RoboCup: Control Board 2011

Quick Reference

Timeline
Year	2013
Versions
Control Board	2011 Rev c
Kicker Board	-
Main Components
MCU	Atmel AT91SAM7S256
FPGA	Xilinx Spartan-3E
IMU	-
Motors	Maxon EC45flat 30W
Battery	-

Overview

This page contains reference information for the 2011c control boards.

Quick Links

• Testing a MOSFET
• RC Electrical 2014
• Firmware
• Team Description Papers

Motor Operations

RC EE three phase bridge 2011 c.png

A three-phase bridge (figure 1) is the name of the circuit that is used to control each motor. The control signals for the motors come from the FPGA (Spartan-3E Series). The robot uses four (4) 30W three phase brushless motors to maneuver itself on the field. A fifth motor is also used for the dribbler. In order to operate each motor with the needed precision, a brushless motor driving circuit is used for every motor. The motors also contain [-channel MOSFET (IRF9310TRPBF) is used to connect to +12V and a n-channel MOSFET (IRF8734TRPBF) is used to connect to ground. The I/O pins from the FPGA could power the FETs directly, but this would result in a loss of performance (the FETs could not be in their best conduction mode). Therefore, a MOSFET Driver (TC4428) is used in order to boost the signal for the gate on each FET.

MOSFET Operation

RC EE Mosfet Diagram.png

A MOSFET or Metal-Oxide-Semiconductor Field-Effect Transistor, is basically a switch. There are 3 terminals: source, drain, and gate, and figure 2 outlines the physical layout of their relations. If you apply a voltage at the gate, this will allow a flow of charges from the source to the drain. These devices use metal oxides and the charges flow due to the effect of an electric field between the source and drain. Hence why they are called MOSFET. There are 2 types of MOSFETs, nMOSFET - where the majority of charge carriers are electrons - and pMOSFET - where the majority of charge carriers are holes. The gate-source voltage must be high (positive) to turn on a nMOS and low (negative) to turn on a pMOS. This voltage is refereed to as the threshold voltage and is defined in table 1 below. The pMOS is better at pulling the output high while nMOS is better at pulling the output low; Therefore, both MOSFETs are used in the motor driver circuit - they complement one another.

nMOS	pMOS
Vg - Vs > Vt	Vg - Vs < Vt

Single Motor Winding Circuit Explanation

From figure 3, OUTA is the inverting output and OUTB is non--down resistors that ensure INA and INB maintain a proper value if there is no signal from the FPGA. R54 and R55 provide signal stability for the base of each FET (the voltage could oscillate back and forth without them). C26 is used to filter out unwanted high frequencies from VDD.

RC EE Motor Winding.png

Debugging

If a fuse is blown, then a likely cause is that one of the FETs experienced a high back flow of current and broke. Ideally you should test for faulty FETs with the FET tester. If you are stranded on a deserted island without the FET tester, you can still determine if a FET is faulty or not. The steps for checking both nFETs and pFETs using a digital multimeter are outlined on the testing a MOSFET page. It is recommended to change the entire three-phase bridge (3 pFETs, 3 nFETs and 3 MOSFET drivers) if any 1 part is damaged.

Other Websites/Resources

• Youtube video explaining the operations of brushless DC motors (BLDC) - [1]
• PDF about more BLDC motors - DC (BLDC) Motor Fundamentals.pdf|electrathonoftampabay.org [2]

Power Operations

This is the main stage where the input, VDD, from the battery is converted to the different DC voltage levels required by the various components on the board. To protect the components on the board, two (2) things are done:

1. The kicker's power supply is separated from the rest of the control board.
2. A fuse is used for the kicker power supply and the power supply for the motors.

The big red,10A, fuse is used for connecting the battery to all of the motors and the kicker board. The 10A fuse is independent from all digital logic power.

