FRCManual.com

The rules listed below explicitly address legal parts and materials and how those parts and materials may be used on a CHARGED UP

ROBOT

. A

ROBOT

is an electromechanical assembly built by the FIRST Robotics Competition team to play the current season’s game and includes all the basic systems required to be an active participant in the game –power, communications,

control

BUMPERS

, and movement about the

FIELD

. A

BUMPER

is a protective assembly designed to attach to the exterior of the

ROBOT

and constructed as specified in Section 9.4

BUMPER

Rules.

There are many reasons for the structure of the rules, including safety, reliability, parity, creation of a reasonable design challenge, adherence to professional standards, impact on the competition, and compatibility with the Kit of Parts (

KOP

). The

KOP

is the collection of items listed on the current season’s Kickoff Kit Checklists, distributed to the team via FIRST Choice in the current season, or paid for completely (except shipping) with a Product Donation Voucher (PDV) from the current season.

Another intent of these rules is to have all energy sources and active actuation systems on the

ROBOT

(e.g. batteries, compressors, motors, servos, cylinders, and their controllers) drawn from a well-defined set of options. This is to ensure that all teams have access to the same actuation resources and that the

INSPECTORS

are able to accurately and efficiently assess the legality of a given part.

ROBOTS

are made up of

COMPONENTS

and

MECHANISMS

. A

COMPONENT

is any part in its most basic configuration, which cannot be disassembled without damaging or destroying the part or altering its fundamental function. A

MECHANISM

is an assembly of

COMPONENTS

that provide specific functionality on the

ROBOT

. A

MECHANISM

can be disassembled (and then reassembled) into individual

COMPONENTS

without damage to the parts.

Many rules in this section reference Commercial-Off-The-Shelf (

COTS

) items. A

COTS

item must be a standard (i.e. not custom order) part commonly available from a

VENDOR

for all teams for purchase. To be a

COTS

item, the

COMPONENT

MECHANISM

must be in an unaltered, unmodified state (with the exception of installation or modification of any software). Items that are no longer commercially available but are functionally equivalent to the original condition as delivered from the

VENDOR

are considered

COTS

and may be used.

Example 1: A team orders 2

ROBOT

grippers from RoboHands Corp. and receives both items. They put 1 in their storeroom and plan to use it later. Into the other, they drill “lightening holes” to reduce weight. The first gripper is still classified as a

COTS

item, but the second gripper is now a

FABRICATED ITEM

, as it has been modified.

Example 2: A team obtains openly available blueprints of a drive module commonly available from Wheels-R-Us Inc. and has local machine shop “We-Make-It, Inc.” manufacture a copy of the part for them. The produced part is not a

COTS

item, because it is not commonly carried as part of the standard stock of We-Make-It, Inc.

Example 3: A team obtains openly available design drawings from a professional publication during the pre-season and uses them to fabricate a gearbox for their

ROBOT

during the build period following Kickoff. The design drawings are considered a

COTS

item and may be used as “raw material” to fabricate the gearbox. The finished gearbox itself would be a

FABRICATED ITEM

, and not a

COTS

item.

Example 4: A

COTS

part that has non-functional label markings added would still be considered a

COTS

part, but a

COTS

part that has device-specific mounting holes added is a

FABRICATED ITEM

Example 5: A team has a

COTS

single-board processor version 1.0, which can no longer be purchased. Only the

COTS

single-board processor version 2.0 may be purchased. If the

COTS

single-board processor version 1.0 is functionally equivalent to its original condition, it may be used.

Example 6: A team has a

COTS

gearbox which has been discontinued. If the

COTS

gearbox is functionally equivalent to its original condition, it may be used.

VENDOR

is a legitimate business source for

COTS

items that satisfies all the following criteria:

A. has a Federal Tax Identification number. In cases where the
VENDOR
is outside of the United States, they must possess an equivalent form of registration or license with the government of their home nation that establishes and validates their status as a legitimate business licensed to operate within that country.
B. is not a “wholly owned subsidiary” of a FIRST Robotics Competition team or collection of teams. While there may be some individuals affiliated with both a team and the
VENDOR
, the business and activities of the team and
VENDOR
must be completely separable.
C. should maintain sufficient stock or production capability so they are able to ship any general (i.e., non-FIRST unique) product within 5 business days of receiving a valid purchase request. It is recognized that certain unusual circumstances (such as such as a global supply chain disruption and/or 1,000 FIRST teams all ordering the same part at once from the same
VENDOR
) may cause atypical delays in shipping due to backorders for even the largest
VENDORS
. Such delays due to higher-than-normal order rates are excused. This criterion may not apply to custom-built items from a source that is both a
VENDOR
and a fabricator.

For example, a

VENDOR

may sell flexible belting that the team wishes to procure to use as treads on their drive system. The

VENDOR

cuts the belting to a custom length from standard shelf stock that is typically available, welds it into a loop to make a tread, and ships it to a team. The fabrication of the tread takes the

VENDOR

2 weeks. This would be considered a

FABRICATED ITEM

, and the 2-week ship time is acceptable. Alternately, the team may decide to fabricate the treads themselves. To satisfy this criterion, the

VENDOR

would just have to ship a length of belting from shelf stock (i.e. a

COTS

item) to the team within 5 business days and leave the welding of the cuts to the team.

D. makes their products available to all FIRST Robotics Competition teams. A
VENDOR
must not limit supply or make a product available to just a limited number of FIRST Robotics Competition teams.
The intent of this definition is to be as inclusive as possible to permit access to all legitimate sources, while preventing ad hoc organizations from providing special-purpose products to a limited subset of teams in an attempt to circumvent the cost accounting rules.
FIRST desires to permit teams to have the broadest choice of legitimate sources possible, and to obtain
COTS
items from the sources that provide them with the best prices and
level
of service available. Teams also need to protect against long delays in availability of parts that will impact their ability to complete their
ROBOT
. The build season is brief, so the
VENDOR
must be able to get their product, particularly FIRST unique items, to a team in a timely manner.
Ideally, chosen
VENDORS
should have national distributors (e.g. Home Depot, Lowes, MSC, McMaster-Carr, etc.). Remember, FIRST Robotics Competition events are not always near home – when parts fail, local access to replacement materials is often critical.

FABRICATED ITEM

is any

COMPONENT

MECHANISM

that has been altered, built, cast, constructed, concocted, created, cut, heat treated, machined, manufactured, modified, painted, produced, surface coated, or conjured partially or completely into the final form in which it will be used on the

ROBOT

Note that it is possible for an item (typically raw materials) to be neither

COTS

nor a

FABRICATED ITEM

. For example, a 20 ft. (~610 cm) length of aluminum which has been cut into 5 ft. (~152 cm) pieces by the team for storage or transport is neither

COTS

(it’s not in the state received from the

VENDOR

), nor a

FABRICATED ITEM

(the cuts were not made to advance the part towards its final form on the

ROBOT

Teams may be asked to provide documentation proving legality of non-CHARGED UP

KOP

items during inspection where a rule specifies limits for a legal part (e.g. pneumatic items, current limits,

COTS

electronics, etc.).

Some of these rules make use of English unit requirements for parts. If your team has a question about a metric-equivalent part’s legality, please e-mail your question to the FIRST Robotics Competition Kit of Parts team at frcparts@firstinspires.org for an official ruling. To seek approval for alternate devices for inclusion in future FIRST Robotics Competition seasons, please contact the Kit of Parts team at frcparts@firstinspires.org with item specifications.

Teams should acknowledge the support provided by the corporate sponsors and mentors with an appropriate display of their school and sponsors names and/or logos (or the name of the supporting youth organization, if appropriate).

FIRST Robotics Competition can be a full-contact competition and may include rigorous game play. While the rules aim to limit severe damage to

ROBOTS

, teams should design their

ROBOTS

to be robust.

9.1 General
ROBOT
Design

R101 *
Frame Perimeter
must be fixed.

The

ROBOT

(excluding

BUMPERS

) must have a

FRAME PERIMETER

, contained within the

BUMPER ZONE

and established while in the

ROBOT

’S

STARTING CONFIGURATION

, that is comprised of fixed, non-articulated structural elements of the

ROBOT

. Minor protrusions no greater than ¼ in. (~6 mm) such as bolt heads, fastener ends, weld beads, and rivets are not considered part of the

FRAME PERIMETER

To determine the

FRAME PERIMETER

, wrap a piece of string around the

ROBOT

(excluding

BUMPERS

) at the

BUMPER ZONE

described in R402 and pull it taut. The string outlines the

FRAME PERIMETER

Example: A

ROBOT

’S chassis is shaped like the letter ‘V’, with a large gap between chassis elements on the front of the

ROBOT

. When wrapping a taut string around this chassis, the string extends across the gap and the resulting

FRAME PERIMETER

is a triangle with 3 sides.

Figure 9‑1

FRAME PERIMETER

example

R102 *
Starting Configuration
– no overhang.

