Transcript Slide 1

Simple Robot Electrical Design
Presented by:
Al Skierkiewicz, Broadcast Engineer,
Mentor Team #111
Rookie Year 1996
2007 FIRST Robotics Conference
Outline
 Ten things a Rookie Team needs to know.
 Real world design example.
 Minimize the losses.
 What happens with a motor under varying
conditions.
 Working with a design and layout.
 Techniques and layout.
 Tools
 Questions
2007 FIRST Robotics Conference
Top Ten Things
Rookies
Need to Know.
2007 FIRST Robotics Conference
10. The Robot Section of the manual
and the Tips And Guidelines Docs are
not the only place to get info.
• Check the FIRST website (www.usfirst.org) often, team
updates come out weekly and the Q&A allows teams to ask
questions and get answers from the GDC.
• The FIRST website (FRC Documents) also will have
manufacturer specification sheets and the Tips and
Guidelines will also include manufacturer website info.
• Check team websites for suggestions and up to date info on
KOP motors
• IFI, Innovation First, has a great website and PDF
documents for all it’s products.
2007 FIRST Robotics Conference
9. The main battery is a high
current device.
• The main battery is capable of 600 amps for a
short period of time.
• This is enough current to burn wires, motors,
dangling bracelets, rings, and necklaces.
• This is enough current to weld most metals
including the terminals on the battery.
• In a two minute match, it is more than capable of
running a robot with a six motor drive.
2007 FIRST Robotics Conference
8. You shouldn’t control two motors
with the same speed controller.
• I don’t recommend this practice. Rules in the
past have allowed certain motors to be controlled
by the same controller.
• Most motors already exceed the current specs for
speed controllers.
• Motors rarely need the same drive signal.
• Doing so will result in less than designed
operation.
2007 FIRST Robotics Conference
7. A stalled motor is one that is not
moving.
• A motor is stalled when no power is applied.
• A motor is stalled when mechanically prevented
from turning.
• A motor is stalled (near stall) when used in a tank
style drive design without using omni wheels. i.e.
the motors will draw max current in every turn.
• A stalled motor draws maximum current, 130
amps for small Chalupa (CIM) and 96 amps for the
large. Six motor drives can draw over 500 amps!
2007 FIRST Robotics Conference
6. Snap action breakers do not trip
at the rated current.
• All breakers can function with up to 600% over
current for a few seconds.
• All breakers can function with up to 200% over
current for almost ten seconds.
• All breakers can function with about 150% over
current indefinitely (based on internal
temperature of breaker)
• Breaker specs are available on FIRST Website
• Breakers will “buzz” when repeatedly tripped.
2007 FIRST Robotics Conference
Breaker Trip Curves
2007 FIRST Robotics Conference
5. Motors run at different speeds in
opposite directions.
• Motor brush bias causes this difference.
• CIM (or Chalupa motors) have the least difference.
• Similar motors on different sides of the robot will
likely run in opposite directions due to mounting.
• Speed controllers will supply the correct input
power, when calibrated, for each direction.
• The bias can be overcome in software or by driver
practice.
2007 FIRST Robotics Conference
4. Mechanical design does affect
electrical design.
• Operating characteristics are influenced by
mechanical design. Arms draw max current when
parallel with the floor, long wires reduce power to
critical motors.
• Placement of components may lead to changes in
electrical layout and wire runs.
• Do not place speed controllers in a debris field
from exposed mechanical systems (chain
sprockets, open transmissions, pulleys bearings).
• Replacement is a critical design factor.
2007 FIRST Robotics Conference
3. Wire does make a difference!
• At the currents encountered, real world voltage
drops of several volts can occur in your wiring.
• All wire has loss, smaller diameter wire has greater
loss. I recommend #10 for all CIM (large and small),
the compressor and all Fisher Price motors.
• Please remember both the positive and negative
leads carry the same current.
• Design for short wire runs. Loss is length
dependent.
