Motor drive PCB: Difference between revisions

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== Motor drive PCB version 1,.2 ==
== Motor drive PCB version 1,.2 ==


[[File:motor_drive_PCB-front-cut.png]]
[[File:motor_drive_PCB-top-ann.png | 500px]]
[[File:motor_drive_PCB-back-cut.png]]


Figure 1,2. Pcb with (most) plug functions.
Figure 1. Pcb version 2.1 with plug usage.


[[File:power-on-mod-new-ann.png]]
[[File:power-on-mod-new-ann.png | 500px | Teensy circuit version 2.1]]
[[File:power-on-mod-old-ann.png]]


Figure 3,4. The power on/off part of the circuit, with modifications for external on-switch and 3.3V for AS5147U SPI connectors.
Figure 2. Teensy circuit version 2.1 for four motor controls.


=== Power on ===
=== Power on ===


Power on is modified to use an external switch.
Power on is designed to use an external power-on switch.
The external switch turns on one board; this board then turns on slave boards.
The external switch turns on one board; this board then turns on slave boards.


All bords that should turn on must have the physical switch in the on position.
The physical on-off switch on the Teensy board is shorted in on-position.


To turn individual boards on, use the 'Power reset' button, with the switch on that board on and all other switches off.
=== Power off ===
 
Raspberry Pi initiates turn off, which orders Teensy (boards) to turn off after the Raspberry shutdown.
A request power off button will tell the Raspberry that it is time to shut down.
 
Do not use the battery's power-off feature except in emergencies (e.g., if the battery is totally flat or something is burning).
 
=== Bonnet view ===


=== Power off ===
[[File:Scorpi-under-the-bonnet.jpg | 500px]]
 
Figure 3. Power on and off. The on/off on the battery (top of image) is for emergency use only.


Do not turn power off by operating the switch, if there is a Raspberry Pi operating on its power.
The teensy PCB (green light) is for steering and crane-yaw.


Power of should use the 'power off' command from each Raspberry, with an off delay, to allow the Raspberry to shut down nicely.
The Raspberry (at the bottom of image) is for the Lidar and the D455 3D camera.

Revision as of 08:50, 30 July 2024

Back to scorpi

Motor drive PCB version 1,.2

Figure 1. Pcb version 2.1 with plug usage.

Teensy circuit version 2.1

Figure 2. Teensy circuit version 2.1 for four motor controls.

Power on

Power on is designed to use an external power-on switch. The external switch turns on one board; this board then turns on slave boards.

The physical on-off switch on the Teensy board is shorted in on-position.

Power off

Raspberry Pi initiates turn off, which orders Teensy (boards) to turn off after the Raspberry shutdown. A request power off button will tell the Raspberry that it is time to shut down.

Do not use the battery's power-off feature except in emergencies (e.g., if the battery is totally flat or something is burning).

Bonnet view

Figure 3. Power on and off. The on/off on the battery (top of image) is for emergency use only.

The teensy PCB (green light) is for steering and crane-yaw.

The Raspberry (at the bottom of image) is for the Lidar and the D455 3D camera.

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