====== Frobobox ======
Deprecated
{{:robots:armadillo:hardware:frobobox_pc_h70px.png?nolink& |}}
This is the computer on the [[robots:armadillo:welcome|Armadillo Scout]]. It is an industrial grade computer built in IP66 aluminum box. It is using Ubuntu as operatingsystem and can be accessed via the built in Wifi.
[[frobo>FroboBox:PC|Frobobox documentation from SDU]]
This documentation is updated when changes are made to our FroboBox.
Here is the different [[robots:armadillo:hardware:frobobox:configuration|configurations]] for the Frobobox to work in Hohenheim
===== Diagram =====
{{:robots:armadillo:hardware:frobobox:connectiondiagram.png?nolink&800|}}
===== Connection List =====
^Plug ^Type^
|1|[[robots:armadillo:hardware:frobobox:frobobox#ETHERNET 10/100 (M12 d-coded - 4 pins female connector)|ETHERNET 10/100]]|
|2|[[robots:armadillo:hardware:frobobox:frobobox#ETHERNET 10/100 (M12 d-coded - 4 pins female connector)|ETHERNET 10/100]]|
|3|[[robots:armadillo:hardware:frobobox:frobobox#ETHERNET 10/100 (M12 d-coded - 4 pins female connector)|ETHERNET 10/100]]|
|4|[[robots:armadillo:hardware:frobobox:frobobox#GIGABIT ETHERNET (M12 a-coded - 8 pins female connector)|GIGABIT ETHERNET]]|
|5|[[robots:armadillo:hardware:frobobox:frobobox#Analog Inputs (M12 a-coded - 8pins female connector)|Analog Input]]|
|6|[[robots:armadillo:hardware:frobobox:frobobox#CAN (M12 a-coded - 8pins female connector - based on CANopen)|CAN]]|
|7|[[robots:armadillo:hardware:frobobox:frobobox#CAN (M12 a-coded - 8pins female connector - based on CANopen)|CAN]]|
|8|[[robots:armadillo:hardware:frobobox:frobobox#RS232 (M12 a-coded - 8pins female connector)|RS232]]|
|9|[[robots:armadillo:hardware:frobobox:frobobox#RS232 (M12 a-coded - 8pins female connector)|RS232]]|
|10|[[robots:armadillo:hardware:frobobox:frobobox#RS232/422/485 (M12 a-coded - 8pins female connector)|RS232/422/485]]|
|11|[[robots:armadillo:hardware:frobobox:frobobox#RS232/422/485 (M12 a-coded - 8pins female connector)|RS232/422/485]]|
|12| [[robots:armadillo:hardware:frobobox:frobobox#USB|USB]]|
|13| [[robots:armadillo:hardware:frobobox:frobobox#Power Connector|+24 VDC]]|
|14|[[robots:armadillo:hardware:frobobox:frobobox#USB|USB]]|
|15|[[robots:armadillo:hardware:frobobox:frobobox#Power connector - AUX/Display|Power 2]]|
|16|WI-FI Antenna|
|17|Bluetooth Antenna|
^Plug ^Currently connected to^
|1|[[sensors:lsm111|SICK LMS-111]]|
|2|[[sensors:gnss|Trimble AgGPS542]]|
|3|Empty|
|4|HoWLAN|
|5|Empty|
|6|Empty|
|7|Empty|
|8|Motorcontroller right|
|9|Motorcontroller left|
|10|Empty|
|11|Empty|
|12|Empty|
|13|Power|
|14|Empty|
|15|Empty|
|16|WI-FI Antenna|
|17|Bluetooth Antenna|
===== Connector description =====
The connectors used at the FroboBox is the industrial connector standard M12.
==== RS232 (M12 a-coded - 8pins female connector) ====
(8)+(9) on block diagram.
There are no configuration jumpers for COM1 and COM2 since they only operate in RS-232 mode.
|{{:robots:armadillo:hardware:frobobox:8pin_connector.jpg?130|}} |pin - 1 |white|+5V| |
| ::: |pin - 2|brown |+12V| |
| ::: |pin - 3|green |RXD |COM1 J18-3 , COM2 J18-12|
| ::: |pin - 4|yellow|CTS |COM1 J18-6 , COM2 J18-15|
| ::: |pin - 5|grey |GND |COM1 J18-9 , COM2 J18-18|
| ::: |pin - 6|pink |RTS |COM1 J18-4 , COM2 J18-13|
| ::: |pin - 7|blue |TXD |COM1 J18-5 , COM2 J18-14|
| ::: |pin - 8|red |GND | |
{{:robots:armadillo:hardware:frobobox:8pin_connector_pins.jpg?200|}}
==== RS232/422/485 (M12 a-coded - 8pins female connector) ====
(10)+(11) on block diagram.
