STR Electronics Talon SRX Manual de usuario

217-8080

Talon SRX - User’s Guide

crosstheroadelectronics.com vexpro.com

Updated: 2017-02-03

Talon SRX –User’s Guide

Cross The Road Electronics

www.crosstheroadelectronics.com

217-8080

Talon SRX - User’s Guide

crosstheroadelectronics.com vexpro.com

Updated: 2017-02-03

Table of Contents

The Talon SRX at a Glance:.................................................................................................................4

Electrical/Mechanical Specs: ................................................................................................................5

1. Installing a Talon SRX ......................................................................................................................7

1.1. Wiring the Motor Output..............................................................................................................7

1.2. Wiring the Power Input ...............................................................................................................7

1.3. Wiring the Talon SRX Signal Input .............................................................................................8

1.3.1. Configuring a Talon SRX with CAN bus on a roboRIO........................................................8

1.3.2. Wiring the Talon SRX for use with CAN bus......................................................................10

1.3.3. Wiring Talon SRX for PWM Control...................................................................................12

1.3.4. Firmware requirements (PWM and CAN bus)....................................................................14

1.4. Wiring Sensors to the Talon SRX.............................................................................................17

1.4.1. Data Port Pinout.................................................................................................................17

1.4.2. Analog Input.......................................................................................................................18

1.4.3. Quadrature Encoder Input .................................................................................................19

1.4.4. Forward & Reverse Limit Switch Inputs.............................................................................20

1.4.5. Connecting to the Data Port...............................................................................................22

1.4.6. Encoder (and Limit Switch) Breakout.................................................................................23

1.4.7. Analog 5V Encoder (and Limit Switch) Breakout ...............................................................25

1.4.8. Heat Shrink Use with Breakout..........................................................................................26

1.5. Mounting the Talon SRX...........................................................................................................27

1.6. General Robot Wiring Guidelines .............................................................................................27

1.7. Applying Power for the First Time.............................................................................................28

2. Additional Information .....................................................................................................................29

2.1. Brake & Coast Modes...............................................................................................................29

2.1.1. Switching Between Brake & Coast Using the B/C CAL Button:.........................................29

2.1.2. Switching Between Brake & Coast Using CAN bus:..........................................................29

2.1.3. Switching Between Brake & Coast Using CAN Control Frames........................................29

2.2. PWM Calibration.......................................................................................................................30

2.2.1. To Calibrate the Talon SRX:..............................................................................................30

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Talon SRX - User’s Guide

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Updated: 2017-02-03

2.2.2. To Restore Default Calibration:..........................................................................................31

2.3. Blink Codes...............................................................................................................................32

2.3.1. Blink Codes –Damaged Hardware....................................................................................33

2.4. Performance Data.....................................................................................................................34

2.5. Frequently Asked Questions:....................................................................................................35

3. Troubleshooting..............................................................................................................................39

4. Compliance.....................................................................................................................................43

5. Revision History:.............................................................................................................................44

217-8080

Talon SRX - User’s Guide

crosstheroadelectronics.com vexpro.com

Updated: 2017-02-03

Talon SRX –User’s Guide

The Talon SRX is a speed controller designed through collaboration between VEX Robotics

(VEX.com) & Cross the Road Electronics (crosstheroadelectronics.com) that allows fine control and

high performance of brushed DC motors in competition robotics applications. The Talon SRX handles

high current loads with minimal voltage drop and heat generation. Its linear output and Brake/Coast

options allow for precise motor control, making it well suited for everything from drivetrains to shooter

wheels.

The Talon SRX’s Data Port and CAN bus features make it the most capable motor controller

available for competition robotics. The Data Port allows Quadrature Encoders, Limit Switches and

Analog Sensors to be connected directly to the motor controller. Sensors that are connected through

the Data Port are directly processed by the Talon SRX, freeing up resources in the primary robot

controller for more complex user code. When using CAN bus, up to 63 Talon SRXs can communicate

with the primary robot controller for tasks like field-upgrade, Data Port Configuration, dynamic

Brake/Coast toggling, and motor control.

The lightweight aluminum case was designed using extensive Finite Element Heat Transfer Analysis

(FEHTA). The result is a fully sealed design that makes fans optional. This, combined with a 3.25 sq.

in footprint, a variety of built-in mounting options, and super-flexible/high-strand-count leads, makes

installation a breeze.

