הסבר קצר על Status Light

Many of the components of the FRC® Control System have indicator lights that can be used to quickly diagnose problems with your robot. This guide shows each of the hardware components and describes the meaning of the indicators. Photos and information from Innovation FIRST and Cross the Road Electronics.

A compact and printable Status Light Quick Reference is available.

Robot Signal Light (RSL)

Robot Signal Light with wiring.

דולק

הרובוט דולק ומושבת

מהבהב

הרובוט דולק ופועל

כבוי

הרובוט כבוי, ה-roboRIO לא מופעל או ה-RSL אינו מחובר כראוי

roboRIO

roboRIO status lights highlighted.

Power

ירוק

המתח בסדר

כתום

Brownout protection tripped, outputs disabled

אדום

Power fault, check user rails for short circuit

Status

On while the controller is booting, then should turn off

2 הבהובים

Software error, reimage roboRIO

3 הבהובים

Safe Mode, restart roboRIO, reimage if not resolved

4 הבהובים

Software crashed twice without rebooting, reboot roboRIO, reimage if not resolved

Constant flash or stays solid on

שגיאה בלתי ניתנת לשחזור

Radio

לא מומש כרגע

Comm

כבוי

אין תקשורת

אדום דולק

מתקשר עם ה-DS, אך קוד המשתמש אינו פועל

אדום מהבהב

E-stop הופעל

ירוק דולק

מתקשר עם ה-DS

Mode

כבוי

Outputs disabled (robot in Disabled, brown-out, etc.)

כתום

אוטונומי פועל

ירוק

טלאופ פועל

אדום

בדיקה פועלת

RSL

ראו מעלה

OpenMesh Radio

Radio with the Wifi, Eth Link (2), and Power ports labeled.

Power

כחול

דולק או נדלק

כחול מהבהב

נדלק

Eth Link

כחול

מחובר

כחול מהבהב

קיימת תעבורה

WiFi

כבוי

Bridge mode, Unlinked or non-FRC firmware

אדום

AP, Unlinked

צהוב/כתום

AP, Linked

ירוק

Bridge mode, Linked

Power Distribution Panel

The location of the "STAT" and "COMM" lights on the PDP.

PDP Status/Comm LEDs

LED

Strobe

Slow

ירוק

No Fault - Robot Enabled

No Fault - Robot Disabled

כתום

NA

Sticky Fault

אדום

NA

No CAN Comm

טיפ

If a PDP LED is showing more than one color, see the PDP LED special states table below. For more information on resolving PDP faults see the PDP User Manual.

הערה

Note that the No CAN Comm fault will occur if the PDP cannot communicate with the roboRIO via CAN Bus.

PDP Special States

LED Colors

Problem

אדום/כתום

Damaged Hardware

ירוק/כתום

In Bootloader

No LED

No Power/ Incorrect Polarity

Power Distribution Hub

REV Power Distribution Hub with Status LED, and Channel LEDs Highlighted

הערה

These led patterns only apply to firmware version 21.1.7 and later

PDH Status LED

LED Color

Status

Blue Solid

Device on but no communication established

ירוק דולק

Main Communication with roboRIO established

Magenta Blinking

Keep Alive Timeout

Solid Cyan

Secondary Heartbeat (Connected to REV Hardware Client)

Orange/Blue Blinking

Low Battery

Orange/Yellow Blinking

CAN Fault

Orange/Cyan Blinking

Hardware Fault

Orange/Red Blinking

Fail Safe

Orange/Magenta Blinking

Device Over Current

Channel LEDs

LED Color

Status

כבוי

Channel has voltage and is operating as expected

אדום דולק

Channel has NO voltage and there is an active fault. Check for tripped or missing circuit breaker / fuse

אדום מהבהב

Sticky fault on the channel. Check for tripped circuit breaker / fuse.

Voltage Regulator Module

Highlights the position of the 12V and 5V status lights.

The status LEDs on the VRM indicate the state of the two power supplies. If the supply is functioning properly the LED should be lit bright green. If the LED is not lit or is dim, the output may be shorted or drawing too much current.

Pneumatics Control Module (PCM)

Highlights both the "Status" and "Comp" lights in the middle and the individual channel lights on the sides.