• You can attach motor leads directly to speed
controllers and/or cut them shorter.
2007 FIRST Robotics Conference
2. If you use the default software,
you must calibrate the speed
controllers.
• Speed controllers and joysticks are not matched.
• Joysticks are not precision devices.
• Calibration will match joystick travel and center
position to speed controller operation.
• Without calibration you may not be able to
achieve maximum output from your motors.
• Without calibration, motors may not zero speed or
brake when the joystick is released.
2007 FIRST Robotics Conference
1. You are never alone!
• As a rookie, you should have access to a mentor
team in your area. They are your greatest asset.
• Team websites like www.chiefdelphi.com can have
a lot of useful information. Beware that some
answers might not be accurate.
• FIRST Q&A is a valuable resource, check it often.
• I can be reached at [email protected] one
person per team please.
• At events, any team can help. Your lead inspector
is a valuable resource.
2007 FIRST Robotics Conference
Real world design of an arm motor.
• Lets take a large Chalupa motor with the
following specifications:
• Stall Current = 96 amps
• Peak Power Output = 280 watts
• Choose operating point of 1600 RPM@225 oz-in.,
40 amps, 160 watts out.
• If input= 12v@40amps, then
• R motor =12/40=.3 ohms
2007 FIRST Robotics Conference
Large Chalupa Motor Curves
2007 FIRST Robotics Conference
Stall
RPM=0
I=96 Amps
Chosen
operating point
40 amps, 160 W
1600 RPM
2007 FIRST Robotics Conference
If there is resistance in series with a circuit, the current
will decrease in direct proportion to the resistance. A
decrease in current will provide less power from the
motor.
Ohm’s Law
R (motor) =V/I=12V/40A=0.3 Ohms
Calculating for 4’ of #10, 2’ of #6, 0.011 ohms for the
battery internal resistance and .002 ohms for breakers
and terminals.
.3+.008+.0028+.011+.002=0.3238 ohms
I (motor) =V/R=12V/.3238 Ohms=37 Amps
2007 FIRST Robotics Conference
Motor Load Point with Real World Losses
New Point for wiring.
20 watts less power
40 oz-in less torque
2007 FIRST Robotics Conference
If this is an average system and four small Chalupa drive
motors are near stall,
I (stall) =100 amps x 4 motors=400 amps.
The battery is capable of delivering more than 600
amps when fully charged but has an internal
resistance of 0.011 ohms. So for this example 400
amps flows through 4’ of #6, a few connectors and
the fuse panel, then the voltage loss in this robot is:
V=I*R=400*0.0238ohms=9.52 volts.
That leaves only 2.5 volts available for all other systems
including the RC. In terms of motor current,
I=V/R=2.5/.3238 ohms=7.7 Amps (if the RC were still
in control).
2007 FIRST Robotics Conference
High current on drive motors
New point
Only 20 watts output
60 oz-in. of torque
2007 FIRST Robotics Conference
Each intermittent load on a motor
reduces the available current and
therefore reduces power and RPM
temporarily.
• This is why many robots with arms are not able to
raise a game piece as designed, other motors are
causing losses in the system.
• It is also why a team that raises the arm when not
moving may not achieve the same movement
while driving.
2007 FIRST Robotics Conference
To Begin Design and Layout of Robot
Electrical System, know your robot
system.
• It is essential to know the list of requirements for the
system before you begin.
• It is essential to have an grasp on the location of
mechanical parts and needed clearance.
• Must work with mechanical designer to place major
components in a central location, i.e. battery, main
breaker, terminal block and fuse panels.
2007 FIRST Robotics Conference
– You must know how many motors
will be used.
– How many and what type of motors for drive
and where located.
– How many motors for actuators, are they
required to be speed controlled or operated by
relay.
– How many motors for steering.
– How many servo motors.
– Where will all these be located on the robot?
