Electronics

System Wiring

This is the simplest implementation of the system. Every PDBueno will have 3 motors wired to it.

../_images/System_Wiring.png

PDBueno (Power Distribution Board)

The goal of this board is to interface with 3 GIM8108-8 motors for the TEST SETUP

../_images/new_pdbueno.jpeg

Requirements for the board are as follows

  • Power 3x GIM8108-8 motors with GDS68 Driver with 2E68

  • Power a Jetson Orin Nano Super Developer Kit

    • A buck converter such as the Matek 12S Pro BEC should be present on the board for this. Include a TVS diode to protect from transient voltage spikes

  • Wire in series 2x6S LiPo batteries

    • This is to obtain 44.4V and fall withing acceptable voltage to power the motors

    • One of the two batteries can be shorted in order to only use a single 6S battery

  • Include Test Points to be able to measure the volatages in the battery

    • Test points shall be spaced far enough to each other

  • The board shall have 2 layers

Routing Considerations

  • The motors have a peak current of 25 A. Therefore according to IPC-2152, a copper thickness of 2oz with a 37 mm trace width should be use (considering the standard 10 degrees rise). Prefer a copper pour to traces.

  • The battery shall be connected to the board using 14 AWG wire. 14 AWG is rated for 32 A continuous current and can handle a peak of 75 A for a few seconds. The wire should be kept short.

  • The battery shall be connected with an XT90 connector

  • The motors shall be wired with a 16 AWG wire. 16 AWG wire is rated for 18A which is well over the continuous 7A current of the motors

  • The motors shall be connected to the PCBueno with an XT30 connector

The final version of the board:

Front view:

../_images/PDBueno_front.png

Back view:

../_images/PDBueno_back.png