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| mjbots power dist reference | ||
| This document has moved to: | ||
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| # A. Operation # | ||
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| This documentation refers to the most recent (r3.1) version of the | ||
| board. | ||
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| The power dist board provides pre-charging, a soft power switch, and a | ||
| power connector fanout for use in robotic applications. The input can | ||
| be directly connected to a battery or power supply. The output can be | ||
| connected to high capacitance loads. When the switch is enabled, the | ||
| board will first apply power through a limiting resistor to "charge | ||
| up" the output capacitance for 100ms before connecting the low | ||
| impedance source. | ||
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| Additionally, a 125 kbps CAN port allows robot software to monitor the | ||
| state of the switch and request a "soft power down". | ||
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| ## Specifications ## | ||
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| * Input voltage: 8-34V | ||
| * Peak current: 90A | ||
| * Continuous current: 45A | ||
| * Quiescent current (off): 3mA | ||
| * Dimensions: 45x70mm | ||
| * Mass: 28.3g | ||
| * Connectors: | ||
| * Input: Optional Amass XT90 | ||
| * Output: 6x Amass XT30 | ||
| * CAN: 2x JST-PH3 | ||
| * Switch and LED: JST-PH4 | ||
| * STM32 SWD: JST-ZH6 | ||
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| ## Mounting ## | ||
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| 4x M2.5 mounting holes are provided in a 64mm x 39mm rectangular | ||
| pattern. | ||
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| # B. CAN protocol # | ||
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| The power dist board emits the following CAN frame at 10Hz. | ||
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| * CAN ID: 0x10004 | ||
| * byte 0: Switch status (0 is off, 1 is on) | ||
| * byte 1: Lock time in 0.1s intervals | ||
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| It listens for a frame of the following properties: | ||
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| * CAN ID: 0x10005 | ||
| * byte 0: Reserved, keep at 0 | ||
| * byte 1: Lock time in 0.1s intervals | ||
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| While the lock time is non-zero, the power switch will not turn off | ||
| the output load until the count does reach zero. An application which | ||
| desires soft power down can periodically "kick" the lock interval to | ||
| keep power applied, then stop doing so when it is ready for the power | ||
| to turn off. | ||
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| # C. pinout # | ||
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| ## XT-90 Input ## | ||
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| The XT-90 connector has a `-` and a `+` imprint on the housing. | ||
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| ## XT-30 Output ## | ||
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| The XT-30 connectors have a `-` and a `+` imprint on the housing. | ||
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| ## JST PH-4 Switch ## | ||
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| Looking at the pins of the connector from the top with the mjbots logo | ||
| right side up the pins are numbered from right to left. | ||
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| - 1 - LED+ - LED positive | ||
| - 2 - LED- - LED ground | ||
| - 3 - SWP - Switch positive | ||
| - 4 - SWG - Switch ground | ||
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| ## JST PH-3 CAN ## | ||
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| Looking at the pins of the connector with the mjbots logo right side | ||
| up, the pins are numbered from the bottom to the top. | ||
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| - 1 - CAN_H | ||
| - 2 - CAN_L | ||
| - 3 - GND | ||
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| NOTE: This ground IS NOT the same as the output ground. DO NOT | ||
| connect ground from the CAN connector to an output load. `CAN_H` and | ||
| `CAN_L` are fine to connect, just not ground. | ||
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| ## JST ZH-6 SWD ## | ||
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| Looking at the pins of the connector with the mjbots logo right side | ||
| up the pins are numbered 1 to 6 from top to bottom. | ||
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| - 1 - NC | ||
| - 2 - NRST | ||
| - 3 - SWDIO | ||
| - 4 - GND | ||
| - 5 - SWCLK | ||
| - 6 - 3.3V | ||
| https://github.com/mjbots/power_dist/ |