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W.Hi.R.R. #5471
Winthrop High Rambler Robotics
FRC (FIRST Robotics Competition) Logo

Reference Library

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Robotics

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RoboRIO

Permalink: http://www.team5471.org/reflib/?idx=0c9c1e2c

Source: http://www.ni.com/pdf/manuals/374474a.pdf

Permalink: http://www.team5471.org/reflib/?idx=7565e821

RoboRIO Annotated

RoboRIO with all of the features labeled.

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Label Number Description
1 10 Digital Input and Output (DIO) port
2 1 RS-232 port
3 1 I2C port
4 1 CAN bus port
5 N/A Power connector
6 1 USB Device port (B)
7 N/A USB Host retention mount
8 2 USB Host port (A)
9 1 Ethernet port
10 1 Serial Peripheral Interface (SPI) bus port
11 6 LEDs
  • Power
  • Status
  • Radio
  • Comm
  • Mode
  • RSL
12 10 Pulse-Width Modulation (PWM) port
13 1 myRIO Expansion Port (MXP)
14 N/A MXP retention mount
15 N/A User and Reset buttons
16 4 Analog Input (AI) port
17 4 Relay port
18 1 Robot Signal Light (RSL) port
RoboRIO Layout

RoboRIO Layout.

Source: http://www.ni.com/pdf/manuals/374474a.pdf

Permalink: http://www.team5471.org/reflib/?idx=110d21eb

Wiring

Permalink: http://www.team5471.org/reflib/?idx=72546265

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AWG
gauge
Conductor
Diameter (in.)
Conductor
Diameter (mm)
Ohms per
1000 ft.
Ohms
per km
Maximum amps for
chassis wiring
0000 (4/0) 0.46 11.684 0.049 0.16072 380
000 (3/0) 0.4096 10.40384 0.0618 0.202704 328
00 (2/0) 0.3648 9.26592 0.0779 0.255512 283
0 0.3249 8.25246 0.0983 0.322424 245
1 0.2893 7.34822 0.1239 0.406392 211
2 0.2576 6.54304 0.1563 0.512664 181
3 0.2294 5.82676 0.197 0.64616 158
4 0.2043 5.18922 0.2485 0.81508 135
5 0.1819 4.62026 0.3133 1.027624 118
6 0.162 4.1148 0.3951 1.295928 101
7 0.1443 3.66522 0.4982 1.634096 89
8 0.1285 3.2639 0.6282 2.060496 73
9 0.1144 2.90576 0.7921 2.598088 64
10 0.1019 2.58826 0.9989 3.276392 55
11 0.0907 2.30378 1.26 4.1328 47
12 0.0808 2.05232 1.588 5.20864 41
13 0.072 1.8288 2.003 6.56984 35
14 0.0641 1.62814 2.525 8.282 32
15 0.0571 1.45034 3.184 10.44352 28
16 0.0508 1.29032 4.016 13.17248 22
17 0.0453 1.15062 5.064 16.60992 19
18 0.0403 1.02362 6.385 20.9428 16
19 0.0359 0.91186 8.051 26.40728 14
20 0.032 0.8128 10.15 33.292 11
21 0.0285 0.7239 12.8 41.984 9
22 0.0253 0.64516 16.14 52.9392 7
23 0.0226 0.57404 20.36 66.7808 4.7
24 0.0201 0.51054 25.67 84.1976 3.5
25 0.0179 0.45466 32.37 106.1736 2.7
26 0.0159 0.40386 40.81 133.8568 2.2
27 0.0142 0.36068 51.47 168.8216 1.7
28 0.0126 0.32004 64.9 212.872 1.4
29 0.0113 0.28702 81.83 268.4024 1.2
30 0.01 0.254 103.2 338.496 0.86
31 0.0089 0.22606 130.1 426.728 0.7
32 0.008 0.2032 164.1 538.248 0.53
Metric 2.0 0.00787 0.200 169.39 555.61 0.51
33 0.0071 0.18034 206.9 678.632 0.43
Metric 1.8 0.00709 0.180 207.5 680.55 0.43
34 0.0063 0.16002 260.9 855.752 0.33
Metric 1.6 0.0063 0.16002 260.9 855.752 0.33
35 0.0056 0.14224 329 1079.12 0.27
Metric 1.4 .00551 .140 339 1114 0.26
36 0.005 0.127 414.8 1360 0.21
Metric 1.25 .00492 0.125 428.2 1404 0.20
37 0.0045 0.1143 523.1 1715 0.17
Metric 1.12 .00441 0.112 533.8 1750 0.163
38 0.004 0.1016 659.6 2163 0.13
Metric 1 .00394 0.1000 670.2 2198 0.126
39 0.0035 0.0889 831.8 2728 0.11
40 0.0031 0.07874 1049 3440 0.09

Source: https://www.powerstream.com/Wire_Size.htm

Permalink: http://www.team5471.org/reflib/?idx=5be7985f

DIN Standard 46237

Color AWG mm2
Red 22-16 0.5 ~ 1.5
Blue 16-14 1.5 ~ 2.5
Yellow 12-10 4.0 ~ 6.0

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The codes listed are only for locating the correct connector or terminal in the image below.