2007 FIRST Robotics Conference
– You must know what electrical
hardware you will be using.
• How many Victors and how many Spikes will be
needed?
• Will you be using the SLU or crimp connectors
for the mains wiring?
• How do I attach cable to the battery terminals?
• Do I need to use insulated or non insulated
terminals?
• Do we need to solder?
2007 FIRST Robotics Conference
– Know the installation failure modes
of all devices.
• How should it react when powered?
• Does it have indicators and what do they mean?
– Know the correct handling of all devices.
• Check wiring polarity for all devices before
applying power!
• What are the mechanical stresses due to
mounting and termination?
• What happens if you drop the device?
• What is the correct wiring polarity?
• How should it be electrically protected?
• Is there a common mistake when installing?
2007 FIRST Robotics Conference
Now, Let’s Begin
With a Plan!
• Make a table of controlled components needed
• Add control components (Victor or Spike)
• Obtain the control inputs and outputs from the
software team
• What Breakers are needed?
• Will sensors be associated with the motors?
• Other data, color coding
2007 FIRST Robotics Conference
Color code everything, make a list of functions. Electrical and software will need this list.
M otor Functions - 2007
Motor
Control
Feedback
Speed
Controller
Chiaphua
PWM
Distance/Velocity
encoder, Current
Chiaphua
Chiaphua
PWM
PWM
Chiaphua
Globe
Globe
Fisher Price
Window
Window
PWM
PWM
PWM
PWM
PWM
PWM
PWM
PWM
PWM
Distance/Velocity
encoder, Current
Digital
Digital
Digital
Digital
Digital
Pot
Pot
Pot
Pot
Pot
-
270
270
300
270
180
Deg
Deg
Deg
Deg
Deg
Air Piston #1
Air Piston #2
Air Piston #3
In/Out
In/Out
In/Out
1-way Valve On-Off
1-way Valve On-Off
1-way Valve On-Off
Air Piston #4
In/Out
1-way Valve On-Off
Relay
PWM Output
Braking
(A-B)
Current Rating
Comp
Output
Connection
Blue
1
No
40A
Flipped
PowerLoc
Green
Orange
2
3
No
No
40A
40A
Flipped
Normal
PowerLoc
PowerLoc
Red
Yellow
Grey
Purple
Brown
Black
White
Green/Brown
Black/Brown
4
5
6
7
8
9
10
11
12
No
No
No
No
No
No
No
No
No
40A
30A
30A
30A
20A
20A
Normal
Normal
Normal
Normal
Normal
Normal
PowerLoc
PowerLoc
PowerLoc
PowerLoc
PowerLoc
PowerLoc
Relay
Relay Output
Blue/Black
Blue/White
Green/Black
Green/White
Orange/Black
Orange/White
Red/Black
Yellow/Black
Grey/Black
Red/Green
Purple/Yellow
servo or cylinder
servo or cylinder
Digital Inputs
Pump
Pressure
1
1
2
2
3
3
4
5
7
6
Port
1
2
3
4
5
6
2007 FIRST Robotics Conference
20A
20A
20A
20A
20A
20A
20A
20A
Analog Inputs
Front Crab Pot
Rear Crab Pot
Shoulder Pot
Forearm Pot
Rotation Pot
Port
1
2
3
4
5
6
Color code everything, make a list of functions. Electrical and software will need this list.