In the

STARTING CONFIGURATION

(the physical configuration in which a

ROBOT

starts a

MATCH

), no part of the

ROBOT

shall extend outside the vertical projection of the

FRAME PERIMETER

, with the exception of its

BUMPERS

and minor protrusions such as bolt heads, fastener ends, rivets, cable ties, etc.

If a

ROBOT

is designed as intended and each side is pushed up against a vertical wall (in

STARTING CONFIGURATION

and with

BUMPERS

removed), only the

FRAME PERIMETER

(or minor protrusions) will be in contact with the wall.

The allowance for minor protrusions in this rule is intended to allow protrusions that are both minor in extension from the

FRAME PERIMETER

and cross-sectional area.

If a

ROBOT

uses interchangeable

MECHANISMS

per I103, Teams should be prepared to show compliance with this rule and R105 in all configurations.

R103 *
Robot
weight limit.

The

ROBOT

weight must not exceed 125 lbs. (~56 kg). When determining weight, the basic

ROBOT

structure and all elements of all additional

MECHANISMS

that might be used in a single configuration of the

ROBOT

shall be weighed together (see I103).

For the purposes of determining compliance with the weight limitations, the following items are excluded:

A.
ROBOT

BUMPERS
,
B.
ROBOT
battery and its associated half of the Anderson cable quick connect/disconnect pair (including no more than 12 in. (~30 cm) of cable per leg, the associated cable lugs, connecting bolts, and insulation), and
C. tags used for location detection systems if provided by the event.

R104
Starting Configuration
– max size.

ROBOT

’S

STARTING CONFIGURATION

may not have a

FRAME PERIMETER

greater than 120 in. (~304 cm) and may not be more than 4 ft. 6 in. (~137 cm) tall.

Be sure to consider the size of the

ROBOT

on its cart to make sure it will fit through doors. Also consider the size of the

ROBOT

to ensure that it will fit into a shipping crate, vehicle, etc.

Note that rules contained in Section 9.4

BUMPER

Rules may impose additional restrictions on

ROBOT

design.

R105
Robot
extension limit.

ROBOTS

may not extend more than 48 in. (~121 cm) beyond their

FRAME PERIMETER

Figure 9‑2
FRAME PERIMETER
extension

Teams should expect to have to demonstrate a

ROBOT

’S ability to constrain itself per above during inspection. Constraints may be implemented with either hardware or software.

See Section 7 Game Rules:

ROBOTS

for height and extension restrictions for various areas of the

FIELD

9.2
ROBOT
Safety & Damage Prevention

R201 *No digging into carpet.

Traction devices must not have surface features that could damage the

ARENA

(e.g. metal, sandpaper, hard plastic studs, cleats, hook-loop fasteners or similar attachments). Traction devices include all parts of the

ROBOT

that are designed to transmit any propulsive and/or braking forces between the

ROBOT

and

FIELD

carpet.

R202 *No exposed sharp edges.

Protrusions from the

ROBOT

and exposed surfaces on the

ROBOT

shall not pose hazards to the

ARENA

elements (including

GAME PIECES

) or people.

R203 *General safety.

ROBOT

parts shall not be made from hazardous materials, be unsafe, cause an unsafe condition, or interfere with the operation of other

ROBOTS

Examples of items that will violate this rule include (but are not limited to):

a. shields, curtains, or any other devices or materials designed or used to obstruct or limit the vision of any
DRIVE TEAM
members and/or interfere with their ability to safely
control
their
ROBOT
,
b. speakers, sirens, air horns, or other audio devices that generate sound at a
level
sufficient to be a distraction,
c. any devices or decorations specifically intended to jam or interfere with the remote sensing capabilities of another
ROBOT
, including vision systems, acoustic range finders, sonars, infrared proximity detectors, etc. (e.g. including imagery on your
ROBOT
that, to a reasonably astute observer, mimics the retro-reflective features of vision targets described in Section 5.9 Vision Targets),
d. exposed lasers other than Class I,
e. flammable gasses,
f. any device intended to produce flames or pyrotechnics,
g. hydraulic fluids or hydraulic items,
h. switches or contacts containing liquid mercury,
i. circuitry used to create voltages in excess of 24 Volts,
j. any ballast not secured sufficiently, including loose ballast e.g. sand, ball bearings, etc., such that it may become loose during a
MATCH
,
k. exposed, untreated hazardous materials (e.g. lead weights) used on the
ROBOT
. These materials may be permitted if painted, encapsulated, or otherwise sealed to prevent contact. These materials may not be machined in any way at an event.
l. tire sealant, and
m. high intensity light sources used on the
ROBOT
(e.g. super bright LED sources marketed as ‘military grade’ or ‘self-defense’) may only be illuminated for a brief time while targeting and may need to be shrouded to prevent any exposure to participants. Complaints about the use of such light sources will be followed by re-inspection and possible disablement of the device.

R204 *
GAME PIECES
stay with the
Field
.

ROBOTS

must allow removal of

GAME PIECES

from the

ROBOT

and the

ROBOT

from

FIELD

elements while

DISABLED

and powered off.

ROBOTS

will not be re-enabled after the

MATCH

, so teams must be sure that

GAME PIECES

and

ROBOTS

can be quickly, simply, and safely removed.

Teams are encouraged to consider H312 when developing their

ROBOTS

R205 *Don’t contaminate the
Field
.

Lubricants may be used only to reduce friction within the

ROBOT

. Lubricants must not contaminate the

FIELD

or other

ROBOTS

R206 *Don’t damage
GAME PIECES
.

ROBOT

elements likely to come in contact with a

GAME PIECE

shall not pose a significant hazard to the

GAME PIECE

GAME PIECES

are expected to undergo a reasonable amount of wear and tear as they are handled by

ROBOTS

, such as scratching or marking. Gouging, tearing off pieces, or routinely marking

GAME PIECES

are violations of this rule.

9.3 Budget Constraints & Fabrication Schedule

R301 *Individual item cost limit.

No individual, non-KOP item or software shall have a Fair Market Value (FMV) that exceeds $600 USD. The total cost of

COMPONENTS

purchased in bulk may exceed $600 USD as long as the cost of an individual

COMPONENT

does not exceed $600 USD.

Teams should be ready to show

INSPECTORS

documentation of FMV for any

COMPONENTS

that appear to be in the range of the $600 USD limit.

The Analog Devices IMU

MXP

Breakout Board, P/N ADIS16448, does not have a published FMV. This device is considered to comply with this rule regardless of its true FMV.

The FMV of a

COTS

item is its price defined by a

VENDOR

for the part or an identical functional replacement. This price must be generally available to all FIRST Robotics Competition teams throughout the build and competition season (i.e. short-term sale prices or coupons do not reflect FMV), however teams are only expected to make a good faith effort at determining the item price and are not expected to monitor prices of

ROBOT

items throughout the season. The FMV is the cost of the item itself and does not include any duties, taxes, tariffs, shipping, or other costs that may vary by locality.

The FMV of

COTS

software is the price, set by the

VENDOR

, to license the software (or piece of the software) that runs on the

ROBOT

for the period from Kickoff to the end of the FIRST Championship. The FMV of software licensed free-of-cost, including through the Virtual

KOP

, for use on the

ROBOT

is $0.

The FMV of FABRICATED parts is the value of the material and/or labor, except for labor provided by team members (including sponsor employees who are members of the team), members of other teams, and/or event provided machine shops. Material costs are accounted for as the cost of any purchasable quantity that can be used to make the individual part (i.e. the purchasable raw material is larger than the FABRICATED part).

Example 1: A team orders a custom bracket made by a company to the team's specification. The company’s material cost and normally charged labor rate apply.

Example 2: A team receives a donated sensor. The company would normally sell this item for $450 USD, which is therefore its FMV.

Example 3: A team purchases titanium tube stock for $400 USD and has it machined by a local machine shop. The machine shop is not considered a team sponsor but donates 2 hours of expended labor anyway. The team must include the estimated normal cost of the labor as if it were paid to the machine shop and add it to the $400 USD.

Example 4: A team purchases titanium tube stock for $400 USD and has it machined by a local machine shop that is a recognized sponsor of the team. If the machinists are considered members of the team, their labor costs do not apply. The total applicable cost for the part would be $400 USD.

It is in the best interests of the teams and FIRST to form relationships with as many organizations as possible. Recognizing supporting companies as sponsors of, and members in, the team is encouraged, even if the involvement of the sponsor is solely through the donation of fabrication labor.

Example 5: A team purchases titanium tube stock for $400 USD and has it machined by another team. The total applicable cost for the part would be $400 USD.

Example 6: A team purchases a widget at a garage sale or online auction for $300, but it’s available for sale from a

VENDOR

for $700. The FMV is $700.

If a

COTS

item is part of a modular system that can be assembled in several possible configurations, then each individual module must fit within the price constraints defined in this rule.

If the modules are designed to assemble into a single configuration, and the assembly is functional in only that configuration, then the total cost of the complete assembly including all modules must fit within the price constraints defined in this rule.

