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Power Management System

Revision as of 21:32, 21 November 2013 by Alexalspach (Talk | contribs)

The Allegro Dog's power management system provides power to every Allegro Dog component. A 24V/A output powers the motor controllers and motors while a separate 24V/B line and 12 and 5V lines power the internal computer, IMU and any other devices added to the system. The power management system also limits the current supplied to the various devices and helps keep batteries healthy by limiting their drain.

Note When power is supplied to the power management system it will automatically turn on without any further action from the user. It is only powered off when the power supply is removed. Powering the internal computer and motor controllers requires further action.

Contents

Input

The external power port is used to supply external power or redirect battery power to the Allegro Dog. It accepts two separate 24V inputs: One input powers the power management system and the second powers the motor controllers and motors.

Power Requirement

The Allegro Dog runs on 24VDC, and under normal conditions draws no more than 20 amps. The current required varies greatly with the algorithm and application. The dog can be powered via external power supplies or by multiple internal and external batteries.


Note When power is supplied to the power management system it will automatically turn on without any further action from the user. It is only powered off when the power supply is removed. Powering the internal computer and motor controllers requires further action.

External Power

The power management system can utilize two separate 24V power inputs: One input for the motor controllers/motors and one input for everything else. This isolation, and the ability to use of separate power supplies, allows the motor power to be disabled while leaving the internal computer and every other component running unaffected. This also provides the user the option to use a power supply capable of supplying higher currents for the motor power while using a smaller one to power the computer, etc.

More Information: External Power

Battery Power

Provided with the Allegro Dog are four 24V, 4500mAh batteries used to power the dog during tethered operation. Careful attention should be paid to safely operate the dogs on battery power and to maintain the health of the batteries.

More Information: Battery Power

Output

Main Power Switch

The main power switch controls the supply of power to then entire Allegro Dog system. To use the internal computer, motor controllers / motors or 24V/B, 12V and 5V internal power sources, this switch must be switched ON.

Note Upon flipping this switch, the 24V/B, 12V and 5V internal power sources will become active. The internal computer, as well as the motor controllers and motors will remain unpowered until manually powered on by the user.

Note Turning this switch off will kill power to the entire Allegro Dog system no matter the status. Both the computer and motors / motor controllers, as well as any other device powered by the power management system, will lose power immediately.


Available directly off of the Allegro Dog's internal power management system are 24V/B, 12V and 5V internal power sources.

More Information: Main Power Switch, Internal Power Sources, Control-I/O Panels

Emergency Stop

The emergency stop switch kills the 24V/A supply of power to the motor controllers and motors. The switch affects nothing else in the system. When triggered, the computer and any other devices supplied by the 24V/B, 12V or 5V internal power sources will remain active.

Note When turning on the 24V/A power, make sure the emergency switch is up.

More Information: Emergency Stop, Control-I/O Panels

Motor Power Switches

The motor controllers and motors are powered via the power management system's 24V/A output. Power to the motor controllers can be turned on using the Motor Controller/Motor Power Switch (No. 8 on the Control-I/O Panels) or the wireless remote.

Unlike the Motor Controller/Motor Power Switch, the wireless remote can both turn on and turn off the motor controller power (24V/A).


Note If the motor controllers lose power for any reason, you must shut down and restart the control software to reestablish CAN communication.

More Information: Motor Controller Power, Control-I/O Panels, Motor Controller Power Remote

Motor Controller Power

The motor controllers and motors are powered via the power management system's 24V/A output. Power to the motor controllers can be turned on using the Motor Controller/Motor Power Switch (No. 8 on the Control-I/O Panels) or the wireless remote.

More Information: Motor Controller Power

Internal Power Sources

Available directly off of the Allegro Dog's internal power management system are 24V/B, 12V and 5V internal power sources.

More Information: Internal Power Sources

Battery Power Management

While running on battery power, the battery voltage can be monitored using the LCD Panel Voltage Display on the rear of the dog. The power management system will also actively monitor the battery voltage and notify the user when the battery should be changed.

25.2 - 22.1V No sound - This is the normal operating voltage range.

22.0 - 20.6V Beep (pause) beep (pause)... - It is recommended you change the battery, but you have a few more minutes if necessary.

20.5 - 20.1V Beep beep beep beep... - You must change the battery immediately to avoid damage to the battery. The dog will soon shut down.

20.0 - 0.00V Beeeeeeeeeeeeep... - The power management system will shut down at 20V. Power to the everything is lost.

Note To keep the computer running while swapping batteries, switch just one battery at a time to ensure constant power to the power management system.

More Information: Battery Power

Current Limits

TODO: Current Limits, How to change?, What else?

  • internal power sources
  • input
  • output
  • battery beeping
  • what else?