Black Jaguar new Firmware

[Dragonslayerend]

Hey when does firmware v107 comes out? or do we have to wait till later?

[jtdowney]

I saw the firmware download (http://content.vexrobotics.com/downloads/217-3367-VEXpro_Jaguar_Firmware_107.zip) on the IFI website by going to the product page for Jaguars (http://www.vexrobotics.com/vexpro/motor-controllers/217-3367.html).

[Joe Ross]

Both bdc-comm and the firmware are installed with the utilities update.

[Dragonslayerend]

Thanks, I was looking back at the texas instruments page

[Levansic]

Has anyone found the release notes, or what changed since v.101?

The FAQ gave no indication of any behavior change, although there was a rumor of removing the current limit.

[AlexBrinister]

We have flashed our Jaguars with the latest firmware (107) but have found that under it, the motor cuts out if it comes under load (after our shooter shoots a frisbee for example). Has anyone else experienced this?

Alex Brinister

[Ether]

the motor cuts out if it comes under load (after our shooter shoots a frisbee for example)

Try this simple solution to see if it helps:

If you are using PWM, you can enable the fixed ramp rate of full reverse to full forward in 1/8 second by placing the limit jumpers parallel to the front of the Jag. See Pages 2-3 of this (http://www.ti.com/lit/an/spma033a/spma033a.pdf) document.

[Alan Anderson]

That sounds like an overcurrent fault on the Jaguar. If the motor tries to pull more than 40 amps, the Jaguar shuts off its output for a few seconds.

But I thought the current limit was removed from the latest FRC firmware.

[Ether]

But I thought the current limit was removed from the latest FRC firmware.

Alan,

You're usually right about such things, but that's news to me.

Where did you hear that?

[AlexBrinister]

If you are using PWM, you can enable the fixed ramp rate of full reverse to full forward in 1/8 second by placing the limit jumpers parallel to the front of the Jag. See Pages 2-3 of this document.


We do not use PWM.

In our case, the Jaguar shuts off indefinitely (does not come back online after a few seconds). The only way to get it back is to power cycle the control board.

This did not occur with the previous firmware (101). We reverted back to that version but I'm still curious as to why this is happening...

Alex Brinister

[Ether]

We do not use PWM.

It's available in CAN mode as well, at least it used to be.

But I agree with your desire to understand what's going on rather than just put a band-aid on it.

Do you have access to a scope so you could see what the current is actually doing when the frisbee passes through?

[AlexBrinister]

Yeah, we use the CAN interface and a 2CAN.

Not at the moment, but I will tomorrow. Will post results and observations then.

Alex Brinister

[Levansic]

If I recall correctly, there was a very quick mention about the current limit being removed as part of the announcement of IFI taking over the production of the Jaguar. That's why I am very keen on finding the release notes for what changed between v. 101 and v. 107.

[Joe Ross]

http://www.usfirst.org/roboticsprograms/frc/blog-10-03-12

Second, the firmware will be modified to remove the current limit protection (this is for black Jaguars only and will not apply to the grey Jaguars).

More discussion here: http://www.chiefdelphi.com/forums/showthread.php?p=1188950#post1188950 see post 13

[Ether]

http://www.usfirst.org/roboticsprograms/frc/blog-10-03-12

More discussion here: http://www.chiefdelphi.com/forums/showthread.php?p=1188950#post1188950 see post 13


Thanks Joe.

I had read the CD thread (and post) you linked to, but not blog. I had the impression that the current limit was modified to improve perceived robustness, but not eliminated entirely. Time will tell I guess.

[Ricky Q.]

We have updated the Jaguar product page with information about the current limit changes implemented in v107.

The Jaguar Motor Controller includes a software current limit. This current limit protects the Jaguar hardware from damage. This limit is based on 3 current draw values in the firmware; a value at which the controller will never shut off, a value at which the controller will shut off after a short period of time, and a value at which the Jaguar will immediately shut off. After experimentation, the immediate shut-off ceiling was raised in the v107 firmware to better reflect the capabilities of the Jaguar hardware, and to better perform in FRC applications (when the Jaguar is protected by an external circuit breaker).

The new immediate limit is 92A.

More information here: http://www.vexrobotics.com/vexpro/motor-controllers/217-3367.html