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Unread 02-13-2018, 06:45 PM
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How to function 9 motors without the RoboRio turning off

Our team uses 9 motors and we face a problem which shuts down the robot every time we run it.
We figured that the high number of motors consumption of voltage decreases the voltage of the RoboRio to under 10V which apparently shuts the robots voltage.
Any tips on how to solve this problem?


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Unread 02-13-2018, 07:34 PM
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Re: How to function 9 motors without the RoboRio turning off

How does it shut down the robot? Does the robotís main breaker (the main on/off switch) pop (Turn Off)? That switch is also a 120 amp circuit breaker.
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Unread 02-13-2018, 08:43 PM
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Re: How to function 9 motors without the RoboRio turning off

I believe what's he referring to is that the roboRIO is browning out. Specifically described on page 7 of this pdf.

As for how to fix it, likely at least 4 (probably 6?) of those motors are drive train related, you can reduce the load that those motors are under when your turning by adding a or increasing your center wheel drop, or by switching from traction to something lower traction (Omni-wheels maybe?) on the outer wheels.

Describing which motors you are using and what they are doing would probably help others here help you more.
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Unread 02-13-2018, 09:00 PM
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Re: How to function 9 motors without the RoboRio turning off

You can start by going through the test procedure I outlined in Post #9 of this thread.
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Unread 02-14-2018, 03:31 AM
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Re: How to function 9 motors without the RoboRio turning off

Quote:
Originally Posted by Keefe2471 View Post
I believe what's he referring to is that the roboRIO is browning out. Specifically described on page 7 of this pdf.

As for how to fix it, likely at least 4 (probably 6?) of those motors are drive train related, you can reduce the load that those motors are under when your turning by adding a or increasing your center wheel drop, or by switching from traction to something lower traction (Omni-wheels maybe?) on the outer wheels.

Describing which motors you are using and what they are doing would probably help others here help you more.
We have 4 CIM motors for the drivetrain(west coast drive), 4 AM-775, two in a gearbox with 1:45 ratio for a lifring mechanism , two with 1:30 gear ratio each for a cube intake mechanism, and a snowblower motor for another lifter
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Unread 02-14-2018, 03:53 AM
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Re: How to function 9 motors without the RoboRio turning off

Quote:
Originally Posted by garyk View Post
How does it shut down the robot? Does the robotís main breaker (the main on/off switch) pop (Turn Off)? That switch is also a 120 amp circuit breaker.
I may have not explained the situation properly.
each time we drive our robt and/or activate our mechanisems,the voltage drops to under 10v (which we figure) collapses the RoboRio and leads to a communication breakdown. the ampbraker does not pop.
we really need help!
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Unread 02-14-2018, 04:17 AM
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Re: How to function 9 motors without the RoboRio turning off

Quote:
Originally Posted by asafh81020 View Post
We have 4 CIM motors for the drivetrain(west coast drive), 4 AM-775, two in a gearbox with 1:45 ratio for a lifring mechanism , two with 1:30 gear ratio each for a cube intake mechanism, and a snowblower motor for another lifter
If you have all of those motors geared correctly, that really should not brown out your roborio. Especially since you're probably not using all of those at once. If you post the gear ratios and expected loads you have for each motor, we can help you figure out if one is drawing too much current. Also check to make sure that all of your wiring is tight (especially the wires between your battery and PDP). If you can wiggle the connector, it's too loose. Also, feel free to PM me and I can send you my phone number if you would rather talk instead of writing online.
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Unread 02-14-2018, 06:42 AM
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Re: How to function 9 motors without the RoboRio turning off

Make sure one of the motors isn't wired backwards and fighting the others.

Remove all the PDP Breakers except one. Test that motor. Move the breaker to the next motor. Test that. Test each motor independently. This is easiest to do in the Shuffboard Live window under TEST mode on the driver station.

Make sure each motor is spinning in the right direction.
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Unread 02-14-2018, 09:49 AM
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Re: How to function 9 motors without the RoboRio turning off

Can you confirm that the Roborio is wired to blue VBatt/Controller side on the PDP and not on the green/PCM/VRM side? The green side is not protected against voltage drops.
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Unread 02-14-2018, 09:56 AM
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Re: How to function 9 motors without the RoboRio turning off

We've had far more motors than that on a robot before and we didn't have any voltage issues until the end of a heavily defensive match. My guess is a failing electrical component.
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Unread 02-14-2018, 10:08 AM
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Re: How to function 9 motors without the RoboRio turning off

Another thing that isn't explored: how many motors are running at one time, and how much current are they drawing? If your strategy requires running a 6-motor drive while also running a really heavy worm-driven arm, maybe that's a problem.

That can be solved by going with a numerically higher gear (or sprocket, or pulley) reduction, which will allow the motor to work at a higher speed (which means less current draw) at the expense of time to accomplish the task.

I'd check those other things above first though. Hope you shake it out!
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Unread 02-14-2018, 10:16 AM
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Re: How to function 9 motors without the RoboRio turning off

Quote:
Originally Posted by kevin.li.rit View Post
Can you confirm that the Roborio is wired to blue VBatt/Controller side on the PDP and not on the green/PCM/VRM side? The green side is not protected against voltage drops.
FYI, neither is the blue side. The only difference between the blue and green sides is the blue side is on a 10A breaker and the green side is on a 20A breaker. The only regulated voltage in the control system comes from the VRM.
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Unread 02-14-2018, 10:16 AM
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Re: How to function 9 motors without the RoboRio turning off

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Originally Posted by asafh81020 View Post
Any tips on how to solve this problem?

Please follow the troubleshooting steps explained in this post.

Report back here what you find.



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Unread 02-14-2018, 10:17 AM
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Re: How to function 9 motors without the RoboRio turning off

Another way to find the culprit is to put the robot on a block then run a few motors for 5 seconds. Which one(s) gets noticeably hotter?

If your battery is properly charged that energy is going somewhere.
A hot motor won't tell you what exactly is wrong, but it does narrow lens.
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Unread 02-14-2018, 12:31 PM
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Re: How to function 9 motors without the RoboRio turning off

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Originally Posted by AriMB View Post
FYI, neither is the blue side. The only difference between the blue and green sides is the blue side is on a 10A breaker and the green side is on a 20A breaker. The only regulated voltage in the control system comes from the VRM.
It's possible I'm wrong. I was trouble shooting a brownout issue on our robot at competition. I had noticed that the Roborio was on the wrong side and the only change we made was to move the RoboRio from the green to blue side. I was standing next to one of the control systems people and he said that might be our issue. I had mentioned that the documentation doesn't say either side is regulated and that it shouldn't matter. He said let me find out and came back and said it was.

We had already eliminated loose wiring, poor connection and the radio as possible issues. In the end we never had an issue with the Roborio browning again.
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