In summary, if a

VENDOR

sells a system or a kit, a team must use the entire system/kit FMV and not the value of its

COMPONENT

pieces.

Example 7:

VENDOR

A sells a gearbox that can be used with a number of different gear sets, and can mate with 2 different motors they sell. A team purchases the gearbox, a gear set, and a motor, then assembles them together. Each part is treated separately for the purpose of determining FMV since the purchased pieces can each be used in various configurations.

Example 8:

VENDOR

B sells a robotic arm assembly that a team wants to use. However, it costs $630 USD, so they cannot use it. The

VENDOR

sells the “hand”, “wrist”, and “arm” as separate assemblies, for $210 USD each. A team wishes to purchase the 3 items separately, then reassemble them. This would not be legal, as they are really buying and using the entire assembly, which has a Fair Market Value of $630 USD.

Example 9:

VENDOR

C sells a set of wheels or wheel modules that are often used in groups of 4. The wheels or modules can be used in other quantities or configurations. A team purchases 4 and uses them in the most common configuration. Each part is treated separately for the purpose of determining FMV, since the purchased pieces can be used in various configurations.

R302 *Custom parts, generally from this year only.

FABRICATED ITEMS

created before Kickoff are not permitted. Exceptions are:

A.
OPERATOR CONSOLE
,
B.
BUMPERS
,
C. battery assemblies as described in R103-B,
D.
FABRICATED ITEMS
consisting of 1
COTS
electrical device (e.g. a motor or motor controller) and attached
COMPONENTS
associated with any of the following modifications:
a. wires modified to facilitate connection to a
ROBOT
(including removal of existing connectors),
b. connectors and any materials to secure and insulate those connectors added (note: passive PCBs such as those used to adapt motor terminals to connectors are considered connectors),
c. motor shafts modified and/or gears, pulleys, or sprockets added, and
d. motors modified with a filtering capacitor as described in the blue box below R625.
E.
COTS
items, or functional equivalents, with any of the following modifications:
a. non-functional decoration or labeling,
b. assembly of
COTS
items per manufacturer specs, unless the result constitutes a
MAJOR MECHANISM
as defined in I101, and
c. work that could be reasonably accomplished in fewer than 30 minutes with the use of handheld tools (e.g. drilling a small number of holes in a
COTS
part).

Please note that this means

FABRICATED ITEMS

from

ROBOTS

entered in previous FIRST competitions may not be used on

ROBOTS

in the CHARGED UP FIRST Robotics Competition (other than those allowed per R302-B through -E. Before the formal start of the build season, teams are encouraged to think as much as they please about their

ROBOTS

. They may develop prototypes, create proof-of-concept models, and conduct design exercises. Teams may gather all the raw stock materials and

COTS

COMPONENTS

they want.

Functionally equivalent items are items that closely resemble a

COTS

item in both form and function. Functional equivalents should be made using similar materials to the

COTS

equivalents.

Parts with precision machined (mill, CNC, etc.) features may still meet part E.c of this rule if functionally equivalent features could reasonably be made within the restrictions specified.

Example 1: A team designs and builds a 2-speed shifting transmission during the fall as a training exercise. After Kickoff, they utilize all the design principles they learned in the fall to design their

ROBOT

. To optimize the transmission design for their

ROBOT

, they change the transmission gear ratios and reduce the size, and build 2 new transmissions, and place them on the

ROBOT

. All parts of this process are permitted activities.

Example 2: A team re-uses a CHARGED UP-legal motor from a previous

ROBOT

which has had connectors added to the wires. This is permitted, per exception D, because the motor is a

COTS

electrical

COMPONENT

Example 3: A team re-uses a piece of aluminum tubing from a previous

ROBOT

which has a precision machined bearing hole in it. On the current

ROBOT

, the bearing hole is not used. As the only function of the hole on the current

ROBOT

is material removal, which does not require precise tolerancing, a functionally equivalent hole could be made with a hand drill in under 30 minutes and the part is permitted per part E.c.

R303 *Create new designs and software, unless they’re public.

ROBOT

software and designs created before Kickoff are only permitted if the source files (complete information sufficient to produce the design) are available publicly prior to Kickoff.

Example 1: A team realizes that the transmission designed and built in the fall perfectly fits their need for a transmission to drive the

ROBOT

arm. They build an exact copy of the transmission from the original design plans, and bolt it to the

ROBOT

. This would be prohibited, as the transmission – although made during the competition season – was built from detailed designs developed prior to Kickoff.

Example 2: A team developed an omni-directional drive system for the 2019 competition. In July 2019 they refined and improved the

control

software, written in C++, to add more precision and capabilities. They decided to use a similar system for the CHARGED UP competition. They copied large sections of unmodified code over into the

control

software of the new

ROBOT

, also written in C++. This would be a violation of the schedule constraint and is not allowed.

Example 3: The same team decides to use LabVIEW as their software environment for CHARGED UP. Following Kickoff, they use the previously developed C++ code as a reference for the algorithms and calculations required to implement their omni-directional

control

solution. Because they developed new LabVIEW code as they ported over their algorithms, this is permitted.

Example 4: A different team develops a similar solution during the fall and plans to use the developed software on their competition

ROBOT

. After completing the software, they post it in a generally accessible public forum and make the code available to all teams. Because they have made their software publicly available before Kickoff, they can use it on their

ROBOT

Example 5: A team develops a transmission prior to Kickoff. After completing the project, they publish the CAD files on a generally accessible public forum and make them available to all teams. Because they have made the design publicly available before Kickoff, they can use the design to create an identical transmission, fabricated after Kickoff, for use on their CHARGED UP

ROBOT

R304 *During an event, only work during pit hours.

During an event a team is attending (regardless of whether the team is physically at the event location), the team may neither work on nor practice with their

ROBOT

elements outside of the hours that pits are open, with the following exceptions:

A. exceptions listed in R302, other than R302-E-c,
B. software development, and
C. charging batteries.

For the purposes of this rule, official events begin as follows:

Regionals, District Championships, and FIRST Championship: at the start of the first designated load-in period, according to the Public Schedule. If the Public Schedule is not available or there is no designated load-in period, the events begin at 4pm on the day prior to pits opening.
District Events: when pits open Examples of activity prohibited by this rule include:
a. working on the
ROBOT
at the team’s shop after load-in for the event has begun,
b. working on
ROBOT
parts at night at the team’s hotel, and
c. running a 3D printer or other automated manufacturing process overnight producing
ROBOT
parts. Note that E108 and E401 impose additional restrictions on work done on the
ROBOT
or
ROBOT
materials while attending an event.

This rule is intended to increase equity between teams with significant travel to an event and those nearby (close teams would otherwise have an advantage by being able to work on their

ROBOT

, in their shop, until it’s time to go to the event).

9.4
BUMPER
Rules

BUMPER

is a required assembly which attaches to the

ROBOT

frame.

BUMPERS

protect

ROBOTS

from damaging/being damaged by other

ROBOTS

and

FIELD

elements. Criteria used in writing these rules include the following:

minimize variety of
BUMPERS
so teams can expect consistency,
minimize the amount of design challenge in creating
BUMPERS
,
minimize cost of
BUMPER
materials, and
maximize use of relatively ubiquitous materials.

R401 *
Bumpers
should protect all corners.

ROBOTS

are required to use

BUMPERS

to protect all outside corners of the

FRAME PERIMETER

. For adequate protection, at least 6 in. (~16 cm) of

BUMPER

must be placed on each side of each outside corner (see Figure 9‑3) and must extend to within ¼ in. (~6 mm) of the

FRAME PERIMETER

corner. If a

FRAME PERIMETER

side is shorter than 12 in. (~31 cm), that entire

FRAME PERIMETER

side must be protected by a

BUMPER

(see Figure 9‑4). A round or circular

FRAME PERIMETER

, or segment of the

FRAME PERIMETER

, is considered to have an infinite number of corners, therefore the entire frame or frame segment must be completely protected by

BUMPERS

The dimension defined in this rule is measured along the

FRAME PERIMETER

. The portion of the

BUMPER

that extends beyond the corner of the

FRAME PERIMETER

is not included in the 6 in. (~16 cm) requirement. See Figure 9‑3.

Figure 9‑3
BUMPER
corner examples

Figure 9‑4
BUMPER
around full side/corner

R402 *
Bumpers
must stay low.

BUMPERS

must be located entirely within the

BUMPER ZONE

, which is the volume contained between the floor and a virtual horizontal plane 7½ in. (~19 cm) above the floor in reference to the

ROBOT

standing normally on a flat floor.

BUMPERS

do not have to be parallel to the floor.

This measurement is intended to be made as if the

ROBOT

is resting on a flat floor (without changing the

ROBOT

configuration), not relative to the height of the

ROBOT

from the

FIELD

carpet. Examples include:

Example 1: A

ROBOT

that is at an angle while navigating the

FIELD

has its

BUMPERS

outside the

BUMPER ZONE

. If this

ROBOT

were virtually transposed onto a flat floor, and its

BUMPERS

are in the

BUMPER ZONE

, it meets the requirements of this rule.