Voltage Monitor for kicker

The voltage monitor is a circuit used to measure the voltage at the output of the transformers, since they are in the range of 150V and is a cause of concern for safety if it is exceeded. The main component of the voltage monitor is the analog-to-digital converter, ADC081C027. The type of architecture used in the ADC is an 8-bit Successive Approximation Register (SAR). In successive approximation, the ADC internally has a DAC, a comparator and 8-

LM2734 Switching Voltage Regulator

The LM2734 is a voltage converter that can convert a maximum of 24V to different output voltages depending upon its configuration in a circuit using external resistors, capacitors, inductors, and diodes. The circuit used to convert VDD to 5V is based on a similar circuit provided in the datasheet. The output voltage depends on the values of the resistors R₈₃ and R₈₄ at the feedback (FB) pin. From the reference diagram, the way to calculate output voltage is given by, R₁ = R₂ ( V_O / V_ref - 1 ). Usually, R₂ is fixed as 10kohm. We need VO to be 5V. V_ref is set internally in the IC as 0.8V, so R₁ is calculated to be 52.5kohm and the control board reflects these values.

MCP1824 Linear Voltage Regulator

The MCP1824is the name for a series of LDO voltage regulatorsthat are capable of providing up to 300mA of current. The regulators come in various fixed and adjustable voltages when purchasing. The control board contains three (3) of these MCP1824regulators. All regulators on the control board from this series are the kind that produce a fixed voltage. These voltages are listed below and test points are located to the left of the power switch for easily probing the outputs of these regulators.