Use CMOS Setup on the Versalogic mainboard to select between RS-232 4-wire, RS-422, and RS485 operating modes for COM3 and COM4. Jumper block V3 (see datasheet MEBX37-1.pdf for description) is used to enable the RS-422/485 termination resistor for COM3 and COM4. Jumper V3[1-2] enables the RS-422/485 termination resistor for COM3, and jumper V3[3-4] for COM4. The termination resistor should be enabled for RS-422 and the RS-485 endpoint station. It should be disabled for RS-232 and the RS-485 intermediate station.
|{{:robots:armadillo:hardware:frobobox:8pin_connector.jpg?130|}} |pin - 1 |white|+5V| |
| ::: |pin - 2|brown |+12V| |
| ::: |pin - 3|green |RXD / RXD-|COM3 J18-23 , COM4 J18-30|
| ::: |pin - 4|yellow|CTS / RXD+|COM3 J18-24 , COM4 J18-31|
| ::: |pin - 5|grey |GND |COM3 J18-22 , COM4 J18-29|
| ::: |pin - 6|pink |RTS / TXD+|COM3 J18-20 , COM4 J18-27|
| ::: |pin - 7|blue |TXD / TXD-|COM3 J18-21 , COM4 J18-28|
| ::: |pin - 8|red |GND | |
{{:robots:armadillo:hardware:frobobox:8pin_connector_pins.jpg?200|}}
==== Analog Inputs (M12 a-coded - 8pins female connector) ====
(5) on block diagram.
Four analog to digital converters are available on the motherboard
==== CAN (M12 a-coded - 8pins female connector - based on CANopen) ====
(6)+(7) on block diagram These ports utilizes a 5-Pin M12 CANopen shown below.
|{{:robots:armadillo:hardware:frobobox:5pin_connector.jpg?130|}}|pin - 1|brown|CAN-Shield| |
| ::: |pin - 2|white|+12V| |
| ::: |pin - 3|blue |GND |box header pin 5|
| ::: |pin - 4|black|CAN-High|box header pin 4|
| ::: |pin - 5|grey |CAN-Low |box header pin 3|
{{:robots:armadillo:hardware:frobobox:5pin_connector_pins.jpg?230|}}
==== ETHERNET 10/100 (M12 d-coded - 4 pins female connector) ====
(1)+(2)+(3) on block diagram.
|{{:robots:armadillo:hardware:frobobox:4pin_connector.jpg?120|}}|pin - 1|yellow|Receive-|RJ-45 pin 6|
| ::: |pin - 2|white |Transmit-|RJ-45 pin 3|
| ::: |pin - 3|orange|Receive+ |RJ-45 pin 2|
| ::: |pin - 4|blue |Transmit+|RJ-45 pin 1|
{{:robots:armadillo:hardware:frobobox:4pin_connector_pins.jpg?220|}}
==== GIGABIT ETHERNET (M12 a-coded - 8 pins female connector) ====
(4) on block diagram.
|{{:robots:armadillo:hardware:frobobox:8pin_connector.jpg?130|}} |pin - 1 |orange-white|TX_D1+|RJ-45 pin 1|
| ::: |pin - 2|orange |TX_D1-|RJ-45 pin 2|
| ::: |pin - 3|green-white|RX-D2+|RJ-45 pin 3|
| ::: |pin - 4|green |RX D2-|RJ-45 pin 6|
| ::: |pin - 5|brown-white|BI D4+|RJ-45 pin 7|
| ::: |pin - 6|brown |BI D4-|RJ-45 pin 8|
| ::: |pin - 7|blue-white |BI-D3-|RJ-45 pin 5|
| ::: |pin - 8|blue |BI-D3+|RJ-45 pin 4|
{{:robots:armadillo:hardware:frobobox:8pin_diagram.jpg?220|}}
==== USB ====
|{{:robots:armadillo:hardware:frobobox:usb_stik.jpg?120|}} |{{:robots:armadillo:hardware:frobobox:schutzkappe.jpg?120|}} |
[[http://de.farnell.com/bulgin/px0845-a/stecker-panel-usb-typ-a-lpt/dp/1166684?Ntt=1166684|STECKER by Farnell]]
[[http://de.farnell.com/jsp/search/productdetail.jsp?SKU=314390|SCHUTZKAPPE by Farnell]]
==== Power Connector ====
1: GND (black), 2:GND(blue), 3:VCC(brown),4:VCC(White)
|{{:robots:armadillo:hardware:frobobox:4pin_power_connector.jpg?100|}}|pin - 1|Black|GND|
| ::: |pin - 2|Blue |GND|
| ::: |pin - 3|Brown|+24 VCC|
| ::: |pin - 4|White|+24 VCC|
==== Power connector - AUX/Display ====
Currently power connector.