Example 2: A

ROBOT

deploys a

MECHANISM

which lifts the

BUMPERS

outside the

BUMPER ZONE

(when virtually transposed onto a flat floor). This violates this rule.

R403 *
Bumpers
shouldn’t move.

BUMPERS

must not be articulated, relative to the

FRAME PERIMETER

R404 *
Bumpers
must come off.

BUMPERS

must be designed for quick and easy installation and removal to facilitate inspection and weighing.

As a guideline,

BUMPERS

should be able to be installed or removed by 2 people in fewer than 5 minutes.

R405 *
Bumpers
indicate your
alliance
.

Each

ROBOT

must be able to display red or blue

BUMPERS

to reflect their

ALLIANCE

color, as assigned in the

MATCH

schedule distributed at the event (as described in Section 11.1

MATCH

Schedules).

BUMPER

markings visible when installed on the

ROBOT

, other than the following, are prohibited:

A. those required per R406,
B. hook-and-loop tape, snap fasteners, or functional equivalents backed by the hard parts of the
BUMPER
,
C. solid white FIRST logos between 4¾ in. (~12 cm) and 5¼ in. wide (~13 cm) (i.e. comparable to those available in the CHARGED UP Virtual Kit), and
D. narrow areas of underlying fabric exposed at seams, corners, or folds.

The

FRAME PERIMETER

facing surfaces of

BUMPERS

are not “displayed” and thus this rule does not apply.

R406 *Team number on
bumpers
.

Team numbers must be displayed and positioned on the

BUMPERS

such that an observer walking around the perimeter of the

ROBOT

can unambiguously tell the team’s number from any point of view and meet the following additional criteria:

A. consist of only white Arabic numerals at least 4 in. (~11 cm) high, at least ½ in. (~13 mm) in stroke width,
The ½ in. (~13 mm) stroke width requirement applies to the majority of the stroke. Font elements less than ½ in. (~13 mm) such as serifs, rounded edges, small hairlines or gaps, etc. are permitted as long as the majority of the stroke meets the sizing requirement and the numbers are unambiguous.
B. must not wrap around sharp corners (less than 160°) of the
FRAME PERIMETER
, and
C. may not substitute logos or icons for numerals.

There is no prohibition against splitting team numbers onto different sections of

BUMPER

. The intent is that the team’s number is clearly visible and unambiguous so that Judges,

REFEREES

, Announcers, and other teams can easily identify competing

ROBOTS

This marking is intended to display the team number only, not to intentionally change the surface characteristics of the

BUMPER

. Excessive material usage as part of any team number marking will invite close scrutiny.

R407 *
Bumper
weight limit.

Each set of

BUMPERS

(including any fasteners and/or structures that attach them to the

ROBOT

) must weigh no more than 15 lbs. (~6 kg).

If a multi-part attachment system is utilized (e.g. interlocking brackets on the

ROBOT

and the

BUMPER

), then the elements permanently attached to the

ROBOT

will be considered part of the

ROBOT

, and the elements attached to the

BUMPERS

will be considered part of the

BUMPER

. Each element must satisfy all applicable rules for the relevant system.

R408 *
Bumper
construction.

BUMPERS

must be constructed as follows (see Figure 9‑7):

A. be backed by ¾ in. thick (nominal, ~19mm) by 5 in. ± ½ in. (~127 mm ± 12.7 mm) tall plywood, Oriented Strand Board (OSB) or solid wood (with the exception of balsa). Small clearance pockets to accommodate minor protrusions permitted per R101 and/or holes needed to access or recess mounting hardware in the wood backing are permitted, as long as they do not significantly affect the structural integrity of the
BUMPER
.
¾ in. plywood and OSB refer to items sold by
VENDORS
as that material and thickness, teams may not fabricate their own plywood or OSB. Other engineered woods such as Fiberboard or Particle Board are not likely to survive the rigors of FIRST Robotics Competition gameplay and thus not permitted per A.
Note: ¾ in. plywood is often marked according to the actual dimension (²³⁄₃₂”) not the nominal size. Plywood sold as ²³⁄₃₂” meets the requirements of A.
B. hard
BUMPER
parts allowed per A, E, F, and G must not extend more than 1 in. (~25 mm) beyond the
FRAME PERIMETER
(measured as shown in Figure 9‑5).

Figure 9‑5 Hard parts of
BUMPER
corners

C. use a stacked pair of 2½ in. (~63 mm) round, petal, or hex “pool noodles” (solid or hollow) as the
BUMPER
cushion material (see Figure 9‑7). All pool noodles used in a
BUMPER
set (e.g. red set of
BUMPERS
) may not be modified (with the exception of cutting to length or cutting to facilitate mating pool noodles at the corners as required by R409) or deformed and must be the same diameter, cross section, and density (e.g. all round hollow or all hex solid). Per R409 cushion material may extend beyond the end of the plywood in order to fill a corner (see Figure 9‑8). To assist in applying the fabric covering, soft fasteners may be used to attach the pool noodles to the wood backing, so long as the cross section in Figure 9‑7 is not significantly altered (e.g. tape compressing the pool noodles).
“2½ in. (~63 mm) pool noodles” are pool noodles either sold as 2½ in. (~63 mm) diameter or that measure between 2¼ in. (~57 mm) pool noodles and 2¾ in. (~70 mm) diameter.
All pool noodles used on a
ROBOT
must be the same in order to maintain the desired interaction between
ROBOTS
in the cases of BUMPER-to-BUMPER contact.
BUMPERS
containing pool noodles of vastly different construction may cause a “ramp” effect when interacting with other
BUMPERS
.
Minor noodle compression as a result of smoothing
BUMPER
fabric or rounding a
FRAME PERIMETER
corner is not considered deformed. Any compression beyond that, e.g. for the purposes of flattening the pool noodle, is deformation and a violation of C.
D. be covered with a rugged, smooth cloth with no additional coating applied by the team except for
BUMPER
markings permitted per R405 (multiple layers of cloth and seams are permitted if needed to accommodate R405 and/or R406, provided the cross section in Figure 9‑7 is not significantly altered).
Silk and bedding are not considered rugged cloths, however 1000D Cordura is. Tape (e.g. gaffer’s tape) matching the
BUMPER
color is allowed to patch small holes on a temporary basis.
It is expected that there may be multiple layers of cloth as fabric is folded to accommodate the corners and seams of
BUMPERS
.

The cloth must completely enclose all exterior surfaces of the wood and pool noodle material when the

BUMPER

is installed on the

ROBOT

. The fabric covering the

BUMPERS

must be solid in color.

E. optionally use metal angle, as shown in Figure 9‑7 or other fasteners (e.g. staples, screws, adhesives, etc.) to clamp cloth.
F. optionally use metal brackets (i.e. angle or sheet metal) or other fasteners (e.g. staples, screws, adhesives, etc.) to attach
BUMPER
segments to each other (see Figure 9‑6).

Figure 9‑6 Example uses of brackets in
BUMPER
corners

G. must attach to the
FRAME PERIMETER
of the
ROBOT
with a rigid fastening system to form a tight, robust connection to the main structure/frame (e.g. not attached with hook-and-loop tape, tape, or cable ties). The attachment system must be designed to withstand vigorous game play. All removable fasteners (e.g. bolts, locking
pins
, pip-pins, etc.) will be considered part of the
BUMPERS
.

Figure 9‑7
BUMPER
vertical cross section

R409 *Fill
Bumper
corners.

Corner joints between

BUMPERS

must be filled with pool noodle material. Examples of implementation are shown in Figure 9‑8.

Figure 9‑8 Soft parts of
BUMPER
corners

R410 *
Bumpers
must be supported.

BUMPERS

must be supported by the structure/frame of the

ROBOT

(see Figure 9‑9). To be considered supported, a minimum of ½ in. (~13 mm) at each end of each

BUMPER

wood segment must be backed by the

FRAME PERIMETER

(≤¼ in. gap, ~6mm). “Ends” exclude hard

BUMPER

parts which extend past the

FRAME PERIMETER

permitted by R408-B. Additionally, any gap between the backing material and the frame:

A. must not be greater than ¼ in. (~6 mm) deep or
B. not more than 8 in. (~20 cm) wide

Figure 9‑9
BUMPER
support examples

The intent of this rule is to make sure the

BUMPER

wood is properly supported to minimize the likelihood of breakage on impact. Flexible

ROBOT

elements, such as thin plastic, do not accomplish this intent and are not considered “structure/frame” of the

ROBOT

9.5 Motors & Actuators

R501 *Allowable motors.