PCM Status LED

LED

Strobe

Slow

ארוך

ירוק

No Fault Robot Enabled

Sticky Fault

NA

כתום

NA

Sticky Fault

NA

אדום

NA

No CAN Comm or Solenoid Fault (Blinks Solenoid Index)

Compressor Fault

טיפ

If a PCM LED is showing more than one color, see the PCM LED special states table below. For more information on resolving PCM faults see the PCM User Manual.

הערה

Note that the No CAN Comm fault will not occur only if the device cannot communicate with any other device, if the PCM and PDP can communicate with each other, but not the roboRIO.

PCM LED Special States Table

LED

Problems

אדום/כתום

Damaged Hardware

ירוק/כתום

In Bootloader

No LED

No Power/Incorrect Polarity

PCM Comp LED

This is the Compressor LED. This LED is green when the compressor output is active (compressor is currently on) and off when the compressor output is not active.

PCM Solenoid Channel LEDs

These LEDs are lit red if the Solenoid channel is enabled and not lit if it is disabled.

Pneumatic Hub

REV Pneumatic Hub with Status LED, Compressor LED, and Solenoid LEDs highlighted

הערה

These led patterns only apply to firmware version 21.1.7 and later

PH Status LED

LED Color

Status

Blue Solid

Device on but no communication established

ירוק דולק

Main Communication established

Magenta Blinking

Keep Alive Timeout

Solid Cyan

Secondary Heartbeat (connected to REV HW Client)

Orange/Blue Blinking

Hardware Fault

Orange/Yellow Blinking

CAN Fault

Orange/Red Blinking

Fail Safe

Orange/Magenta Blinking

Device Over Current

Orange/Green Blinking

Orange/Green Blinking

Compressor LED

LED Color

Status

ירוק דולק

Compressor On

Black Solid

Compressor Off

Solenoid LEDs

LED Color

Status

ירוק דולק

Solenoid On

Black Solid

Solenoid Off

Talon SRX & Victor SPX & Talon FX Motor Controllers

Status LEDs on either side of the center of the Talon SRX.

Status LEDs During Normal Operation

LEDs

Colors

Talon SRX State

Both

Blinking Green

Forward throttle is applied. Blink rate is proportional to Duty Cycle.

Both

Blinking Red

Reverse throttle is applied. Blink rate is proportional to Duty Cycle.

None

None

No power is being applied to Talon SRX

LEDs Alternate

Off/Orange

CAN bus detected, robot disabled

LEDs Alternate

Off/Slow Red

CAN bus/PWM is not detected

LEDs Alternate

Off/Fast Red

Fault Detected

LEDs Alternate

אדום/כתום

Damaged Hardware

LEDs Strobe towards (M-)

כבוי/אדום

Forward Limit Switch or Forward Soft Limit

LEDs Strobe towards (M+)

כבוי/אדום

Reverse Limit Switch or Reverse Soft Limit

LED1 Only (closest to M+/V+)

ירוק/כתום

In Boot-loader

LEDs Strobe towards (M+)

Off/Orange

Thermal Fault / Shutoff (Talon FX Only)

Status LEDs During Calibration

Status LEDs Blink Code

Talon SRX State

Flashing Red/Green

Calibration Mode

Blinking Green

Successful Calibration

Blinking Red

Failed Calibration

SPARK-MAX Motor Controller

Table listing the SPARKMAX blink codes.

REV Robotics SPARK

Table of the SPARK blink codes.

Victor-SP Motor Controller

Status LEDs on either side of the center of the Victor-SP.

Brake/Coast/Cal Button/LED - Red if the controller is in brake mode, off if the controller is in coast mode

Status

ירוק

Solid

Full forward output

מהבהב

Proportional to forward output voltage

אדום

Solid

Full reverse output

מהבהב

Proportional to forward output voltage

כתום

Solid

FRC robot disabled, PWM signal lost, or signal in deadband range (+/- 4% output)

אדום/ירוק

מהבהב

Ready for calibration. Several green flashes indicates successful calibration, and red several times indicates unsuccessful calibration.

Talon Motor Controller

Talon motor controller with a single multicolor LED in the bottom right corner.

ירוק

Solid

Full forward output

מהבהב

Proportional to forward output voltage

אדום

Solid

Full reverse output

מהבהב

Proportional to reverse output voltage

כתום

Solid

No CAN devices are connected

מהבהב

Disabled state, PWM signal lost, FRC robot disabled, or signal in deadband range (+/- 4% output)

כבוי

No input power to Talon

אדום/ירוק

Flashing

Ready for calibration. Several green flashes indicates successful calibration, and red several times indicates unsuccessful calibration.