M otor Functions - 2007
Motor
Control
Feedback
Speed
Controller
Chiaphua
PWM
Distance/Velocity
encoder, Current
Chiaphua
Chiaphua
PWM
PWM
Chiaphua
Globe
Globe
Fisher Price
Window
Window
PWM
PWM
PWM
PWM
PWM
PWM
PWM
PWM
PWM
Distance/Velocity
encoder, Current
Digital
Digital
Digital
Digital
Digital
Pot
Pot
Pot
Pot
Pot
-
270
270
300
270
180
Deg
Deg
Deg
Deg
Deg
Air Piston #1
Air Piston #2
Air Piston #3
In/Out
In/Out
In/Out
1-way Valve On-Off
1-way Valve On-Off
1-way Valve On-Off
Air Piston #4
In/Out
1-way Valve On-Off
PWM Output
Braking
(A-B)
Current Rating
Comp
Output
Connection
Blue
1
No
40A
Flipped
PowerLoc
Green
Orange
2
3
No
No
40A
40A
Flipped
Normal
PowerLoc
PowerLoc
Red
Yellow
Grey
Purple
Brown
Black
White
Green/Brown
Black/Brown
4
5
6
7
8
9
10
11
12
No
No
No
No
No
No
No
No
No
40A
30A
30A
30A
20A
20A
Normal
Normal
Normal
Normal
Normal
Normal
PowerLoc
PowerLoc
PowerLoc
PowerLoc
PowerLoc
PowerLoc
Relay
Relay Output
Blue/Black
Blue/White
Green/Black
Green/White
Orange/Black
Orange/White
Red/Black
Yellow/Black
Grey/Black
Red/Green
Purple/Yellow
servo or cylinder
servo or cylinder
Motor List
Relay
Digital Inputs
Pump
Pressure
1
1
2
2
3
3
4
5
7
6
Port
1
2
3
4
5
6
2007 FIRST Robotics Conference
20A
20A
20A
20A
20A
20A
20A
20A
Analog Inputs
Front Crab Pot
Rear Crab Pot
Shoulder Pot
Forearm Pot
Rotation Pot
Port
1
2
3
4
5
6
M otor Functions - 2007
Motor
Control
Feedback
Speed
Controller
Chiaphua
PWM
Distance/Velocity
encoder, Current
reading
Chiaphua
Chiaphua
PWM
PWM
Chiaphua
Globe
Globe
Fisher Price
Window
Window
PWM
PWM
PWM
PWM
PWM
PWM
PWM
PWM
PWM
Distance/Velocity
encoder, Current
reading
Digital
Digital
Digital
Digital
Digital
Pot
Pot
Pot
Pot
Pot
-
270
270
300
270
180
Deg
Deg
Deg
Deg
Deg
Air Piston #1
Air Piston #2
Air Piston #3
In/Out
In/Out
In/Out
1-way Valve On-Off
1-way Valve On-Off
1-way Valve On-Off
Air Piston #4
In/Out
1-way Valve On-Off
Relay
PWM Output
Braking
(A-B)
Current Rating
Comp
Output
Connection
Blue
1
No
40A
Flipped
PowerLoc
Green
Orange
2
3
No
No
40A
40A
Flipped
Normal
PowerLoc
PowerLoc
Red
Yellow
Grey
Purple
Brown
Black
White
Green/Brown
Black/Brown
4
5
6
7
8
9
10
11
12
No
No
No
No
No
No
No
No
No
40A
30A
30A
30A
20A
20A
Normal
Normal
Normal
Normal
Normal
Normal
PowerLoc
PowerLoc
PowerLoc
PowerLoc
PowerLoc
PowerLoc
Relay
Relay Output
Blue/Black
Blue/White
Green/Black
Green/White
Orange/Black
Orange/White
Red/Black
Yellow/Black
Grey/Black
Red/Green
Purple/Yellow
servo or cylinder
servo or cylinder
Digital Inputs
Pump
Pressure
1
1
2
2
3
3
4
5
7
6
Port
1
2
3
4
5
6
PWM & Brake
20A
20A
20A
20A
20A
20A
20A
20A
Analog Inputs
Front Crab Pot
Rear Crab Pot
Shoulder Pot
Forearm Pot
Rotation Pot
Port
1
2
3
4
5
6
Current and Polarity
2007 FIRST Robotics Conference
Electrical Design Begins
• Select a position for the Main Battery and
compressor if you are using pneumatics. (The
battery and compressor are heavy so they can be
used to balance the robot.)