Connectors connect wires to other connectors. Terminals connect wires to other devices. You will often hear the terms used interchangeably. Butt connectors connect two wires together.

Connectors are used in pairs referenced as “Male” and “Female”. A receptacle (female) is designed to receive a corresponding plug (male).

Whenever possible, the insulated female connector should be connected to the energized wire (the wire that provides power to the device), while the male connector should be connected to the load wire (the wire connected to the device which uses the power). This helps ensure that the exposed metal of the male end is never energized when free of the female receptacle.

Code Name Connects
With
MB Bullet Connector (Male) FB
FB Bullet Connector (Female) MB
MS Spade Connector (Male) FS/FIS
FS Spade Connector (Female) MS
FIS Spade Connector (Female Insulated) MS
FC Fork Terminal N/A
RC Ring Terminal N/A
BC Butt Connector N/A
Butt connectors are used to permanently join two wires together.
Crimp Connectors and Terminals

The ‘HSB’ (heat-shrink butt connector) is a specialized BC with a heat-shrink insulation that can be used to create a watertight seal with extra resistance against wire pull-out.

Tools

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Wrenches

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The Monkey Wrench is the precursor to the modern adjustable wrench. It shares many of the same features.

  • Helical screw adjustment mechanism for the moveable jaw, which prevents (as much as possible) the moveable jaw from slipping.
  • Fixed outer/upper jaw.
  • Moveable inner/lower jaw.
  • Smooth jaws (without teeth) for use on the faces of hex and square nuts and bolt or screw heads.

Monkey Wrench

Source: https://en.wikipedia.org/wiki/Monkey_wrench

Permalink: http://www.team5471.org/reflib/?idx=1755b024

The pipe wrench (or Stillson wrench, after the inventor Daniel Stillson) is a tool for working with iron pipes and pipe fittings without facets. There are significant differences between a pipe wrench and a monkey wrench or an adjustable wrench, which reflect the differences in the tasks they are used for.

First, the jaws of a pipe wrench have teeth. This allows the tool to “bite into” the round pipe or fitting in order to transfer the torque. Toothed jaws can easily “round out”, or wear down the corners of, a faceted fitting, so a pipe wrench is a poor choice for those.

Second, the outer/upper jaw is the moveable jaw. That, combined with loose-fitting adjustment collar, allows the head to move about when the tool isn’t under tension. With practice, this setup can operate similar to a ratcheting wrench, where the pipe wrench slides around the fitting on the back swing, then bites down again to turn the pipe on the forward swing.

Pipe Wrench

Source: https://en.wikipedia.org/wiki/Pipe_wrench

Acronyms

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A
AI
ANSI

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American National Standards Institute

ANSI Logo

Source: https://www.ansi.org/

AWG

Permalink: http://www.team5471.org/reflib/?idx=1d5134a2

American Wire Gauge

A standardized wire gauge system.

Source: https://en.wikipedia.org/wiki/American_wire_gauge

CAN

Permalink: http://www.team5471.org/reflib/?idx=7c46fe61

Controller Area Network

RoboRIO Port

Source: http://www.ni.com/pdf/manuals/374474a.pdf

DIN

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Deutsches Institut für Normung (German Institute for Standardization)

Historical DIN Logos

Source: https://www.din.de/en

DIO

Permalink: http://www.team5471.org/reflib/?idx=07b84832

Digital Input and Output

RoboRIO Port

Source: http://www.ni.com/pdf/manuals/374474a.pdf

Permalink: http://www.team5471.org/reflib/?idx=54bcc58d

For Inspiration and Recognition of Science and Technology

FIRST Logo

Source: https://www.firstinspires.org/

FRC
I
I2C
I2C

See I2C.

IIC

See I2C.

ISO

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International Organization for Standardization

ISO is actually not an acronym.

ISO Logo Variants

Source: https://www.iso.org/home.html

LED

Permalink: http://www.team5471.org/reflib/?idx=5334832d

Light Emitting Diode

RoboRIO Component

Source: http://www.ni.com/pdf/manuals/374474a.pdf

MXP
OSHA

Permalink: http://www.team5471.org/reflib/?idx=51ff5197

Occupational Safety and Health Administration

A department of the United States Department of Labor

OSHA Logo

Source: https://www.osha.gov/

PWM

Permalink: http://www.team5471.org/reflib/?idx=7532f5d1

Pulse-Width Modulation

RoboRIO Port

Source: http://www.ni.com/pdf/manuals/374474a.pdf

RSL
SPI

Permalink: http://www.team5471.org/reflib/?idx=18d3a2b8

Serial Peripheral Interface

RoboRIO Port

Source: http://www.ni.com/pdf/manuals/374474a.pdf

USB


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