Victor888 Motor Controller

Victor888 motor controller with a single multicolor LED in the bottom right corner.

ירוק

Solid

Full forward output

מהבהב

Successful calibration

אדום

Solid

Full reverse output

מהבהב

Unsuccessful calibration

כתום

Solid

Neutral/brake

אדום/ירוק

מהבהב

Calibration mode

Jaguar Motor Controller

Jaguar motor controller with a single multicolor LED in the bottom center.

LED State

Module Status

Normal Operating Conditions

Solid Yellow

Neutral (speed set to 0)

Fast Flashing Green

Forward

אדום מהבהב מהר

Reverse

Solid Green

Full-speed forward

אדום דולק

Full-speed reverse

Fault Conditions

Slow Flashing Yellow

Loss of servo or Network link

Fast Flashing Yellow

Invalid CAN ID

אדום מהבהב לאט

Voltage, Temperature, or Limit Switch fault condition

Slow Flashing Red and Yellow

Current fault condition

Calibration or CAN Conditions

Flashing Red and Green

Calibration mode active

Flashing Red and Yellow

Calibration mode failure

Flashing Green and Yellow

Calibration mode success

Slow Flashing Green

CAN ID assignment mode

Fast Flashing Yellow

Current CAN ID (count flashes to determine ID)

Flashing Yellow

CAN ID invalid (that is, Set to 0) awaiting valid ID assignment

Digilent DMC-60

The 5 LEDs in each of the corners plus the center.

The DMC60C contains four RGB (Red, Green, and Blue) LEDs and one Brake/Coast CAL LED. The four RGB LEDs are located in the corners and are used to indicate status during normal operation, as well as when a fault occurs. The Brake/Coast CAL LED is located in the center of the triangle, which is located at the center of the housing, and is used to indicate the current Brake/Coast setting. When the center LED is off, the device is operating in coast mode. When the center LED is illuminated, the device is operating in brake mode. The Brake/Coast mode can be toggled by pressing down on the center of the triangle, and then releasing the button.

At power-on, the RGB LEDs illuminate Blue, continually getting brighter. This lasts for approximately five seconds. During this time, the motor controller will not respond to an input signal, nor will the output drivers be enabled. After the initial power-on has completed, the device begins normal operation and what gets displayed on the RGB LEDs is a function of the input signal being applied, as well as the current fault state. Assuming that no faults have occurred, the RGB LEDs function as follows:

PWM Signal Applied

LED State

No Input Signal or Invalid Input Pulse Width

Alternate between top (LED1 and LED2) and bottom (LED3 and LED4) LEDs being illuminated Red and Off.

Neutral Input Pulse Width

All 4 LEDs illuminated Orange.

Positive Input Pulse Width

LEDs blink Green in a clockwise circular pattern (LED1 → LED2 → LED3 → LED4 → LED1). The LED update rate is proportional to the duty cycle of the output and increases with increased duty cycle. At 100% duty cycle, all 4 LEDs are illuminated Green.

Negative Input Pulse Width

LEDs blink Red in a counter-clockwise circular pattern (LED1 → LED4 → LED3 → LED2 → LED1). The LED update rate is proportional to the duty cycle of the output and increases with increased duty cycle. At 100% duty cycle, all 4 LEDs are illuminated Red.

CAN Bus Control State

LED State

No Input Signal or CAN bus error detected

Alternate between top (LED1 and LED2) and bottom (LED3 and LED4) LEDs being illuminated Red and Off.

No CAN Control Frame received within the last 100ms or the last control frame specified modeNoDrive (Output Disabled)

Alternate between top (LED1 and LED2) and bottom (LED3 and LED4) LEDs being illuminated Orange and Off.

Valid CAN Control Frame received within the last 100ms. The specified control mode resulted in a Neutral Duty Cycle being applied to Motor Output

All 4 LEDs illuminated solid Orange.

Valid CAN Control Frame received within the last 100ms. The specified control mode resulted in a Positive Duty Cycle being Motor Output

LEDs blink Green in a clockwise circular pattern (LED1 → LED2 → LED3 → LED4 → LED1). The LED update rate is proportional to the duty cycle of the output and increases with increased duty cycle. At 100% duty cycle, all 4 LEDs are illuminated Green.