• 3.3V
• 2.5V
• 1.2V

Radio Operations

Halo Antenna

Images of Control Board

• 

  Back

• 

  Motor FETs

• 

  Motor FETs

• 

  Single Motor Circuit

• 

  Motor FETs

• 

  Motor FETs

• 

  System Clock

• 

  Top

• 

  Top

• 

  Connectors

• 

  Connectors

• 

  Power Switch

• 

  Connectors

• 

  Left View

• 

  Right View

• 

  Connectors

• 

  Kicker Discharge Button

• 

  Robot ID Select

• 

  Robot ID Select

• 

  Left Angled View

• 

  Side View

• 

  Status LEDs

• 

  Power Switch

• 

  Encoder & Kicker Connectors

• 

  Motor & Encoder Connectors

• 

  Power Inductor

• 

  Kicker Power Connector

• 

  Power Circuits

• 

  Selectable Switches

• 

  Xilinx FPGA

• 

  Board ID Location

• 

  USB Connection

• 

  Atmel Microcontroller

• 

  Accelerator/Gyroscope Sensors

• 

  Reset Button

• 

  USB & Antenna Connections

Board Overview Videos 

	Board Overview
	FPGA

Component List

Download as PDF

Qty	CAT	PART#	DESC	PKG/MNT	LABEL	NOTES	PRODUCT LINK	DATASHEET LINK
1	Capacitor	500R07S1R8BV4T	RF Capicator	0402	C40		http://www.digikey.com/product-detail/en/500R07S1R8BV4T/712-1271-6-ND/1786943	http://www.johansontechnology.com/images/stories/catalog/JTI_CAT_2012_MLCC_HighQ.pdf
39	Capacitor		100nF	0603	C2, C6, C17, C21, C22, C23, C24, C25, C26, C27, C28, C29, C30, C32, C33, C35, C36, C37, C38, C39, C46, C47, C48, C49, C50, C51, C52, C53, C54, C55, C56, C57, C58, C60, C67, C68, C71, C77, C79
1	Capacitor		100pF	0603	C13
4	Capacitor		10nF	0603	C8, C11, C19, C43
1	Capacitor		1nF	0603	C20
3	Capacitor		0603	C3, C31, C34
2	Capacitor		2.2nF	0603	C9, C59
1	Capacitor		220nF	0603	C12
2	Capacitor		27pF	0603	C15, C16
1	Capacitor		33pF	0603	C18
1	Capacitor		0805	C1
1	Capacitor		0805	C41	35V, aluminum, for power supply
1	Capacitor		1206	C44	6.3V
1	Capacitor		Panasonic E	C42	25V, aluminum, for power supply
5	Capacitor		Panasonic G	C4, C5, C7, C10, C14	25V, aluminum, for motors
4	Connector	0522711179	Motor Header	SMD	J4, J5, J6, J7	11 pins, 1mm pitch, 0.5A current rating, 50V voltage rating	http://www.digikey.com/product-detail/en/0522711179/WM3379CT-ND/2405748	http://www.molex.com/pdm_docs/sd/522711179_sd.pdf
1	Connector	5285-20870	Kicker Header	SMD	J1	8 pins, 2mm pitch, right angle	http://www.mouser.com/ProductDetail/Molex/52852-0870/?qs=kD7lmHUVEJanNvV6FphzIg==	http://www.molex.com/webdocs/datasheets/pdf/en-us/0528520870_FFC_FPC_CONNECTORS.pdf
1	Connector	UX60A-MB-5ST	Mini USB 2.0 Receptacle	SMD	J2	right angle	http://www.digikey.com/product-detail/en/UX60A-MB-5ST/H2961CT-ND/597540	http://www.hirose.co.jp/cataloge_hp/e24000019.pdf
1	Connector	35363-0660	JTAG Header	Through Hole	J10	6 pins, 2mm pitch, right angle	http://www.mouser.com/ProductDetail/Molex/35363-0660/?qs=%2fha2pyFadujBOZ1JGwzODo9s6IhbRgLmbKFlMuRfet72D1vzVyKatg%3d%3d	http://www.molex.com/webdocs/datasheets/pdf/en-us/0353630660_PCB_HEADERS.pdf
1	Connector	35363-0360	Detector Header	Through Hole	J9	3 pins, 2mm pitch, right angle	http://www.mouser.com/ProductDetail/Molex/35363-0360/?qs=%2fha2pyFaduhK4v2tb3HgRUpbM1MbxgTCgr8TLSxaq9o%3d	http://www.molex.com/webdocs/datasheets/pdf/en-us/0353630360_PCB_HEADERS.pdf