The Talon SRX at a Glance:

(M-)

Signal

Wires

Data Port

Positive

Output

(M+)

Positive Input

(V+)

Signal

Wires

Output GND

(M-)

Status

LEDs

B/C Cal

Button

Input GND

(V-)

217-8080

Talon SRX - User’s Guide

crosstheroadelectronics.com vexpro.com

Updated: 2017-02-03

Electrical/Mechanical Specs:

Talon SRX Specs

Outside Dimensions

2.75” x 1.185” x 0.96”

[69.9mm x 30.2mm x 24.4mm]

Weight

0.23 lbf [0.10 kgf] (excluding wiring)

Supported Communication

Protocols

PWM, DWCAN bus (1Mbps)

Nominal Voltage

12V

Min/Max Voltage

6 –28V

Continuous Current

60A

Surge Current (2 sec)

100A

PWM Input Pulse

(High Time)

1 –2 ms Nominal

0.6 –2.4ms max

PWM Input Rate (Period)

2.9 –100ms

PWM Output Chop Rate

(Switching Frequency)

15.625 kHz

Minimum Throttle (Dead band)

PWM Logic High

Min Voltage Threshold

PWM Logic Low

Max Voltage Threshold

0.4V

PWM Input Min Current

< 1mA

Max Quadrature CPR(1)

80,000,000 / Peak RPM

Max Quadrature RPM(1)

80,000,000 / CPR

Logic High

Min Input Voltage

Quad A/B/Idx/Limit Fwd/Rev

2.64V

Logic Low

Max Input Voltage

Quad A/B/Idx/Limit Fwd/Rev

0.66V

Min/Max Voltage

Analog Input

0 –3.3V

Min/Max Voltage

Quad A/Limit Fwd/Rev

0 –5V

Min/Max Voltage

Quad B and Quad Idx

0 –3.3V(2)(Talon revision 1.5 and earlier)

0 –5V (Talon revision 1.6 and on)

Data Port Max Current

3.3V (pin1) : 33mA

5V (pin2) : 50mA

Note 1: This is based on the maximum quadrature edge-to-edge rating of 187.5ns.

Note 2:A late errata on the microcontroller was released after Talon SRX 2015 season production, indicating the Quad B and Quad Idx are

not 5V tolerant. As a result, Talons with revision 1.5 (and earlier) should not use sensor cable/breakouts that allow >3.6V on Quad B or Quad

Idx, as this may damage Talon SRX. See Talon SRX Software Reference Manual (Section 2) for how to detect Hardware Revision. See

Section 1.4.6.1 for the updated breakout solution.

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Talon SRX - User’s Guide

crosstheroadelectronics.com vexpro.com

Updated: 2017-02-03

The power inputs and outputs of the Talon SRX are indicated by markings on the housing.

They are also shown in the table below:

Wire

Case

Marking

Wire Color

Wire Gauge

Wire Length

± 0.25in [6.35mm]

Positive Input

V+

Red

12 AWG

(600 strand min)

5.5in [139.7mm]

Input Ground

GND

Black

12 AWG

(600 strand min)

5.5in [139.7mm]

Positive Output

M+

White

12 AWG

(600 strand min)

5.5in [139.7mm]

Output Ground

M-

Green

12 AWG

(600 strand min)

5.5in [139.7mm]

CAN-High/

PWM Signal

None

Yellow

22 AWG

11.0in [279.4mm]

CAN-Low/

PWM Ground

None

Green

22 AWG

11.0in [279.4mm]

Note: There are (2X) yellow and (2X) green 22AWG signal wires on each Talon SRX. Signal wires of

the same color are electrically identical.

217-8080

Talon SRX - User’s Guide

crosstheroadelectronics.com vexpro.com

Updated: 2017-02-03

1. Installing a Talon SRX

Wiring a speed controller has never been easier than with the Talon SRX. By following a few quick

steps, your robot will be up and running in no time.

1.1. Wiring the Motor Output

Connect the white wire to the M+ side of the motor and the green wire to the M- side of the motor

using tightly crimped connectors.

If the motor’s inputs are not marked, the polarity of the input may be chosen by the user. Be sure to

connect the output wires to motors with consistent polarity so each motor will rotate the same

direction when given the same PWM signal. Reversing the output wire connections will result in the

motor rotating the opposite direction when given the same PWM signal.

In many cases, the output leads of the Talon SRX will not be long enough to reach the motor it is

controlling, so an extension cable will be required. Extension cables should be made using

appropriately sized wire and connected using tightly crimped connectors.

Note: For the most robust connection, it is highly recommended that all connectors are crimped and

soldered.

1.2. Wiring the Power Input

WARNING: TO MAXIMIZE PERFORMANCE, THE TALON SRX DOES NOT INCLUDE

REVERSE POLARITY PROTECTION. IF POWER IS APPLIED BACKWARDS, THE

TALON SRX MAY BE PERMANENTLY DAMAGED.

To power the Talon SRX, connect the positive input (red) wire to the selected positive terminal of the

Power Distribution Panel (PDP), and the input ground (black) wire to the corresponding ground

terminal. In many cases, the Talon SRX may be wired directly to the robot’s PDP without extension

cables –this is preferable since it reduces the number of electrical connections. If the robot’s design

does not allow for a direct connection to the PDP, extension cables may be used.