Valid CAN Control Frame received within the last 100ms. The specified control mode resulted in a Negative Duty Cycle being Motor Output

LEDs blink Red in a counter-clockwise circular pattern (LED1 → LED4 → LED3 → LED2 → LED1). The LED update rate is proportional to the duty cycle of the output and increases with increased duty cycle. At 100% duty cycle, all 4 LEDs are illuminated Red.

Fault Color Indicators

When a fault condition is detected, the output duty cycle is reduced to 0% and a fault is signaled. The output then remains disabled for 3 seconds. During this time the onboard LEDs (LED1-4) are used to indicate the fault condition. The fault condition is indicated by toggling between the top (LED1 and LED2) and bottom (LED3 and LED4) LEDs being illuminated Red and off. The color of the bottom LEDs depends on which faults are presently active. The table below describes how the color of the bottom LEDs maps to the presently active faults.

צבע

Over Temperature

Under Voltage

ירוק

On

כבוי

כחול

כבוי

On

Cyan / Aqua

On

On

Break/Coast Mode

When the center LED is off the device is operating in coast mode. When the center LED is illuminated the device is operating in brake mode. The Brake/Coast mode can be toggled by pressing down on the center of the triangle and then releasing the button.

Venom Motor Controller

The LED blink codes for the Venom.

Mindsensors SD540B (PWM)

The two LEDs on the top one at each end and the LED on the side next to the connector.

Power LED

כבוי

Power is not supplied

אדום

Power is supplied

Motor LED

אדום

Forward direction

ירוק

Reverse direction

PWM Signal LED

אדום

No valid PWM signal is detected

ירוק

Valid PWM signal is detected

Mindsensors SD540C (CAN Bus)

The two LEDs on the top one at each end and the LED on the side next to the connector.

Power LED

כבוי

Power is not supplied

אדום

Power is supplied

Motor LED

אדום

Forward direction

ירוק

Reverse direction

CAN Signal LED

מהבהב במהירות

No CAN devices are connected

כבוי

Connected to the roboRIO and the driver station is open

REV Robotics Servo Power Module

One power LED and a status LED for each channel all down the center.

Status LEDs

Each channel has a corresponding status LED that will indicate the sensed state of the connected PWM signal. The table below describes each state’s corresponding LED pattern.

State

Pattern

No Signal

כתום מהבהב

Left/Reverse Signal

אדום דולק

Center/Neutral Signal

כתום דולק

Right/Forward Signal

Solid Green

  • 6V Power LED off, dim or flickering with power applied = Over-current shutdown

Spike relay configured as a motor, light, or solenoid switch

Single LED in the corner.

Inputs

Outputs

Indicator

Motor Function

Forward (White)

Reverse (Red)

M+

M-

כבוי

כבוי

GND

GND

כתום

Off/Brake Condition (default)

On

כבוי

+12v

GND

ירוק

Motor rotates in one direction

כבוי

On

GND

+12v

אדום

Motor rotates in opposite direction

On

On

+12v

+12v

כבוי

Off/Brake Condition

הערה

»Brake Condition« refers to the dynamic stopping of the motor due to the shorting of the motor inputs. This condition is not optional when going to an off state.

Spike relay configured as for one or two solenoids

Single LED in the corner.

Inputs

Outputs

Indicator

Motor Function

Forward (White)

Reverse (Red)

M+

M-

כבוי

כבוי

GND

GND

כתום

Both Solenoids Off (default)

On

כבוי

+12v

GND

ירוק

Solenoid connected to M+ is ON

כבוי

On

GND

+12v

אדום

Solenoid connected to M- is ON

On

On

+12v

+12v

כבוי

Both Solenoids ON

CANCoder Encoder

LED at the top of the encoder.

LED Color

LED Brightness

CAN Bus detection

Magnet Field Strength

Description

כבוי

כבוי

CANCoder is not powered

Yellow/Green

Bright

Device is in boot-loader. See user manual for more information.

Slow Red Blink

Bright

CAN bus has been lost

Rapid Red Blink

Dim

CAN bus never detected since boot

Magnet is out of range (<25mT or >135mT)

Rapid Yellow Blink

Magnet in range with slightly reduced accuracy (25-45mT or 75-135mT)

Rapid Green Blink

Magnet in range (between 45mT - 75mT)

Rapid Red Blink

Bright

CAN bus present

Magnet is out of range (<25mT or >135mT)

Rapid Yellow Blink

Magnet in range with slightly reduced accuracy (25-45mT or 75-135mT)

Rapid Green Blink

Magnet in range (between 45mT - 75mT)