1	Connector	35363-0260	LED Header	Through Hole	J3	2 pins, 2mm pitch, right angle	http://www.mouser.com/ProductDetail/Molex/35363-0260/?qs=%2fha2pyFaduhyNMfBO1jMVa8dd2vEMulOKy2iGSNutHw%3d	http://www.molex.com/webdocs/datasheets/pdf/en-us/0353630260_PCB_HEADERS.pdf
2	Connector	"B2PS-VH(LF)(SN)	Battery Header	Through Hole	J11, J19	2 pins, 3.95mm pitch, right angle	http://www.digikey.com/product-detail/en/B2PS-VH%28LF%29%28SN%29/455-1648-ND/926555	http://www.jst-mfg.com/product/pdf/eng/eVH.pdf
1	Connector	1408151-1	Antenna Jack	Through Hole	J8	50ohms, right angle	http://www.digikey.com/product-detail/en/1408151-1/A30741-ND/685515	https://www.samtec.com/ftppub/pdf/mmcx.pdf
1	Connector	35363-0860	Dribbler Header	Through Hole	J17	8 pins, 2mm pitch, right angle	http://www.mouser.com/ProductDetail/Molex/35363-0860/?qs=%2fha2pyFaduiMyCNhbXdsL8gpN6EJXiXRGlv4zydAGUg%3d	http://www.molex.com/webdocs/datasheets/pdf/en-us/0353630860_PCB_HEADERS.pdf
4	Connector	35363-0460	Encoder Header	Through Hole	J13, J14, J15, J16	4 pins, 2mm pitch, right angle	http://www.mouser.com/ProductDetail/Molex/35363-0460/?qs=%2fha2pyFaduj5LMGsqqiWUQR3WhZoP6hp6wDKcJuHuLs%3d	http://www.molex.com/webdocs/datasheets/pdf/en-us/0353630460_PCB_HEADERS.pdf
1	Diode		LED	0603	LED1	beside FPGA
1	Diode	SMBJP6KE18A-TP	Suppressor Diode	DO-214AA (SMB)	D6	17.1V min breakdown, zener type diode	http://www.digikey.com/product-detail/en/SMBJP6KE18A-TP/SMBJP6KE18A-TPMSCT-ND/2345724	http://www.mccsemi.com/up_pdf/SMBJP6KE6.8%28C%29A-SMBJP6KE550%28C%29A%28DO-214AA%29.pdf
2	Diode	MBRX160-TP	Schottky Barrier Rectifier Diode	SOD-123	D1, D2	60V max reverse	http://www.digikey.com/product-detail/en/MBRX160-TP/MBRX160TPMSTR-ND/717266	http://www.mccsemi.com/up_pdf/MBRX120-MBRX160%28SOD123%29.pdf
1	Diode	BAS16H	High-Speed Switching Diode	SOD-123F	D3	100V max reverse, 1.25V @ 150mA forward voltage	http://www.digikey.com/product-detail/en/BAS16H,115/568-5995-1-ND/2531282	http://www.nxp.com/documents/data_sheet/BAS16_SER.pdf
2	Diode	564-0100-132F	RGB LED Array	Through Hole	D4, D5	3mm LEDs, 2.2V, 20mA	http://www.mouser.com/ProductDetail/Dialight/564-0100-132F/?qs=0KZIkTEbAAvHMFIBWgRq8A==	http://www.dialight.com/Assets/Brochures_And_Catalogs/Indication/564-0x00-xxx.pdf
1	IC	KXTF9-2050	Accelerometer	10-VFLGA	U20	25Hz bandwidth, I2C interface, Tri-axis	http://www.digikey.com/product-detail/en/KXTF9-2050/1191-1000-1-ND/3137346	Specifications Rev 7.pdf http://www.kionix.com/sites/default/files/KXTF9-2050%20Specifications%20Rev%207.pdf
1	IC	XC3S100E-4TQG144	Spartan-3E FPGA	144-LQFP	U1	144 I/O pins	http://www.digikey.com/product-detail/en/XC3S100E-4TQG144C/122-1478-ND/1091706	http://www.xilinx.com/support/documentation/data_sheets/ds312.pdf
1	IC	IMU-3000	Inertial Measurement Unit	36-QFN	U19	6-axis	http://www.invensense.com/mems/gyro/imu3000.html	http://www.invensense.com/mems/gyro/documents/PS-IMU-3000A.pdf
1	IC	AT91SAM7S256	Microcontroller	64-LQFP	U7	55MHz, 32 I/O pins, 256KB memory	http://www.digikey.com/product-detail/en/AT91SAM7S256D-AU-999/AT91SAM7S256D-AU-999CT-ND/3720075	http://www.atmel.com/images/doc6175.pdf