|{{:robots:armadillo:hardware:frobobox:4pin_power_connector.jpg?100|}}|pin - 1|Black|GND|
| ::: |pin - 2|Blue |GND|
| ::: |pin - 3|Brown|+24 VCC|
| ::: |pin - 4|White|+24 VCC|
==== Power Cable ====
|{{:robots:armadillo:hardware:frobobox:4_stik_powercable.jpg?100|}}|pin - 1|Black|Not connected|
| ::: |pin - 2|Blue |GND|
| ::: |pin - 3|Brown|Not connected|
| ::: |pin - 4|White|+24 VCC|
{{:robots:armadillo:hardware:frobobox:schaltplan_powercable.jpg?300|}}
==== Wifi/Bluetooth Antenna ====
The antenna for the Wifi and Bluetooth is identical. Looks like: TL-ANT2408CL from the company [[http://www.tp-link.com/en/|TP-Link]].
The antenna has a RP-SMA Male connection.
Download {{:robots:armadillo:hardware:frobobox:wifi_bluetooth_antenna_tl-ant2408cl_ds_2.pdf|data sheet}} of the TL-ANT2408CL (194 KB)
RP SMA reverse female for panel connector: [[http://www.conrad.de/ce/de/product/734400/SMA-Reverse-Einbaubuchse-zum-Crimpen-50-Chassisbuchse-gerade-Messing-vergoldet-Crimpen-419007-BKL-Electronic/SHOP_AREA_17371&promotionareaSearchDetail=005|from Conrad]]
===== Scaffold =====
The internal scaffold for the FroboBox consists of three aluminum plates separated by 35 mm spacers. The lower plate is cut in shape to fit exactly into the enclosure and the two top plates are cut in dimensions 150 x 215 mm to fit the motherboard. When mounting the motherboard it is important to align it to the edge to make room for the RJ-45 connections. Get printable drawings of {{:robots:armadillo:hardware:top_deck.pdf|Top deck}}, {{:robots:armadillo:hardware:mid_deck.pdf|middle deck}} and {{:robots:armadillo:hardware:low_deck.pdf|lower deck (A3)}}.
{{:robots:armadillo:hardware:frobobox_pc_v1_scaffold.gif?nolink&|}}
===== Wirering =====
A splitter PCB is needed between the four serial connectors and the J18 connector on the motherboard. This can be done with the big and clumsy PCB that is delivered with the motherboard or with this nice and small PCB.
| ^COM1 ^COM2 ^COM3 ^COM4^
^1 |pink |blue |grey |grey|
^2 |green |green |pink |blue|
^3 |yellow |yellow |yellow |yellow|
^4 |blue |pink |green |green|
^5 |grey |grey |blue |pink|
^6 |white |white |white |white|
^7 |red |red |red |red|
^8 |brown |brown |brown |brown|
^9 |NC |NC |NC |NC|
^10 |NC |NC |NC |NC|
===== Component list =====
^ Component ^ Part ^ Link to buy ^ Link to manufacturer ^ PDF documentation^ Manual^
| Motherboard | VersaLogic EBX37 Mamba EBX-formfactor single board computer with PCI104 carrier/connector. Intel Core2 Duo 2.0Ghz. 2GB DDR2 RAM.| [[http://versalogic.com/products/ds.asp?productid=215|VersaLogic]]||{{:robots:armadillo:hardware:versilogic_-_mamba.pdf|Versilogic Mamba}}|{{:robots:armadillo:hardware:manuals:mebx37.pdf|EBX37 Manual}}|
| Harddrive | Intel 40GB SSD SATA | [[http://www.dustin.dk/pd_5010471193.aspx|Dustin]]|[[http://www.intel.com/support/ssdc/hpssd/X25V/sb/CS-031169.htm|Intel]] |{{:robots:armadillo:hardware:harddisk.pdf|Harddisk}}|{{:robots:armadillo:hardware:manuals:datasheetintelx25vsatasolidstatedriveproductline.pdf|X25V Manual}}|
| CAN adaptor | Advantech PCM3680 PC/104 2-port CAN module | [[http://www.tri-m.com/products/aaeon/pcm3680.html|Tri-m]] ||{{:robots:armadillo:hardware:mini-box.pdf|PCM 3680}}|{{:robots:armadillo:hardware:manuals:pcm3680_spec.pdf|Manual}}|
