/O connector:
1 - DOUT1 - see led control above
2 - TX - green - top left on cpu connector
3 - rx - blue - top right on cpu connector
4 - DIN1 - e-stop - top right on e-stop connector
13 - gnd -  power switch led gnd
14 - 5v - power switch led + and e-stop top left 

CPU Box Connector:
top left - green - roboteq tx - roboteq I/O pin 2
top right - blue - roboteq rx - roboteq I/O pin 3
bottom left - power ground
bottom right - power vbatt

Power Switch Wiring:
C1 - power control
NO - vbatt
NC - ground
LED+ - roboteq i/o pin 14 (5v)
LED- - roboteq i/o pin 13 (gnd)

Column

main power plugs put positive on the right, ground on the left
batteries use the opposite (positive on left, ground on right)
batteries also use center pin for balance ground, then highest voltage top right decreasing clockwise (lowest/first cell top left) 

...

CPU Box:

Section

Arduino Shield <-> Power Board

Column
width500px
linePower Board LabelArduino LabelArduino Pin

Radio power control

Sense

unwired

A4

Servo power control

6v

RAUX

A3

Vbat control

Not labeled

unwired

A2

12v control

12v

R12

A1

Servo pwm

Servo

SRVO

A0

gnd

Gnd

GND

GND

+5

vin                 

5v

5v

power reset

Not labeled

VBAT

12

radio power control is no longer used as of radio box redesign in january 2015

Section

Modifications and Bodges:

Column
width500px

Power Board:

  • Vbat control (unlabeled between 12v and 6v) must be wired to pin 1 of its optorelay (immediately below the left main power connector)
  • Radio power control must be manually wired to a 2-pin KK connector (along with 5V) in the proto area
  • Optorelay for 6v control must be double up, and its associated resistor (vertical and to the left) halved to ~300 ohms

Arduino Shield:

  • Radio power control and VBat control must be manually wired (see tables above)
  • 12v control line transistor can be bypassed
  • motor driver is wired to serial uart 2
  • gumstix is wired to serial uart 1
  • tmp102 temp sensor resides on i2c bus
  • sbus wired to uart3
  • wiznet wired to default uart (shared with usb)
Column
width500px

Arduino Serial Details:

Image Modified

Column

 wiznet serial now comes in on ethernet spares:
brown to  R2in
striped brown to T1out 

Section

Self Power Reset

on kestrel this has been modified as follows to prevent the positive input from hitting the positive rail.

Section

3.3V power for radio box

Image Added

Section

External Connectors on cpu box

new radio boxes now use 3.3volts on the control pin
radio plug on radio box is mirrored (left right) from the radio plug shown above 

Section

FTID USB-COM232-PLUS4

2 - rxd
3 - txd
5 - gnd

modem port A
db9 pin 2 <-> top right
db9 pin 3 <-> bottom middle
db9 pin 5 <-> bottom left 

freewave port B
db9 pin 2 <-> solid blue
db9 pin 3 <-> striped blue

external/altimeter port C
db9 pin 2 <-> bottom left (viewed from outside)
db9 pin 3 <-> bottom right

Section

Additional Information:

 

Column
width500px

Tritech Depth Sounder:

  • Draws approximately 110mA at 12v
  • 3 pin impulse connector with pin 1 higher than the others and closer to pin 2 than pin 3
    • 1 - gnd
    • 2 - signal (rs232, 9600 baud)
    • 3 - power (vbatt ok, 10.5-20v)

Cruzpro Depth Sounders:

  • red - power
  • shield - gnd
  • green - signal
  • white - unused
Column
width500px

Duovero Header:

Column

 

...

Radio Box

Section

RJ45 reference:

Image Added

In 100BaseT link only orange and green pairs are used, blue and brown are spare.

External Connector

 See cpu section above

Wiznet (WIZ108R)

Make sure serial debug mode is turned off in configuration tool

Image Added

Freewave Serial Pinouts:

Image RemovedImage Removed

POE on spares uses
blue and striped blue for DC +
brown and striped brown for DC - 

 

Freewave:

RS485 pinouts:
D+ short pins 5 and 6
D- short pins 7 and 8
gnd on pin 4

RS232 pinouts:
pin 4 gnd
pin 5 RX
pin 6 TX

COM1 used for RS485

COM2 used for RS232
pin 5 - rx - striped blue
pin 6 - tx - solid blue 

Moxa rs232/rs485 converter (TCC-80)

moxa db9 rs232 side uses
tx - 2 - brown
rx - 3 

Image Removed

- striped brown

rs485 side must have ground connected
power plug must have ground and +5v Image Removed

moxa dip switches: 1 and 2 on (rs485 two wire), 3 off (no termination)

Image Removed

Bullet PoE

POE on spares uses
blue and striped blue for DC +
brown and striped brown for DC - 

Overall:

 

 

 

...

Payload Computer

Positive power bottom left, ground bottom right