Always keep good electrical practices in mind when designing a robot's electrical system. The Talon

SRX’s source voltage should never exceed 28V. In addition, a 40A or smaller breaker should be

used in series with the Talon SRX’s positive input.

217-8080

Talon SRX - User’s Guide

crosstheroadelectronics.com vexpro.com

Updated: 2017-02-03

1.3. Wiring the Talon SRX Signal Input

The Talon SRX is capable of being controlled using either CAN bus or a PWM signal. Each input type

has its own pros and cons that should be carefully considered before wiring and programming.

The CAN bus capability of the Talon SRX is one of its most powerful features. It allows up to 63 Talon

SRXs to be daisy chained –this means Talon SRXs can plug into each other and only require a

single output on the primary robot controller. CAN bus also allows two-way communication between

the Talon SRX and the robot controller, which enables tasks like field-upgrade, Data Port

configuration, dynamic Brake/Coast toggling, and motor control. When using CAN bus, sensors that

are connected to the Data Port are monitored by the Talon SRX meaning that the primary robot

controller has more processing power to devote to other tasks.

One of the simplest ways to control a Talon SRX is using a Pulse Width Modulation (PWM) signal.

Unlike CAN bus control, using PWM requires that each Talon SRX must be individually connected to

a different output on the system’s primary robot controller –Talon SRXs cannot be daisy chained in

PWM mode. When using PWM to control the Talon SRX, only limit switches (or equivalent binary

switches) may be used with the Data Port. Encoders or Analog sensors cannot be used.

1.3.1. Configuring a Talon SRX with CAN bus on a roboRIO

Talon SRX automatically detects CAN bus traffic so there is no need to select “CAN” vs “PWM”. The

only configuration that is necessary is assigning Device IDs to prevent common-ID Talons (more than

one Talon with the same device ID). This is a common problem condition that prevents reliable

communication between the primary robot controller and other CAN devices.

However the roboRIO Web-based Configuration page is tolerant of common-ID Talons to a degree

(up to typically five or less common-ID Talons), so you can discover, firmware update, modify settings,

and change the device ID of a common-ID Talon to an unused device ID. More information can be

found in the Software Reference Manual.

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Talon SRX - User’s Guide

crosstheroadelectronics.com vexpro.com

Updated: 2017-02-03

Another option is to explicitly ensure each Talon SRX has a unique ID assigned to it prior to wiring the

entire CAN bus harness. To do this, connect a yellow signal wire to the NI roboRIO CAN terminal

marked “H” and connect a green signal wire to the NI roboRIO CAN terminal marked “L” as shown in

the figure below. Connect the remaining green and yellow signal wires using a 120 Ω resistor as

shown in the figure below. Alternatively the Power Distribution Panel’s CAN interface can be wired

instead of a 120 Ω resistor since the PDP has an integrated resistor.

After the Talon SRX has been connected to the roboRIO, ensure there are no shorts, then apply

power and use the roboRIO Web-based Configuration page to assign the Talon SRX a unique ID.

TIP: Avoid using the default ID “0”, this makes adding new default Talons easier. The unique

ID is a 6-bit number; valid numbers are from 1 to 62. After the unique ID has been assigned, remove

power and repeat the process for each Talon SRX.

WARNING: When applying power to the Talon SRX for programming its unique ID, it may be

tempting to connect it directly to a 12V robot battery without a breaker –this is NOT recommended. If

the temporary power connectors short without a breaker protecting the wires, there is a high risk of an

electrical fire.

To CAN “L” Terminal

120 Ω

Resistor

or PDP

To CAN “H” Terminal

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Talon SRX - User’s Guide

crosstheroadelectronics.com vexpro.com

Updated: 2017-02-03

1.3.2. Wiring the Talon SRX for use with CAN bus

To wire CAN bus, connect a yellow signal wire to the CAN terminal marked “H” on the NI roboRIO

and connect a green signal wire to the CAN terminal marked “L” on the NI roboRIO.

To connect additional Talon SRXs, use tightly crimped connectors to connect the signal wires green-

to-green & yellow-to-yellow as shown below. For the best connection, it is highly recommended that

each connector is crimped and soldered. The yellow and green wires should also be wrapped in a

twisted pair fashion (not illustrated) to maximize tolerance to electrical noise.

Note: Signal wires of the same color are electrically identical –it does not matter which wire is used

as long as the color is correct.

After all of the Talon SRXs have been wired, there will be 2 remaining signal wires –connect these

two wires using a 120Ω resistor or to the CAN interface on the Power Distribution Panel (PDP) to

properly terminate the cable end.

120 Ω

Resistor

or PDP

To CAN “H” Terminal

To CAN “L” Terminal

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