|[[robots:armadillo:hardware:frobobox:components:power_supply|Power supply]]|M4-ATX, 250w output, 6v to 30v wide input Intelligent Automotive DC-DC Car PC Power Supply|[[http://www.mini-box.com/M4-ATX|Mini-Box]]||{{:robots:armadillo:hardware:m4-atx.pdf|M4-ATX}}|{{:robots:armadillo:hardware:manuals:pwr-m4-atx-manual.pdf|Manual}}|
|Ethernet/WiFi|Netgear MBR624GU|[[http://www.netgear.com/service-provider/products/mobile-broadband/3g-4g-mobile-broadband/MBR624GU.aspx|Netgear]]||{{:robots:armadillo:hardware:netgear.pdf|Netgear}}|{{:robots:armadillo:hardware:manuals:mbr624gu_u_um.pdf|Manual}}|
|Bluetooth|Parani-UD100|[[http://www.sena.com/products/industrial_bluetooth/ud100.php|Sena - Parani]]||doc|man|
|Enclosure|ALUMINIUM 230X330X180MM|[[http://dk.farnell.com/rose/01-23-33-18/enclosure-aluminium-230x330x180mm/dp/4744317|Farnell]]|[[http://www.rose-pw.de/de/produkte/industriegehaeuse/standardgehaeuse/aluminium/aluminium-standard.html|Rose]]|{{:robots:armadillo:hardware:rose_box_farnell.pdf|RoseBox}}|{{:robots:armadillo:hardware:rose_box.pdf|Datasheet}}|
|Display|Suggestion…|[[http://dk.rs-online.com/web/p/lcd-displays-farvegrafik/7332711/|RS]]||
|8-pin RS connector|M12 a coded Female for (5)+(8)+(9)+(10)+(11)|[[http://eshop.phoenixcontact.se/phoenix/treeViewClick.do?UID=1523476&parentUID=&reloadFrame=true|Phoenix]]||{{:robots:armadillo:hardware:frobobox:phoenix_contact_1523476_sacc-e-fs-8con-m16_0_5_sco.pdf|8 Connector}}||
|8-pin Ethernet connector (G-bit)|M12 a coded Female for (4)|[[http://eshop.phoenixcontact.se/phoenix/treeViewClick.do?UID=1553365&parentUID=&reloadFrame=true|Phoenix]]||{{:robots:armadillo:hardware:frobobox:phoenix_contact_1553365_saccbp-m12fs-8con-m16_0_5-940.pdf|8 Connector}}||
|5-pin CAN connector|M12 a coded Female for (6)+(7)|[[http://eshop.phoenixcontact.se/phoenix/treeViewClick.do?UID=1520039&parentUID=&reloadFrame=true|Phoenix]]||{{:robots:armadillo:hardware:frobobox:phoenix_contact_1520039_sacc-e-fs-5con-m16_0_5_sco.pdf|5 Connector}}||
|4-pin Ethernet connector|M12 a coded Female for (1)+(2)+(3)|[[http://eshop.phoenixcontact.se/phoenix/treeViewClick.do?UID=1419616&parentUID=&reloadFrame=true|Phoenix]]||{{:robots:armadillo:hardware:frobobox:phoenix_contact_1419616_sacc-dsi-m12fsd-4con-m16_0_5.pdf|4 Connector}}||
|USB connector|USB Buccaneer panel for (12)+(14)|[[http://dk.rs-online.com/web/p/industriel-ethernet-tilbehoer/4686311/|RS]]||{{:robots:armadillo:hardware:frobobox:kob_industriel_ethernet_tilbehor_usb_buccaneer_panel_skt_a_bulgin_px0842_a_online_fra_rs..pdf|USB Connector}}||
|Sealing cap|panel sealing cap for (12)+(14)|[[http://dk.rs-online.com/web/p/products/5044588|RS]]||{{:robots:armadillo:hardware:frobobox:panel_skt_sealing_cap_bulgin_px0733..pdf|Sealing cap}}||
|RP SMA connector|Wifi/Bluetooth antenna (16)+(17)|[[http://www.conrad.de/ce/de/product/734400/SMA-Reverse-Einbaubuchse-zum-Crimpen-50-Chassisbuchse-gerade-Messing-vergoldet-Crimpen-419007-BKL-Electronic/SHOP_AREA_17371&promotionareaSearchDetail=005|Conrad]]|| ||
|Wifi/Bluetooth antenna| |[[http://www.tp-link.com/en/products/details/?model=TL-ANT2408CL#down|TP-Link]]||{{:robots:armadillo:hardware:frobobox:wifi_bluetooth_antenna_tl-ant2408cl_ds_2.pdf|antenna}}||