The only motors and actuators permitted include the following (in any quantity):

Table 9‑1 Motor allowances

Motor Name	Part Numbers Available	Part Numbers Available
AndyMark 9015	am-0912	AndyMark 9015
AndyMark NeveRest	am-3104
AndyMark PG	am-2161 (alt. PN am-2765)	am-2194 (alt. PN am-2766)
AndyMark RedLine Motor	am-3775	am-3775a
AndyMark Snow Blower Motor	am-2235	am-2235a
Banebots	am-3830 M7-RS775-18 RS775WC-8514	M5 – RS550-12 RS550VC-7527 RS550
CIM	FR801-001 M4-R0062-12 AM802-001A 217-2000 PM25R-44F-1005	PM25R-45F-1004 PM25R-45F-1003 PMR25R-45F-1003 PMR25R-44F-1005 am-0255
CTR Electronics/VEX Robotics Falcon 500	217-6515 am-6515	19-708850 am-6515_Short
Current/former KOP automotive motors	Denso AE235100-0160 Denso 5-163800-RC1 Denso 262100-3030	Denso 262100-3040 Bosch 6 004 RA3 194-06 Johnson Electric JE-PLG-149 Johnson Electric JE-PLG-410
Nidec Dynamo BLDC Motor	am-3740	DM3012-1063
Playing with Fusion Venom	BDC-10001
REV Robotics HD Hex	REV-41-1291
REV Robotics NEO Brushless	REV-21-1650 (v1.0 or v1.1)	am-4258 am-4258a
REV Robotics NEO 550	REV-21-1651	am-4259
VEX BAG	217-3351
VEX Mini-CIM	217-3371
West Coast Products RS775 Pro	217-4347
Electrical solenoid actuators, no greater than 1 in. (nominal) stroke and rated electrical input power no greater than 10 watts (W) continuous duty at 12 volts (VDC) (if qualifying actuator is then used at 24V, it must be approved by the manufacturer for use at 24V)	Electrical solenoid actuators, no greater than 1 in. (nominal) stroke and rated electrical input power no greater than 10 watts (W) continuous duty at 12 volts (VDC) (if qualifying actuator is then used at 24V, it must be approved by the manufacturer for use at 24V)	Electrical solenoid actuators, no greater than 1 in. (nominal) stroke and rated electrical input power no greater than 10 watts (W) continuous duty at 12 volts (VDC) (if qualifying actuator is then used at 24V, it must be approved by the manufacturer for use at 24V)
Fans, no greater than 120mm (nominal) size and rated electrical input power no greater than 10 watts (W) continuous duty at 12 volts (VDC)	Fans, no greater than 120mm (nominal) size and rated electrical input power no greater than 10 watts (W) continuous duty at 12 volts (VDC)	Fans, no greater than 120mm (nominal) size and rated electrical input power no greater than 10 watts (W) continuous duty at 12 volts (VDC)
Hard drive motors part of a legal COTS computing device	Hard drive motors part of a legal COTS computing device	Hard drive motors part of a legal COTS computing device
Factory installed vibration and autofocus motors resident in COTS computing devices (e.g. rumble motor in a smartphone).	Factory installed vibration and autofocus motors resident in COTS computing devices (e.g. rumble motor in a smartphone).	Factory installed vibration and autofocus motors resident in COTS computing devices (e.g. rumble motor in a smartphone).
PWM COTS servos with a retail cost < $75.	PWM COTS servos with a retail cost < $75.	PWM COTS servos with a retail cost < $75.
Motors integral to a COTS sensor (e.g. LIDAR, scanning sonar, etc.), provided the device is not modified except to facilitate mounting	Motors integral to a COTS sensor (e.g. LIDAR, scanning sonar, etc.), provided the device is not modified except to facilitate mounting	Motors integral to a COTS sensor (e.g. LIDAR, scanning sonar, etc.), provided the device is not modified except to facilitate mounting
1 compressor compliant with R806 and used to compress air for the ROBOT ’S pneumatic system	1 compressor compliant with R806 and used to compress air for the ROBOT ’S pneumatic system	1 compressor compliant with R806 and used to compress air for the ROBOT ’S pneumatic system
Linear actuators rated for 12V and wired downstream of a breaker 20A or less	Linear actuators rated for 12V and wired downstream of a breaker 20A or less	Linear actuators rated for 12V and wired downstream of a breaker 20A or less

For servos, note that the roboRIO is limited to a max current output of 2.2A on the 6V rail (12.4W of electrical input power). Teams should make sure that their total servo power usage remains below this limit at all times.

Given the extensive amount of motors allowed on the

ROBOT

, teams are encouraged to consider the total power available from the

ROBOT

battery during the design and build of the

ROBOT

. Drawing large amounts of current from many motors at the same time could lead to drops in

ROBOT

battery voltage that may result in tripping the main breaker or trigger the brownout protection of the roboRIO. For more information about the roboRIO brownout protection and measuring current draw using the

PDP

PDH

, see roboRIO Brownout and Understanding Current Draw.

AndyMark PG Gearmotors are sold with labeling based on the entire assembly. Assemblies labeled am-3651 through am-3656 contain legal motors specified in the table above. These motors may be used with or without the provided gearbox.

R502 *Don’t modify motors (mostly).

The integral mechanical and electrical system of any motor must not be modified. Motors, servos, and electric solenoids used on the

ROBOT

shall not be modified in any way, except as follows:

A. The mounting brackets and/or output shaft/interface may be modified to facilitate the physical connection of the motor to the
ROBOT
and actuated part.
B. The electrical leads may be trimmed to length as necessary and connectors or splices to additional wiring may be added.
C. The locking
pins
on the window motors (P/N 262100-3030 and 262100-3040) may be removed.
D. The connector housings on
KOP
automotive motors listed in Table 9‑1 may be modified to facilitate lead connections.
E. Servos may be modified as specified by the manufacturer (e.g. re-programming or modification for
continuous
rotation).
F. The wiring harness of the Nidec Dynamo BLDC Motor may be modified as documented by FIRST in Nidec Dynamo BLDC Motor with Controller.
G. Minimal labeling may be applied to indicate device purpose, connectivity, functional performance, etc.
H. Any number of #10-32 plug screws may be removed from the Falcon 500.
I. Insulation may be applied to electrical terminals.
J. Repairs, provided the performance and specifications are unchanged.
K. Maintenance recommended by the manufacturer.

The intent of this rule is to allow teams to modify mounting tabs and the like, not to gain a weight reduction by potentially compromising the structural integrity of any motor.

R503 *Power (most) actuators off of approved devices.

With the exception of servos, fans, or motors integral to sensors of

COTS

computing devices permitted in R501, each actuator must be controlled by a power regulating device. The only power regulating devices for actuators permitted on the

ROBOT

include:

A. motor controllers,
a. DMC 60/DMC 60c Motor Controller (P/N 410-334-1, 410-334-2),
b. Jaguar Motor Controller (P/N MDL-BDC, MDL-BDC24, and 217-3367) connected to PWM only,
c. Nidec Dynamo, BLDC Motor with Controller to
control
integral actuator only (P/N 840205-000, am-3740)
d. SD540 Motor Controller (P/N SD540x1, SD540x2, SD540x4, SD540Bx1, SD540Bx2, SD540Bx4, SD540C),
e. Spark Motor Controller (P/N REV-11-1200, am-4260),
f. Spark MAX Motor Controller (P/N REV-11-2158, am-4261),
g. Talon FX Motor Controller (P/N 217-6515, 19-708850, am-6515, am-6515_Short) for controlling integral Falcon 500 only,
h. Talon Motor Controller (P/N CTRE_Talon, CTRE_Talon_SR, and am-2195),
i. Talon SRX Motor Controller (P/N 217-8080, am-2854, 14-838288),
j. Venom Motor with Controller (P/N BDC-10001) for controlling integral motor only,
k. Victor 884 Motor Controller (P/N VICTOR-884-12/12),
l. Victor 888 Motor Controller (P/N 217-2769),
m. Victor SP Motor Controller (P/N 217-9090, am-2855, 14-868380), and
n. Victor SPX Motor Controller (P/N 217-9191, 17-868388, am-3748),
B. relay modules,
a. Spike H-Bridge Relay (P/N 217-0220 and SPIKE-RELAY-H),
b. Automation Direct Relay (P/N AD-SSR6M12-DC-200D, AD-SSRM6M25-DC-200D, AD-SSR6M40-DC-200D), and
c. Power Distribution Hub (
PDH
) switched channel (P/N REV-11-1850) for controlling non-actuator
CUSTOM CIRCUITS
only,
C. pneumatics controllers,
a. Pneumatics
Control
Module (P/N am-2858, 217-4243) and
b. Pneumatic Hub (P/N REV-11-1852).

Note: The Automation Direct Relays are single directional. Per R504 they may not be wired together in an attempt to provide bi-directional

control

R504 *Don’t overload controllers.

Each power regulating device may

control

electrical loads per Table 9‑2. Unless otherwise noted, each power regulating device shall

control

1 and only 1 electrical load.