• Select a position for the main breaker and the
terminal block near the main battery.
• Select a position for the Maxi Block and ATA Fuse
panels near to the terminal block.
• Select positions for the Speed Controllers (Victors)
and relays (Spikes).
2007 FIRST Robotics Conference
Electrical Design Begins
• Select a position for the Robot Controller and the
Radio Modem.
• The RC does not need to be near the outside of
the robot but should be easy to see without
removing covers.
• The modem should be placed so that the antenna
can be placed away from metal objects. Do not
bury in the robot frame.
• Use a 9 pin extension for the programming port
and tether port if RC is inside the robot.
2007 FIRST Robotics Conference
Electrical Design Begins
• The main breaker needs a solid mount and the
case is easily cracked.
• Mount the main breaker where it is easy to access
but not positioned so that another robot could
easily bump the “OFF” button.
• It helps to label the main breaker location so your
robot can be turned off if needed.
• The terminals need to be insulated!
2007 FIRST Robotics Conference
Electrical Design Begins
• Mount controllers near the motors they will control.
• When mounting speed controllers, position so that it is easy
to see the indicators.
• Allow some open area so that cooling air may flow around
the controller and through the fan.
• Make sure you can access the calibration switch.
• Controllers can be mounted in any position but should be
secure.
• Don’t place near mechanical parts that will produce metal
flakes.
2007 FIRST Robotics Conference
Primary Electrical Wiring
• Consists of #6 wiring, 50 amp Anderson connector,
Main breaker, terminal blocks and wiring to
breaker panel(s).
– Carries all robot current.
– The same current that flows through the red wire
flows through the black wire.
– The main breaker is a temperature sensitive device.
– #6 wire is about .0005 ohm/ft. At 200 amps, at least
0.4 volt drop across the KOP supplied wire length,
more if the Anderson connector is damaged.
2007 FIRST Robotics Conference
Bad #6 AWG Wiring Long wire runs, shared currents with high current loads.
Voltage to RC estimated to be below 9 volts during pushing, much less during stall.
High Current
Returns
All robot current flows
through these wires.
To RC
2007 FIRST Robotics Conference
Better #6 AWG wiring Current sharing is reduced, wire runs are shorter. Jumper
still taking a lot of current. RC fed at sensitive position on block.
Voltage to RC estimated to be max 9.6 volts during pushing, less during stall.
Drive current only flows
Through these wires.
To RC
2007 FIRST Robotics Conference
Best #6 AWG wiring Current sharing is reduced, wire runs are shorter. Jumper
carries less current, reduction in single point failure. RC fed from minimum loss
terminal on small breaker panel. Voltage to RC estimated to be at least 9.8 volts
during pushing, less during stall.
To RC
2007 FIRST Robotics Conference
Many team batteries are wired this way.
Terminals close to battery edge run the risk of abrasive breakdown of insulation.
Unequal wire length makes connection difficult and mating questionable.
2007 FIRST Robotics Conference
Best battery wiring. Terminals are turned to inside and are mounted on inside of
terminal, allowing battery case to shield them from abrasion.
Wire length is equal to allow ease of connection. If battery or mount moves
during match, secure Anderson connector with ty-wrap to prevent opening.
Terminals (SLA or KPA4C) may be bent to reduce overall height above battery
case.
2007 FIRST Robotics Conference
Note battery terminals turned to inside, away from chassis supports.
Terminals are well insulated and wires are held out of the way. Battery is securely
mounted and cannot move.
2007 FIRST Robotics Conference
Note: Wire is stripped back the length of the terminal,
about ¾”. Insert wire between the shell and the terminal.
Do not insert wire under screw!
The screw pushes on the copper not the wire. When
terminated properly, the wire should take on the shape of
the shell and cannot be moved. You can solder but insert
solder from the terminal side, not the wire side. Stop
when solder flows to the insulation. This will keep the
wire flexible.
