Talon SRX - MDHSRobotics/TeamWiki GitHub Wiki

Talon SRX Speed Controller

Can accept CAN bus and PWM input types.

  • Allows up to 63 Talon SRXs to be daisy chained.

  • CAN bus allows two-way communication between the Talon SRX and the robot controller.

  • Can dedicate more processing power to the controller to do other tasks.

  • Cannot be easily daisy chained in PWM mode.

  • Only limit switches may be used with the Data Port.

  • Automatically detects CAN bus traffic.

  • The only configuration that is necessary is assigning Device IDs to preserve common-ID Talons (more than one Talon with the same device ID).

Wiring the Talon SRX for CAN Bus

  • To wire CAN bus, connect a yellow signal wire to the CAN terminal marked โ€œhโ€ on the NI roboRIO and connect a green signal wire to the CAN terminal marked โ€œLโ€ on the NI roboRIO.

  • To connect more Talon SRXs, use tightly crimped connectors to connect signal wires green-to- green and yellow-to-yellow.

  • Each connector should be crimped and soldered.

  • After all the SRXs have been wired, connect the remaining two signal wires using a 120 Omega Resistor or to the CAN interface on the Power Distribution Panel (PDP) to properly terminate the cable end.

CAN Connector

  • Can be used to chain the Talon SRXs together without crimping connectors or soldering.

  • Each CAN contains a 4 channel Weidmuller terminal block with two CAN

pairs.

  • Spacers or electrical tape may be used to prevent shorting to the robot frame.

CAN Bus Wire Selection

  • Consult the FRC game rules for CAN wiring requirements

  • Recommended to use yellow for CANH and green for CANL

  • Makes inspection and troubleshooting easier

  • Matches what is labeled on the FRC Robot Controller, PDP, and Pneumatic Control Module.

  • Colors match the Talon SRX cable harness.

  • AWG 22 or similar gauge wiring can be used. An electric drill can be used to twist the CANH/CANL wire pair. (Mater Dei students canโ€™t use power tools without adult supervision, you nerds.)

Firmware Requirements for CAN Bus

  • Typically the Talon is shipped with firmware version 0.28. Check the rules to

determine the required minimum firmware version.

  • Utilizing the CAN bus will likely need a field-upgrade to the latest available

firmware and improvements (1.1 or newer).

  • Instructions to upgrade are in the Talon SRX Software Reference Manual.

Talon SRX Parts

  • Large Green Wire: Output GND (M-)

  • Wire Gauge: 12 AWG

  • Large White Wire: Positive Output (M+)

  • Wire Gauge: 12 AWG

  • Large Red Wire: Positive Input (V+)

  • Wire Gauge: 12 AWG

  • Large Black Wire: Input GND (V-)

  • Wire Gauge: 12 AWG

  • Small Yellow Wire: CAN-High/PWM Signal

  • Wire Gauge: 22 AWG

  • Small Green Wire: CAN-Low/PWM Signal

    • Wire Gauge: 22 AWG

  • 8 Pin Connection: Data Port

  • The small wires are signal wires. Signal wires of the same color are

electrically identical.

Notes from Kevin

  • It appears that the best way to get several Talon SRXs in series is to assign each an ID (excluding 0, go from 1 to 62). Do this for each talon SRX individually, noting which one has what ID (probably by putting a label on it or something).

Here's a wiring diagram that should work:

Basic Info

Motor controller

White: Positive

Green: Negative

Has two modes: coast and brake

Coast mode is the default mode (I think). When on the B/C light is off

Brake mode is activated when you press the B/C light. When brake mode is activated, the B/C light is lit red.