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Many of the components of the FRC|reg| 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.
Robot Signal Light (RSL)
Solid ON
Robot On and Disabled
Blinking
Robot On and Enabled
Off
Robot Off, roboRIO not powered or RSL not wired properly
roboRIO
Power
Green
Power is good
Amber
Brownout protection tripped, outputs disabled
Red
Power fault, check user rails for short circuit
Status
On while the controller is booting, then should turn off
2 blinks
Software error, reimage roboRIO
3 blinks
Safe Mode, restart roboRIO, reimage if not resolved
4 blinks
Software crashed twice without rebooting, reboot roboRIO, reimage if not resolved
Constant flash or stays solid on
Unrecoverable error
Radio
Not currently implemented
Comm
Off
No Communication
Red Solid
Communication with DS, but no user code running
Red Blinking
E-stop triggered
Green Solid
Good communications with DS
Mode
Off
Outputs disabled (robot in Disabled, brown-out, etc.)
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.
Note
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
Red/Orange
Damaged Hardware
Green/Orange
In Bootloader
No LED
No Power/ Incorrect Polarity
Power Distribution Hub
Note
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
Green Solid
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
Off
Channel has voltage and is operating as expected
Red Solid
Channel has NO voltage and there is an active fault. Check for tripped or missing circuit breaker / fuse
Red Blinking
Sticky fault on the channel. Check for tripped circuit breaker / fuse.
Voltage Regulator Module
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)
PCM Status LED
LED
Strobe
Slow
Long
Green
No Fault
Robot Enabled
Sticky Fault
NA
Orange
NA
Sticky Fault
NA
Red
NA
No CAN Comm or Solenoid Fault
(Blinks Solenoid Index)
Compressor Fault
Tip
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.
Note
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
Red/Orange
Damaged Hardware
Green/Orange
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
Note
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
Green Solid
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
Green Solid
Compressor On
Black Solid
Compressor Off
Solenoid LEDs
LED Color
Status
Green Solid
Solenoid On
Black Solid
Solenoid Off
Talon SRX & Victor SPX & Talon FX Motor Controllers
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
Red/Orange
Damaged Hardware
LEDs Strobe towards (M-)
Off/Red
Forward Limit Switch or Forward Soft Limit
LEDs Strobe towards (M+)
Off/Red
Reverse Limit Switch or Reverse Soft Limit
LED1 Only (closest to M+/V+)
Green/Orange
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
B/C CAL Blink Codes
B/C CAL Button Color
Talon SRX State
Solid Red
Brake Mode
Off
Coast Mode
SPARK-MAX Motor Controller
REV Robotics SPARK
Victor-SP Motor Controller
Brake/Coast/Cal Button/LED - Red if the controller is in brake mode, off if the controller is in coast mode
Status
Green
Solid
Full forward output
Blinking
Proportional to forward output voltage
Red
Solid
Full reverse output
Blinking
Proportional to forward output voltage
Orange
Solid
FRC robot disabled, PWM signal lost, or
signal in deadband range (+/- 4% output)
Red/Green
Blinking
Ready for calibration. Several green flashes indicates successful
calibration, and red several times indicates unsuccessful calibration.
Talon Motor Controller
Green
Solid
Full forward output
Blinking
Proportional to forward output voltage
Red
Solid
Full reverse output
Blinking
Proportional to reverse output voltage
Orange
Solid
No CAN devices are connected
Blinking
Disabled state, PWM signal lost, FRC robot disabled, or
signal in deadband range (+/- 4% output)
Off
No input power to Talon
Red/Green
Flashing
Ready for calibration. Several green flashes indicates successful
calibration, and red several times indicates unsuccessful calibration.
Victor888 Motor Controller
Green
Solid
Full forward output
Blinking
Successful calibration
Red
Solid
Full reverse output
Blinking
Unsuccessful calibration
Orange
Solid
Neutral/brake
Red/Green
Blinking
Calibration mode
Jaguar Motor Controller
LED State
Module Status
Normal Operating Conditions
Solid Yellow
Neutral (speed set to 0)
Fast Flashing Green
Forward
Fast Flashing Red
Reverse
Solid Green
Full-speed forward
Solid Red
Full-speed reverse
Fault Conditions
Slow Flashing Yellow
Loss of servo or Network link
Fast Flashing Yellow
Invalid CAN ID
Slow Flashing Red
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 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.
Color
Over Temperature
Under Voltage
Green
On
Off
Blue
Off
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
Mindsensors SD540B (PWM)
Power LED
Off
Power is not supplied
Red
Power is supplied
Motor LED
Red
Forward direction
Green
Reverse direction
PWM Signal LED
Red
No valid PWM signal is detected
Green
Valid PWM signal is detected
Mindsensors SD540C (CAN Bus)
Power LED
Off
Power is not supplied
Red
Power is supplied
Motor LED
Red
Forward direction
Green
Reverse direction
CAN Signal LED
Blinking quickly
No CAN devices are connected
Off
Connected to the roboRIO and the driver station is open
REV Robotics Servo Power Module
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
Blinking Amber
Left/Reverse Signal
Solid Red
Center/Neutral Signal
Solid Amber
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
Inputs
Outputs
Indicator
Motor Function
Forward (White)
Reverse (Red)
M+
M-
Off
Off
GND
GND
Orange
Off/Brake Condition (default)
On
Off
+12v
GND
Green
Motor rotates in one direction
Off
On
GND
+12v
Red
Motor rotates in opposite direction
On
On
+12v
+12v
Off
Off/Brake Condition
Note
'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