1	IC	M25P10-AVMN6TP	1Mbit Serial Flash Memory	SOIC-8	U2	SPI serial interface	http://www.digikey.com/product-detail/en/M25P10-AVMN6TP/M25P10-AVMN6TPCT-ND/1880692	Sheets/Micron Technology Inc PDFs/M25P10-A.pdf http://media.digikey.com/pdf/Data%20Sheets/Micron%20Technology%20Inc%20PDFs/M25P10-A.pdf
1	Inductor	L-07C5N6SV6T	RF Ceramic Inductor	0402	L4	5.6nH inductance	http://www.digikey.com/product-detail/en/L-07C5N6SV6T/712-1462-1-ND/1915241	http://www.johansontechnology.com/images/stories/rf-inductors/cci/JTI_CAT_2012_Inductors_Chip.pdf
3	Inductor	HZ0603B102R-10	Ferrite EMI Chip Bead	0603	L2, L3, L5	rated for 200mA	http://www.digikey.com/product-detail/en/HZ0603B102R-10/240-2378-6-ND/1730389	http://www.lairdtech.com/WorkArea/linkit.aspx?LinkIdentifier=id&ItemID=4876
1	Inductor	SDR0403-270KL	Power Inductor	SMD	L1	27uH inductance, 710mA current rating, +/-10% tolerance	http://www.digikey.com/product-detail/en/SDR0403-270KL/SDR0403-270KLCT-ND/2127088	http://www.bourns.com/data/global/pdfs/sdr0403.pdf
1	Oscillator		18.432MHz Crystal Oscillator	SMD	X1	3.3V
1	Oscillator	644-1055-1-ND	27.000MHz Crystal Oscillator	SMD	X2	8pF load capacitance	http://www.digikey.com/product-detail/en/NX3225SA-27.000MHZ-STD-CSR-1/644-1055-1-ND/1128927	Sheets/NDK PDFs/NX3225SA.pdf http://media.digikey.com/pdf/Data%20Sheets/NDK%20PDFs/NX3225SA.pdf
1	Other		Spare FPGA Pins (Not Populated)		J20
1	Other		Voltage Test Points (Not Populated)		J12
1	Other	947705-012	Selector Knob				http://www.digikey.com/product-detail/en/947705-012/GH5006-ND/10734	http://lgrws01.grayhill.com/web1/images/ProductImages/Series94HDIP.pdf
4	Other		Not populated	0603	R11, R80, R105, R115
1	Other	FUSESF-1206F100-2	Small Fuse	1206	F2	rated for 1A, 63V	http://www.digikey.com/product-detail/en/SF-1206F100-2/SF-1206F100-2CT-ND/1948202	http://www.bourns.com/data/global/pdfs/sf1206f.pdf
1	Other	PS1240P02BT	Piezo Buzzer	Through Hole	BZ1		http://www.digikey.com/product-detail/en/PS1240P02BT/445-2525-1-ND/935930	http://www.tdk.co.jp/tefe02/ef532_ps.pdf
2	Other	BK6011	Fuseholder	Through Hole	F1		http://www.digikey.com/product-search/en?vendor=0&keywords=BK6011	http://www.memoryprotectiondevices.com/datasheets/BK-6011-datasheet.pdf
15	Power	IRF8734TRPbF	N-channel Power MOSFET	SOIC-8	Q2, Q4, Q6, Q8, Q10, Q12, Q14, Q16, Q18, Q20, Q22, Q24, Q26, Q28, Q30	closest to driver, 30V, 21A	http://www.digikey.com/product-detail/en/IRF8734TRPBF/IRF8734TRPBFTR-ND/2096582	http://www.irf.com/product-info/datasheets/data/irf8734pbf.pdf
15	Power	TC4428	MOSEFT Driver	SOIC-8	U6, U9, U12, U15, U18, U21, U24, U27, U30, U33, U36, U39, U42, U45, U48		http://www.digikey.com/product-detail/en/TC4428COA/TC4428COA-ND/267356	http://ww1.microchip.com/downloads/en/DeviceDoc/20001422F.pdf
15	Power	IRF9310TRPbF	P-channel Power MOSFET	SOIC-8	Q1, Q3, Q5, Q7, Q9, Q11, Q13, Q15, Q17, Q19, Q21, Q23, Q25, Q27, Q29	closest to edge, -30V, -20A	http://www.digikey.com/product-detail/en/IRF9310TRPBF/IRF9310TRPBFDKR-ND/2202251	http://www.irf.com/product-info/datasheets/data/irf9310pbf.pdf
1	Power	MCP1824ST-3302E/DB	3.3V, 0.3A Regulator	SOT-223-3	U8		http://www.digikey.com/product-detail/en/MCP1824ST-3302E%2FDB/MCP1824ST-3302E%2FDBCT-ND/2003475	http://ww1.microchip.com/downloads/en/DeviceDoc/22070a.pdf