Table 9‑2 Power regulating device allotments

Electrical Load	Motor Controller	Relay Module	Pneumatics Controller
AndyMark RedLine Motor Banebots CIM REV Robotics NEO Brushless REV Robotics NEO 550 VEX Mini-CIM WCP RS775 Pro	Yes	No	No
AndyMark 9015 VEXpro BAG	Yes (up to 2 per controller)	No	No
AndyMark PG KOP Automotive Motors NeveRest Snow Blower Motor REV Robotics HD Hex	Yes (up to 2 per controller)	Yes	No
Linear Actuator	Yes (20A breaker max)	Yes (20A breaker max)	No
CTR Electronics/VEX Falcon 500 Nidec Dynamo BLDC Motor w/ Controller Playing With Fusion Venom	Yes (integrated controller only)	No	No
Compressor	No	Yes	Yes
Pneumatic Solenoid Valves	No	Yes (multiple)	Yes (1 per channel)
Electric Solenoids	Yes (multiple)	Yes (multiple)	Yes (1 per channel)
CUSTOM CIRCUITS	Yes (multiple)	Yes (multiple)	Yes (multiple)

R505 *
Control
servos safely.

Servos must be connected to, and only to, 1 of the following:

A. PWM ports on the roboRIO,
B. PWM ports on a WCP Spartan Sensor Board (P/N WCP-0045), or
C. REV Robotics Servo Power Module (P/N REV-11-1144).

9.6 Power Distribution

In order to maintain safety, the rules in this section apply at all times while at the event, not just while the

ROBOT

is on the

FIELD

for

MATCHES

R601 *Battery limit – everyone has the same power.

The only legal source of electrical energy for the

ROBOT

during the competition, the

ROBOT

battery, must be 1 and only 1 non-spillable sealed lead acid (SLA) battery with the following specifications:

A. Nominal voltage: 12V
B. Nominal capacity at 20-hour discharge rate: minimum 17Ah, maximum 18.2Ah
C. Shape: Rectangular
D. Nominal Dimensions: 7.1 in. x 3 in. x 6.6 in., +/- .1 in. for each dimension (~ 180 mm x 76mm x 168 mm, +/- 2.5 mm for each dimension)
E. Nominal weight: 11lbs. to 14.5 lbs. (~5 kg. to 6.5 kg.)
F. Terminals: Nut and bolt style

Examples of batteries which meet these criteria include:

a. Enersys (P/N NP18-12, NP18-12B, NP18-12BFR),
b. MK Battery (P/N ES17-12),
c. Battery Mart (P/N SLA-12V18),
d. Sigma (P/N SP12-18),
e. Universal Battery (P/N UB12180),
f. Power Patrol (P/N SLA1116),
g. Werker Battery (P/N WKA12-18NB),
h. Power Sonic (P/N PS-12180NB),
i. Yuasa (P/N NP18-12B),
j. Panasonic (P/N LC-RD-1217),
k. Interstate Batteries (P/N BSL1116), and
l. Duracell Ultra Battery (P/N DURA12-18NB). Teams should be aware that they may be asked to provide documentation of the specifications of any battery not listed above.

Batteries should be charged in accordance with manufacturer’s specification. (Please see the FIRST Safety Manual for additional information.)

R602 *Other batteries for cameras or computers only.

COTS

USB battery packs with a capacity of 100Wh or less (20000mAh at 5V) and 5V, 2.5 Amp max output per port, or batteries integral to and part of a

COTS

computing device or self-contained camera (e.g. laptop batteries, GoPro style camera, etc.) may be used to power

COTS

computing devices and any peripheral

COTS

input or output devices connected to the

COTS

computing device provided they are:

A. securely fastened to the
ROBOT
,
B. connected only using unmodified
COTS
cables, and
C. charged according to manufacturer recommendations.

COTS

computing device is a non-roboRIO device used to process or collect sensor information (e.g. a “smart flashlight” is not a

COTS

computing device).

R603 *Charge batteries with safe connectors.

Any battery charger used to charge a

ROBOT

battery must have the corresponding Anderson SB connector installed.

R604 *Charge batteries at a safe rate.

Any battery charger used to charge a

ROBOT

battery may not be used such that it exceeds 6-Amp peak charge current.

R605 *Batteries are not ballast.

No batteries other than those allowed per R601 and R602 are allowed on the

ROBOT

, whether or not they are being used to supply power.

For example, teams may not use additional batteries as extra weight on their

ROBOTS

R606 *Secure the battery.

The

ROBOT

battery must be secured such that it will not dislodge during vigorous

ROBOT

interaction including if the

ROBOT

is turned over or placed in any arbitrary orientation.

R607 *Insulate battery connections.

Each electrical terminal on the

ROBOT

battery, main breaker, and their connections (lugs, stripped wire ends, etc.) to the wire must be fully insulated at all times.

R608 *Limit non-battery energy.

Non-electrical sources of energy used by the

ROBOT

(i.e., stored at the start of a

MATCH

) shall come only from the following sources:

A. compressed air stored in the pneumatic system that has been charged in compliance with R806 and R807,
B. a change in the altitude of the
ROBOT
center of gravity,
C. storage achieved by deformation of
ROBOT
parts,
D. closed-loop
COTS
pneumatic (gas) shocks, or
E. air-filled (pneumatic) wheels.

R609 *Connect main power safely.

The 1

ROBOT

battery, a single pair of Anderson Power Products (or APP) 2-pole SB type connectors, the 1 main 120-amp (120A) surface mount circuit breaker (Cooper Bussman P/N CB185-120, CB185F-120, CB285-120 CB285F-120, CB285120F or Optifuse P/N 153120, 253120), and the 1 power distribution device (CTR Electronics Power Distribution Panel,

PDP

, P/N am-2856, 217-4244, 14-806880 or REV Robotics Power Distribution Hub,

PDH

, P/N REV-11-1850) shall be connected with 6 AWG (7 SWG or 16 mm2) copper wire or larger, with no additional devices or modifications (with the exception of monitoring circuitry permitted by R625), as shown in Figure 9‑10.

Figure 9‑10 Electrical connection diagram

“SB type” refers to SB type only (e.g. SB-50, SB-120, etc.), not SBS or any other part type beginning with SB. All batteries supplied by FIRST (such as Spare Parts and international batteries) will have a red or pink SB50 connector installed which may not be removed.

The pink connectors included in the CHARGED UP

KOP

mate with the red SB50 connector.

R610 *1 breaker per circuit.

All circuits, with the exceptions of those listed in R615 and R617, must connect to, and have power sourced solely by, a single protected 12VDC WAGO connector pair (i.e. the load terminals, as shown in Figure 9‑10) of the

PDP

PDH

, not the M6 cap screws.

R611 *The
Robot
frame is not a wire.

All wiring and electrical devices shall be electrically isolated from the

ROBOT

frame. The

ROBOT

frame must not be used to carry electrical current.

Compliance with this rule is checked by observing a >120Ω resistance between either the (+) or (-) post within the APP connector that is attached to the

PDP

PDH

and any point on the

ROBOT

All legal motor controllers with metal cases are electrically isolated. They may be mounted directly to

ROBOT

frame

COMPONENTS

Note that some cameras, decorative lights, and sensors (e.g. some encoders, some IR sensors, etc.) have grounded enclosures or are manufactured with conductive plastics. These devices must be electrically isolated from the

ROBOT

frame to ensure compliance with this rule.

R612 *Must be able to turn
robot
on and off safely.

The 120A circuit breaker must be quickly and safely accessible from the exterior of the

ROBOT

. This is the only 120A circuit breaker allowed on the

ROBOT

Examples considered not “quickly and safely accessible” include breakers covered by an access panel or door, or mounted on, underneath or immediately adjacent to moving

COMPONENTS

It is strongly recommended that the 120A circuit breaker location be clearly and obviously labeled so it can be easily found by

FIELD STAFF

during a

MATCH

R613 *Electrical system must be inspectable.

The

PDP

PDH

, associated wiring, and all circuit breakers must be visible for inspection.

“Visible for inspection” does not require that the items be visible when the

ROBOT

is in

STARTING CONFIGURATION

, provided the team can make the items viewable during the inspection process.

R614 *No high voltage allowed.

Any active electrical item that is not an actuator (specified in R501) or core

control

system item (specified in R710) is considered a

CUSTOM CIRCUIT

CUSTOM CIRCUITS

shall not produce voltages exceeding 24V.

R615 *Power roboRIO as specified.

The roboRIO power input must be connected to either:

A. the dedicated supply terminals on the
PDP
shown in Figure 9‑11 or

Figure 9‑11 roboRIO power source on a
PDP

B. the terminals of 1 of the non-switchable fused channels on the
PDH
(20,21,22) with a 10A fuse installed in the associated fuse holder. No other electrical load shall be connected to that channel.

Figure 9‑12 roboRIO power source on a
PDH

R616 *Power radio as specified – Part 1.