For SLA or KPA4C
Connector
Termination
Soldering is
Recommended!
Insulation is a
must!
2007 FIRST Robotics Conference
Crimp terminals are also allowed. They are easily crimped with the corners
of a vise if the correct crimper is not available. Solder these the same way
as SLA or KPA4C connectors. There is a solder hole in the terminal side of
the connector. Again only add enough solder to prevent it from flowing
under the insulation. Pulling the wire should not give any movement.
Insulate with electrical tape or heat shrink (A #10 push on shown for
reference.)
2007 FIRST Robotics Conference
Various hand tools: Ratchet style crimpers on left, then small wire strippers
and cutters, followed by a cutter meant for #6 only.
2007 FIRST Robotics Conference
Common Tools
For Electrical
Install
2007 FIRST Robotics Conference
Automatic stripper shown
with common T type
stripper for 16-24 AWG.
2007 FIRST Robotics Conference
Thomas and Betts crimper on
left can be used for both
insulated and non-insulated
terminals. Ratchet crimper on
right will not release the jaws
until the correct force has been
applied.
The T&B crimper should be
used on non-insulated terminals
by orienting the slit in the
terminal against the concave
side of the jaw. When correctly
terminated, the slit should
remain closed and the wire can
not move within the terminal.
2007 FIRST Robotics Conference
• Fluke 77 VOM
• Useful for measuring all
electrical on robot.
• Measures voltage &
resistance.
• Use for troubleshooting.
• Fluke 410 Current Clamp
• Useful for measuring
currents up to several
hundred amps.
• May give inaccurate readings
when measuring output of
Victor at less than full power
but is still useful.
2007 FIRST Robotics Conference
3M Color Wheel contains a few yards of each of the EIA colors (resistor code).
Useful for marking all electrical wiring and components. (power wires, Victors,
breakers, Spikes, motors, and PWM wiring)
2007 FIRST Robotics Conference
¼” uninsulated
Terminals
Bent
Terminal
Anderson
Power
Products
Flag
Terminals
2007 FIRST Robotics Conference
Stranded, flexible “zip cord” is available in sizes from 18 – 10 AWG.
Source MCM or Newark in rolls of 50’ or 100’
2007 FIRST Robotics Conference
Common Wiring Techniques
• Mount components where practical for lowest loss or
replacement not convenience.
– Reduces wire length.
– Reduces control PWM wiring.
– Mount so that component indicators can be seen.
• Split high currents to prevent shared in same wire.
– Currents add together reducing available voltage.
– Currents shared by same terminals.
– Add to wire and breaker heating.
2007 FIRST Robotics Conference
Common Wiring Techniques
• You should purchase additional 50 amp Anderson
connectors and install one on the battery charger.
Strip at least 1” from each wire and fold the
exposed wire so that it fits in terminal, then
solder or crimp.
• Check all terminations by pulling on wire, this
includes crimps, screw terminals and the terminal
block.
• Use tywraps to secure wires near each terminal to
prevent vibration from loosening the connection.
Use this same technique for securing PWM cables.
2007 FIRST Robotics Conference
Common Wiring Techniques
• When using the Maxi block (40 amp breaker
panel), terminate the #6 by stripping back 1 to 11/2” of insulation and folding the wire back on
itself(twice). This causes the wire to be the
diameter of a #2 wire which is the largest wire
designed for that block.
• Solder KPA4C connectors after you have
tightened the clamp screw so they don’t loosen
up. Heat terminal then apply solder to the end of
the wire and inside terminal. Do not allow solder
to wick under the insulation. This reduces the
flexibility of the wire.
2007 FIRST Robotics Conference
Common Wiring Techniques
• All exposed wiring and terminals need to be
insulated especially the battery terminals.
• You may use uninsulated crimp terminals and
solder if you then insulate the terminals. Heat
shrink tubing works very well.
