RoboCup: Control Board 2011

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Quick Reference
Timeline
Year 2013-2014
Versions
Control Board 2011c
Kicker Board
Main Components
MCU AT91SAM7S256
FPGA XC3S100E-TQ144
IMU IMU-3000
Motors 30W
Battery -

Overview

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

Quick Links

Testing a MOSFET for the 2011c boards.

Motor Operations

Three-Phase Bridge Schematic

The control signals for the motors come from the FPGA (XC3S100E). The robot uses 4 30W three phase brushless motors to maneuver itself on the field. A 5th 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 hall- Each phase of a brushless motor is controlled using 2 transistors. For this application, a MOSFET type transistor is used. Although MOSFET is the appropriate technical name, it is often shortened by simply saying FET. A p-channel MOSFET (IRF9310TRPBF) is used to connect to +12V and a n-

MOSFET Operation

MOSFET Conduction Diagram

A MOSFET or Metal-Oxide-Semiconductor Field-Effect Transistor, is basically a switch. There are 3 terminals: source, drain, and gate. 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 as:


Conduction Requirements
nMOS pMOS


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.


Single Motor Winding Circuit Explanation

OUTA is the inverting output and OUTB is non-inverting output (from the MOSFET Driver). Q7 is the pMOS and Q8 is the nMOS. The source of the pMOS is connected to VDD (+12V) and the drain is connected to one of the motor coils. In the nMOS, the source is connected to the motor coil while the drain is connected to GND.

-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.

Single Motor Winding for BLDC Motors


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) - LINK
  • PDF about more BLDC motors - LINK


Radio Operations

Information will be updated later

Power Operations

Information will be updated later



Images

**Images will be integrated into the page when uploading the files is stable. Until then, there is a PDF download.

Download the images as a PDF file.

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Videos


Component List

PDF Download

Download as PDF

Sortable Table

**Clink any heading to sort the table rows**

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
2 Capacitor 2.2nF 0603 C9, C59
1 Capacitor 220nF 0603 C12
2 Capacitor 27pF 0603 C15, C16
1 Capacitor 33pF 0603 C18
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 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 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 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 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

Links

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