Question about things that MUST be on the robot w/o compressor

[Yuan Xue Lim]

Our team has now decided to take off the compressor. Due to the concern of weight, the programming group(also the electrical group) is wondering which part is required, which part is not. I look it up at the inspection checklist and the manual but I am still confuse.

[EricH]

<R76-D> If the compressor is not included on the ROBOT (under the provisions of Rule <R75>), the regulator may be located on-board or off-board, provided all other pneumatic rules are satisfied. Note that if the regulator is kept off-board the ROBOT with the compressor, then only low-pressure (60psi or less) “working” air can be stored on the ROBOT.

<R77> The relief valve must be attached directly to the compressor. If the relief valve is already set to 125psi, teams are not allowed to adjust it. If the relief valve is not set to 125psi, teams are required to adjust to release air at 125psi. The valve may or may not have been calibrated prior to shipping.

<R78> The Nason pressure switch must be connected to the high-pressure side of the pneumatic circuit (i.e. prior to the pressure regulator) to sense the “stored” pressure of the circuit. The two wires from the pressure switch must be connected directly to a digital input and ground port on the Digital Sidecar, and the cRIO-FRC must be programmed to sense the state of the switch and operate the relay module that powers the compressor to prevent over-pressuring the system.

<R79> The Parker pressure vent plug valve must be connected to the pneumatic circuit such that, when manually operated, it will vent to the atmosphere to relieve all stored pressure. The valve must be placed on the ROBOT so that it is visible and easily accessible. If the compressor is not used on the ROBOT, then an additional vent valve must be obtained and connected to the high-pressure portion of the pneumatic circuit off board the ROBOT with the compressor (see Rule <R74>).

Also, under <R75>, off-board compressors must be controlled by the robot.

[Yuan Xue Lim]

Originally Posted by EricH

Also, under <R75>, off-board compressors must be controlled by the robot.

Does this mean the Nason pressure switch and spike relay module must be on the robot? Because these are the only two things that we want to remove.

[EricH]

Originally Posted by Yuan Xue Lim

Does this mean the Nason pressure switch and spike relay module must be on the robot? Because these are the only two things that we want to remove.

The way I read that, they can go either off-board or on-board.

For official clarification, try the official Q&A.

[Yuan Xue Lim]

Originally Posted by EricH

The way I read that, they can go either off-board or on-board.

For official clarification, try the official Q&A.

Ok i will try that
I represent team 3017 to thank you for helping out

[Wolfgang]

If you have any solenoids at all on your bot, you must have the compresser. The compresser compresses air for your robot's solenoids to function. If you don't have any other neumatics, I am pretty sure that you don't need the compresser at all.

[EricH]

Originally Posted by Wolfgang

If you have any solenoids at all on your bot, you must have the compresser. The compresser compresses air for your robot's solenoids to function. If you don't have any other neumatics, I am pretty sure that you don't need the compresser at all.

It is entirely and explicitly legal to have the compressor offboard of your robot. You have to charge your tanks with it, but it does not have to be on your robot.

[BEEKMAN]

Originally Posted by Wolfgang

If you have any solenoids at all on your bot, you must have the compresser. The compresser compresses air for your robot's solenoids to function. If you don't have any other neumatics, I am pretty sure that you don't need the compresser at all.

you're missing what he's asking, he wants to know whats needs to be on the robot if you have an OFFBOARD compressor, as in, they charge their cylenders before a match, and not use enough air to dischage them, thus, no need for a compressor on teh robot

[Yuan Xue Lim]

Another question, can we precharge the air through the Parker Valve that was provided?

[EricH]

Nothing says you can't that I can find; you'll want to put a fitting in so the connection doesn't leak.

(Of course, my opinion is not necessarily valid at inspection; to be sure, ask Q&A.)

[Yuan Xue Lim]

Originally Posted by EricH

Nothing says you can't that I can find; you'll want to put a fitting in so the connection doesn't leak.

(Of course, my opinion is not necessarily valid at inspection; to be sure, ask Q&A.)

I want to ask but they are now close for new post...

[EricH]

Q&A stays open through the regionals, typically. You need the right username and password to post a question; talk to your team's Main Contact for FIRST to get them.

[jgannon]

Originally Posted by EricH

The way I read that, they can go either off-board or on-board.

I'm inclined to disagree.

<R74> If pneumatic components are used on the ROBOT, the pneumatic system on the ROBOT must contain as a minimum
• Pressure gauges to display the “stored” and “working” air pressure (see Rule <R76>), the following components, connected in accordance with this section.
• A pressure relief valve, calibrated and set to release at 125psi (see Rule <R77>),
• A pressure switch, calibrated and connected to the ROBOT control system (see Rule <R78>),
• An easily visible and accessible pressure vent plug valve to manually relieve the stored pressure (see Rule <R79>).

That rule seems to indicate that the switch is required on-board, but the Spike is not.

Originally Posted by R75 blue box

The only difference between an on- and off-board compressor is that the off-board compressor is physically removed from the ROBOT.

Blue boxes are not rules, but this makes me wonder if the intent is indeed to leave the Spike on-board. Only the Q&A knows for sure.

[Yuan Xue Lim]

Originally Posted by EricH

Q&A stays open through the regionals, typically. You need the right username and password to post a question; talk to your team's Main Contact for FIRST to get them.

ic ok thanks

[Teched3]

Here is the applicable rules concerning on and off board compressors.

<R75> Compressed air for the pneumatic system on the ROBOT must be provided by one and only one compressor. This compressor may be either the Thomas Industries compressor from the KOP, or an equivalent compressor that does not exceed any of the KOP compressor performance specifications (specifically: 12v, 0.8cfm flow rate, 120psi continuous pressure, 120psi maximum pressure compressor). Note: if an alternative compressor is used, during inspection the team may be required to provide documentation to show compliance with the performance specifications. Compressed air shall not come from any other source. The compressor may be mounted on the ROBOT, or it may be left off the ROBOT and used to pre-charge compressed air in the storage tanks prior to bringing the ROBOT onto the FIELD. Off-board compressors must be controlled and powered by the ROBOT.
<R76> “Working” air pressure on the ROBOT must be no greater than 60psi. All working air must be provided through one primary Norgren adjustable pressure regulator.
A. All “working” pneumatic components (e.g. valves, cylinders, rotary actuators, etc.) must be downstream from this regulator.
B. Only the compressor, relief valve, pressure switch, pressure vent plug valve, pressure gauge, storage tanks, tubing, and connecting fittings may be in the high-pressure pneumatic circuit upstream from the regulator.
C. Pressure gauges must be placed in easily visible locations upstream and downstream of the regulator to display the “stored” and “working” pressures.
D. If the compressor is not included on the ROBOT (under the provisions of Rule <R75>), the regulator may be located on-board or off-board, provided all other pneumatic rules are satisfied. Note that if the regulator is kept off-board the ROBOT with the compressor, then only low-pressure (60psi or less) “working” air can be stored on the ROBOT.
<R77> The relief valve must be attached directly to the compressor. If the relief valve is already set to 125psi, teams are not allowed to adjust it. If the relief valve is not set to 125psi, teams are required to adjust to release air at 125psi. The valve may or may not have been calibrated prior to being supplied to teams.

All components except the compressor must be on board the robot. If the regulator is off board, then the robot can only be pressurized to 60 psi.

Hope this helps.