• Keep wiring short and direct when possible. Use
#6 for all high current primary wiring.
• Use #10 for all high current loads; Chalupas,
Fisher Price and compressor.
2007 FIRST Robotics Conference
Common Wiring Techniques
• When attaching terminals to the battery, use a
star washers between the mating surfaces. This
will prevent the terminals from twisting.
• All wires used on the terminal block should be
stripped back 5/8” for proper insertion. You can
use two #10 wires in the same terminal but only
one #6. You only need to use as many of the block
inserts as your design requires. You may cut the
yellow jumpers. All high current loads must
return to the terminal block.
2007 FIRST Robotics Conference
Some Rules of Thumb
• Wire Foot(WF)
– Equivalent to loss in 1 foot of #10 wire.
– At stall current of the three large motors, about 100
amps, this is equivalent to 0.1 volt/wirefoot(WF).
– 1 ft. of #6 wire =0.5 WF
– 1 ft. of #10 wire=1 WF
– 1 ft. of # 12 = 2 WF
– Battery Internal Resistance=11 WF
– Victor Series Resistance=6 WF
– Bad crimps=1-3 WF each
– Remember, there are two wires in every circuit,
positive and negative.
2007 FIRST Robotics Conference
Some More Rules of Thumb
• Murphy’s Law
– Anything that can go wrong will…at the worst possible
time.
– Robot postulate…It will go wrong in the last match of
the finals on Einstein.
– My favorite is Murphy’s Law of selective gravitation. A
dropped tool will fall where it will do the most
damage.
2007 FIRST Robotics Conference
This is a list of tools,
wire, terminals and other
parts you have seen
pictured in this
presentation.
Included is also a Wire
Foot reference to help
you analyze what might
be taking place on your
robot.
Copies are available,
please take one.
Pictured is a close-up of
Victor with push on tabs
and color ID tape as well
as tools and wire.
MCM Electronics
Description
18 GA zip cord/100'
14 GA zip cord/100'
12 GA zip cord/100'
10 GA zip cord/100'
Solder
WP30 Soldering Iron
Iron Tip, Large Flat
Iron Tip, Conical
80 Watt Soldering Iron
Large Wire Cutters
General Purpose Cutter
Flush cutters
T Stripper
Auto Stripper 10-22AWG
T&B Style Crimper
Ratchet Crimper
Needle Nose Pliers
Retracting Utility Knife
Color Wheel Tape Marker
Part #
24-1870
24-1900
24-1915
24-1930
21-1845
96-429
96-1565
96-320
21-4345
96-1309
96-235
96-1188
28-2700
22-3045
22-1780
22-770
96-1330
22-825
108-035
Price
$11.97
$24.88
$31.45
$46.47
$14.44
$47.95
$5.76
$5.76
$8.23
$24.17
$20.93
$17.21
$15.50
$29.95
$10.95
$25.95
$22.75
$3.99
$24.95
TERMINALS
Non insulated Female,12-10
Non insulated Female,14-16
Full Insulated Female, 12-10
Full Insulated Female, 14-16
1-800-543-4330
fax:1-800-765-6960
108-275
2.99/25
108-270
3.89/50
108-290
7.49/25
108-285
10.75/50
www.,mcminone.com
WIRE FOOT EQUIVALENTS 1WF@100AMPS=0.1VOLT
Device
#10 Wire per foot
#6 Wire per foot
#12 Wire per foot
Victor
Spike
Crimp (good)
Crimp (poor)
Crimp (soldered)
Battery
Circuit Breaker
Rockwell Terminal Block (tight)
Rockwell Terminal Block (loose)
50 amp disconnect
50 amp disconnect (scratched)
2007 FIRST Robotics Conference
WF
1
0.5
~2
6-8
<1
1
1-3
<<1
11
<1
<1
5-20
<1
>10
Thanks!
• Questions?
2007 FIRST Robotics Conference