The wireless bridge (radio) power must be supplied by either:

A. the 12V 2A output of a CTR Electronics Voltage Regulator Module (
VRM
) (P/N am-2857, 217-4245), as shown in Figure 9‑13, and must be the only load connected to those terminals or

Figure 9‑13 Radio power source from a
VRM

B. using an Ethernet cable between a REV Radio Power Module (
RPM
) (P/N REV-11-1856) and the “18-24v POE” Ethernet port on the wireless bridge.
Note that this prohibits using any other active POE injector device to power the radio but does not prohibit using any
PASSIVE CONDUCTORS
to inject the
VRM
power into an Ethernet cable plugged into the radio port labeled “18-24v POE.”

R617 *Power radio as specified – Part 2.

The device supplying power to the wireless bridge per R616 must be connected to either:

A. the designated supply terminals at the end of the
PDP
, as shown in Figure 9‑14. With the exception of a single CTR Electronics Pneumatics
Control
Module (
PCM
, P/N am-2858) or REV Robotics Pneumatic Hub (
PH
, P/N REV-11-1852), no other electrical load shall be connected to these
PDP
terminals.

Figure 9‑14
VRM
,
PCM
, and
RPM
power source on a
PDP

B. the terminals of 1 of the non-switchable fused channels on the
PDH
(20,21,22) with a 10A fuse installed in the associated fuse holder. No other electrical load shall be connected to that channel.

Figure 9‑15
VRM
and
RPM
power source on a
PDH

Please reference How to Wire an FRC

Robot

for wireless bridge wiring information.

R618 *Use
PDP
/
PDH
terminals as designed.

Only 1 wire shall be connected to each terminal on the

PDP

PDH

If multi-point distribution of circuit power is needed (e.g. to provide power to multiple

PCMs

and/or

VRMs

from 1 20A circuit), then all incoming wires may be appropriately spliced into the main lead (e.g. using an insulated terminal block, crimped splice or soldered wire splice), and the single main lead inserted into the terminal to power the circuit.

R619 *Only use specified circuit breakers in
PDP
/
PDH
.

The only circuit breakers permitted for use in the

PDP

PDH

are:

A. Snap Action VB3-A Series or AT2-A, terminal style F57, 40A rating or lower,
B. Snap Action MX5-A or MX5-L Series, 40A rating or lower, and
C. REV Robotics ATO auto-resetting breakers 40A rating or lower.

R620 *Only use specified fuses in
PDP
/
PDH
.

The only fuses permitted for use in the

PDP

PDH

are mini automotive blade fuses (ATM style) with the following values:

A. for the
PDP
, values matching the value printed on the device’s corresponding fuse holder and
B. for the
PDH
, 15A or lower with the exception of a single 20A fuse for powering a
PCM
or
PH
.

Note that these fuses must be pressed very firmly to seat properly. Improper seating can cause a device to reboot upon impact.

R621 *Protect circuits with appropriate circuit breakers.

Each branch circuit must be protected by 1 and only 1 circuit breaker or fuse on the

PDP

PDH

per Table 9‑3. No other electrical load can be connected to the breaker or fuse supplying this circuit.

Table 9‑3 Branch circuit protection requirements

Branch Circuit	Circuit Breaker Value	Quantity Allowed Per Breaker
Motor Controller	Up to 40A	1
CUSTOM CIRCUIT	Up to 40A	No limit
Automation Direct Relay 40A (6M40)	Up to 40A	1
Fans permitted per R501 and not already part of COTS computing devices	Up to 20A	No limit
Spike Relay Module	Up to 20A	1
Automation Direct Relay 25A (6M25)	Up to 20A	1
PCM / PH – with compressor	Up to 20A	1
Additional VRM (non-radio)/Additional PCM / PH (non-compressor)	Up to 20A	3 total
Automation Direct Relay 12A (6M12)	Up to 10A	1

This rule does not prohibit the use of smaller value breakers in the

PDP

PDH

or any fuses or breakers within

CUSTOM CIRCUITS

for additional protection.

R622 *Use appropriately sized wire.

All circuits shall be wired with appropriately sized insulated copper wire (

SIGNAL LEVEL

cables don’t have to be copper):

Table 9‑4 Breaker and wire sizing

Application	Minimum Wire Size
31 – 40A breaker protected circuit	12 AWG (13 SWG or 4 mm2)
21 – 30A breaker protected circuit	14 AWG (16 SWG or 2.5 mm2)
6 – 20A breaker protected circuit	18 AWG (19 SWG or 1 mm2)
11-20A fuse protected circuit
Between the PDP dedicated terminals and the VRM / RPM or PCM / PH
Compressor outputs from the PCM / PH
Between the PDH and PCM / PH
Between the PDP / PDH and the roboRIO	22 AWG (22 SWG or 0.5 mm2)
Between the PDH and VRM / RPM
≤5A breaker protected circuit
≤10A fuse protected circuit
VRM 2A circuits	24 AWG (24 SWG or .25 mm2)
roboRIO PWM port outputs	26 AWG (27 SWG or 0.14 mm2)
SIGNAL LEVEL circuits (i.e. circuits which draw ≤1A continuous and have a source incapable of delivering >1A, including but not limited to roboRIO non-PWM outputs, CAN signals, PCM / PH Solenoid outputs, VRM 500mA outputs, RPM outputs, and Arduino outputs)	28 AWG (29 SWG or .08 mm2)

Wires that are recommended by the device manufacturer or originally attached to legal devices are considered part of the device and by default legal. Such wires are exempt from this rule.

In order to show compliance with these rules, teams should use wire with clearly labeled sizes if possible. If unlabeled wiring is used, teams should be prepared to demonstrate that the wire used meets the requirements of this rule (e.g. wire samples and evidence that they are the required size).

R623 *Use only appropriate connectors.

Branch circuits may include intermediate elements such as

COTS

connectors, splices,

COTS

flexible/rolling/sliding contacts, and

COTS

slip rings, as long as the entire electrical pathway is via appropriately gauged/rated elements.

Slip rings containing mercury are prohibited per R203.

R624 *Use specified wire colors (mostly).

All non-SIGNAL

LEVEL

wiring with a constant polarity (i.e., except for outputs of relay modules, motor controllers, or sensors) shall be color-coded along their entire length from the manufacturer as follows:

A. red, yellow, white, brown, or black-with-stripe on the positive (e.g. +24VDC, +12VDC, +5VDC, etc.) connections
B. black or blue for the common or negative side (-) of the connections

Exceptions to this rule include:

C. wires that are originally attached to legal devices and any extensions to these wires using the same color as the manufacturer
D. Ethernet cable used in POE cables

R625 *Don’t modify critical power paths.

CUSTOM CIRCUITS

shall not directly alter the power pathways between the

ROBOT

battery,

PDP

PDH

, motor controllers, relays (per R503-B), motors and actuators (per R501), pneumatic solenoid valves, or other elements of the

ROBOT

control

system (items explicitly mentioned in R701). Custom high impedance voltage monitoring or low impedance current monitoring circuitry connected to the

ROBOT

’S electrical system is acceptable, if the effect on the

ROBOT

outputs is inconsequential.

A noise filter may be wired across motor leads or PWM leads. Such filters will not be considered

CUSTOM CIRCUITS

and violate neither this rule nor R717.

Acceptable signal filters must be fully insulated and must be 1 of the following:

a 1 microfarad (1 µF) or less, non-polarized, capacitor may be applied across the power leads of any motor on your
ROBOT
(as close to the actual motor leads as reasonably possible) or
a resistor may be used as a shunt load for the PWM
control
signal feeding a servo.

9.7
Control
, Command & Signals System

R701 *
Control
the
robot
with a roboRIO.

ROBOTS

must be controlled via 1 programmable NI roboRIO or roboRIO 2.0 (P/N am3000 or am3000a, both versions referred to throughout this manual as “roboRIO”), with image version 2023_v3.1 or later.

There are no rules that prohibit co-processors, provided commands originate from the roboRIO to enable and disable all power regulating devices. This includes motor controllers legally wired to the CAN bus.

R702 *Communicate with the
Robot
with the specified radio.

1 OpenMesh wireless bridge (P/N: OM5P-AN or OM5P-AC), that has been configured with the appropriate encryption key for your team number at each event, is the only permitted device for communicating to and from the

ROBOT

during the

MATCH

R703 *Use specific Ethernet port for roboRIO.

The roboRIO Ethernet port must be connected to the wireless bridge port labeled “18-24 vPOE” (either directly, via a network switch, via an

RPM

, or via a CAT5 Ethernet pigtail).

Note: Placing a switch between the roboRIO and radio may impede the ability for

FIELD STAFF

to troubleshoot roboRIO connection issues on the

FIELD

. Teams may be asked to connect directly between the radio and the roboRIO as part of troubleshooting efforts.

R704 *Only use allowed ports and bandwidth to communicate with the
robot
.

Communication between the

ROBOT

and the

OPERATOR CONSOLE

may not exceed 4 Mbits/second and is restricted to network ports listed in Table 9‑5.