1	Power	FDV304P	MOSFET	SOT-23	Q33	p-channel, 25V, 460mA	http://www.digikey.com/product-detail/en/FDV304P/FDV304PTR-ND/458854	http://www.fairchildsemi.com/ds/FD/FDV304P.pdf
1	Power	MCP1824T-1202E/OT	1.2V, 0.3A Regulator	SOT-23-5	U4		http://www.digikey.com/product-detail/en/MCP1824T-1202E%2FOT/MCP1824T-1202E%2FOTCT-ND/1979789	http://ww1.microchip.com/downloads/en/DeviceDoc/22070a.pdf
1	Power	MCP1824T-2502E/OT	2.5V, 0.3A Regulator	SOT-23-5	U5		http://www.digikey.com/product-detail/en/MCP1824T-2502E%2FOT/MCP1824T-2502E%2FOTCT-ND/1817326	http://ww1.microchip.com/downloads/en/DeviceDoc/22070a.pdf
1	Power	LM2734XMKX/NOPB	DC-DC Switching Regulator	SOT-23-6	U3	1A output current	http://www.digikey.com/product-detail/en/LM2734XMKX%2FNOPB/296-35168-1-ND/3738879	http://www.ti.com/lit/ds/symlink/lm2734.pdf
1	Radio	0896BM15A0001	Balun Filter	0805	U13	For RF tranceiver, 863MHz - 928MHz	http://www.digikey.com/product-detail/en/0896BM15A0001E/712-1474-2-ND/2038627	Sheets/Johanson Technology/0896BM15A0001.pdf http://media.digikey.com/PDF/Data%20Sheets/Johanson%20Technology/0896BM15A0001.pdf
1	Radio	CC1101	UHF Transceiver	32-VQFN	U10	310MHz - 928MHz	http://www.ti.com/product/cc1101-q1	http://www.ti.com/lit/ds/symlink/cc1101-q1.pdf
1	Resistor		52.3k?	0603	R83
5	Resistor		0?	0603	R14, R15, R102, R113, R114
3	Resistor		1.5k?	0603	R17, R94, R110
30	Resistor		10?	0603	R18, R19, R22, R23, R26, R27, R30, R31, R34, R35, R38, R39, R42, R43, R46, R47, R50, R51, R54, R55, R58, R59, R62, R63, R66, R67, R70, R71, R74, R75
42	Resistor		10k?	0603	R2, R5, R7, R8, R12, R20, R21, R24, R25, R28, R29, R32, R33, R36, R37, R40, R41, R44, R45, R48, R49, R52, R53, R56, R57, R60, R61, R64, R65, R68, R69, R72, R73, R76, R77, R82, R84, R96, R97, R111, R112, R116
1	Resistor		100k?	0603	R16
1	Resistor		5.6k?	0603	R78
1	Resistor		56k?	0603	R95
1	Resistor		68k?	0603	R81
2	Resistor		330k?	0603	R108, R109
4	Resistor		220?	0603	R10, R13, R79, R107
1	Resistor		27?	0606	R93
14	Resistor		220? Array (2)	0606	R89, R90, R91, R92, R103, R119, R122, R123, R124, R125, R128, R129, R130, R131
1	Resistor		150?	0805	R9	1/8w
12	Resistor		220? Array (4)	1206	R1, R3, R4, R6, R85, R86, R87, R88, R104, R117, R118, R120
1	Switch	KMR 2	Tactile Button Switch	SMD	S4		http://www.ck-components.com/kmr-2/tactile,10572,en.html	http://www.ck-components.com/14414/kmr2_9aug12.pdf/
1	Switch	219-4LPST	Dip Switch Array	SMD	S1	SPST, 4 positions	http://www.digikey.com/product-detail/en/219-4LPST/CT2194LPST-ND/223169	http://www.ctscorp.com/components/Datasheets/219.pdf
1	Switch	94HBB16RAT	Selector	Through Hole	S5	16 positions	http://www.digikey.com/product-detail/en/94HBB16RAT/GH7262-ND/726320	http://lgrws01.grayhill.com/web1/images/ProductImages/Series94HDIP.pdf
1	Switch	B3F-3120	Tactile Switch	Through Hole	S2	SPST, right angle, 0.05A @ 24V DC rating	http://www.digikey.com/product-detail/en/B3F-3120/SW407-ND/38364	http://www.components.omron.com/components/web/PDFLIB.nsf/0/D85EBCB9FA436B2485257201007DD56E/$file/B3F_0811.pdf
1	Switch	M2022S2A2W30	DPDT Toggle Switch	Through Hole	S3	30V max DC, 4A max DC, main power switch	http://www.digikey.com/product-detail/en/M2022S2A2W30/360-1838-ND/1006917	http://www.nkkswitches.com/pdf/MtogglesAnglePC.pdf