Table 9‑5 Open
FMS
ports

Port	Designation	Bi-directional?
UDP/TCP 1180-1190	Camera data from the roboRIO to dashboard software when the camera is connected the roboRIO via USB	Yes
TCP 1735	SmartDashboard	Yes
UDP 1130	Dashboard-to-ROBOT control data	Yes
UDP 1140	ROBOT-to-Dashboard status data	Yes
HTTP 80	Camera connected via switch on the ROBOT	Yes
HTTP 443	Camera connected via switch on the ROBOT	Yes
UDP/TCP 554	Real-Time Streaming Protocol for h.264 camera streaming	Yes
UDP/TCP 1250	CTRE Diagnostics Server	Yes
UDP/TCP 5800-5810	Team use	Yes

Teams may use these ports as they wish if they do not employ them as outlined above (i.e. TCP 1180 can be used to pass data back and forth between the

ROBOT

and the

Driver Station

Software if the team chooses not to use the camera on USB).

Note that the 4 Mbit limit will be strictly enforced by the wireless bridge.

The

FMS

Whitepaper has more details on how to check and optimize bandwidth usage.

While FIRST makes every effort to provide a wireless environment that allows teams access to a full 4 Mbits/second data rate (with about 100 Kbit used for

ROBOT

control

and status), at some events wireless conditions may not accommodate this.

R705 *Configure devices for your team number.

The roboRIO,

Driver Station

Software, and wireless bridge must be configured to correspond to the correct team number, per the procedures defined in the FIRST Robotics Competition

Control

System documentation.

R706 *Don’t bypass the
arena
network.

All signals must originate from the

OPERATOR CONSOLE

and be transmitted to the

ROBOT

via the

ARENA

Ethernet network.

R707 *No other wireless allowed.

No form of wireless communication shall be used to communicate to, from, or within the

ROBOT

, except those required per R702, R706, and tags used for location detection systems if provided by the event.

Devices that employ signals in the visual spectrum (e.g. cameras) and non-RF sensors that don’t receive human-originated commands (e.g. “beam break” sensors or IR sensors on the

ROBOT

used to detect

FIELD

elements) are not wireless communication devices and thus this rule doesn’t apply.

R708 *Wireless bridge must be visible.

The wireless bridge must be mounted on the

ROBOT

such that the diagnostic lights are visible to

FIELD STAFF

Teams are encouraged to mount the wireless bridge away from noise generating devices such as motors,

PCM

(s)/

(s), and

VRM

(s)/

RPM

(s).

R709 *
Robots
must have a signal light.

ROBOTS

must use at least 1, but no more than 2, diagnostic

ROBOT

Signal Light (

RSL

) (P/N 855PB-B12ME522 and/or am-3583).

Any

RSL

must be:

A. mounted on the
ROBOT
such that it is easily visible while standing 3 ft. (~ 100 cm) away from at least one side of the
ROBOT
,
B. connected to the “
RSL
” supply terminals on the roboRIO, and
C. if using the 855PB-B12ME522, wired for solid light operation, by placing a jumper between the “La” and “Lb” terminals on the light per Figure 9‑16.

Please see How to Wire an FRC

Robot

for connection details.

Figure 9‑16 855PB-B12ME522 jumper wiring

R710 *Only specified modifications to
control
system devices permitted.

The

Driver Station

Software, roboRIO,

PDP

PDH

PCM

(s)/

(s),

VRM

(s)/

RPM

(s),

RSL

, 120A breaker, motor controllers,

MXP

devices used to

control

actuators per R713-C, relay modules (per R503-B), wireless bridge,

PDH

PDP

breakers and fuses, and batteries shall not be tampered with, modified, or adjusted in any way (tampering includes drilling, cutting, machining, rewiring, disassembling, painting, etc.), with the following exceptions:

Please note that the

Driver Station

Software is a separate application from the Dashboard. The

Driver Station

Software may not be modified, while teams are expected to customize their Dashboard code.

A. User programmable code in the roboRIO may be customized.
B. Motor controllers may be calibrated as described in owner's manuals.
C. Fans may be attached to motor controllers and may be powered from the power input terminals.
D. If powering the compressor, the fuse on a Spike H-Bridge Relay may be replaced with a VB3A-20A Snap-Action circuit breaker.
E. Wires, cables, and signal lines may be connected via the standard connection points provided on the devices.
F. Fasteners (including adhesives) may be used to attach the device to the
OPERATOR CONSOLE
or
ROBOT
or to secure cables to the device.
G. Thermal interface material may be used to improve heat conduction.
H. Labeling may be applied to indicate device purpose, connectivity, functional performance, etc.
I. Jumpers may be changed from their default location.
J. Limit switch jumpers may be removed from a Jaguar motor controller and a custom limit switch circuit may be substituted.
K. Device firmware may be updated with manufacturer supplied firmware.
L. Integral wires on motor controllers may be cut, stripped, and/or connectorized.
M. Devices may be repaired, provided the performance and specifications of the device after the repair are identical to those before the repair.
N. The cover may be removed from the Talon SRX data port.
O. Electrical tape may be applied to the aluminum plate inside the wireless bridge.
P. The input terminal cover from the
PDP
may be omitted (no other element may be installed using the threaded holes to install something in place of the
PDP
terminal cover).
Q. The roboRIO 2.0 SD card may be replaced with an SD card of any capacity.
R
. adding insulating material to exposed conductors on
PDH
/
PDP
breakers and fuses.
S. functional equivalents to
CONTROL
SYSTEM power terminal blocks.

Please note that while repairs are permitted, the allowance is independent of any manufacturer’s warranty. Teams make repairs at their own risk and should assume that any warranty or return options are forfeited. Be aware that diagnosing and repairing

COMPONENTS

such as these can be difficult.

For more information about modification O, please see this OM5P-AC Radio Modification article.

R711 *Don’t connect motor outputs to roboRIO.

Neither 12VDC power nor relay module or motor controller outputs shall be directly connected to the roboRIO, with the exception of the designated 12VDC input.

R712 *
Control
PWM controllers from the roboRIO.

Every relay module (per R503-B), servo controller, and PWM motor controller shall be connected to a corresponding port (relays to Relay ports, servo controllers and PWM controllers to PWM ports) on the roboRIO (either directly or through a WCP Spartan Sensor Board) or via a legal

MXP

connection (per R713). They shall not be controlled by signals from any other source, with the exception of the Nidec Dynamo motor controller which must also be connected to the roboRIO Digital I/O.

R713 *Only approved
MXP
devices can
control
actuators.

If a motor is controlled via the

MXP

, its power regulating device must be connected by 1 of the following methods:

A. directly to any PWM
pins
,
B. via a network of
PASSIVE CONDUCTORS
used to extend the PWM
pins
, or
C. via 1 approved
ACTIVE DEVICE
:
A. Kauai Labs navX
MXP
b. Kauai Labs navX2
MXP
c. RCAL
MXP
Daughterboard
d. REV Robotics RIOduino
e. REV Robotics Digit Board
f. West Coast Products Spartan Sensor Board
g. Huskie Robotics HUSKIE 2.0 Board

PASSIVE CONDUCTOR

is any device or circuit whose capability is limited to the conduction and/or static regulation of the electrical energy applied to it (e.g. wire, splices, connectors, printed wiring board, etc.).

ACTIVE DEVICE

is any device capable of dynamically controlling and/or converting a source of electrical energy by the application of external electrical stimulus.

The “network of

PASSIVE CONDUCTORS

” only applies to the

pins

being used for PWM output to motors or servos. This means that connecting an

ACTIVE DEVICE

, such as a sensor to 1

MXP

does not prevent other

MXP

pins

from being used in accordance with B.

R714 *
Control
CAN motor controllers from the roboRIO.

Each CAN motor controller must be controlled with signal inputs sourced from the roboRIO and passed via either a PWM (wired per R713) or CAN bus (either directly or daisy-chained via another CAN bus device) signal, but both shall not be wired simultaneously on the same device.

As long as the CAN bus is wired legally so that the heartbeat from the roboRIO is maintained, all closed loop

control

features of the CAN motor controller may be used. (That is, commands originating from the roboRIO to configure, enable, and specify an operating point for all CAN motor controller closed loop modes fit the intent of R701).

“Wired directly” includes via any series of

PASSIVE CONDUCTORS

(i.e. star or hub configurations using only

PASSIVE CONDUCTORS

are permitted.)

R715 *
Control

PCM
/
PH
(S) from roboRIO.

Each

PCM

must be controlled with signal inputs sourced from the roboRIO and passed via a CAN bus connection from the built-in CAN on the roboRIO (either directly or daisy-chained via another CAN bus device).

R716 *Connect the
PDP
/
PDH
to the roboRIO CAN bus.

The

PDP

PDH

CAN interface must be connected to the built-in CAN bus on the roboRIO (either directly or daisy-chained via another CAN bus device).

For documentation on how to wire the CAN bus connections see How to Wire an FRC

Robot

R717 *Don’t alter the CAN bus.

No device that interferes with, alters, or blocks communications among the roboRIO and the

PDP

PDH

PCMs

PHs

, and/or CAN motor controllers on the bus will be permitted.

Only 1 wire should be inserted into each Weidmuller CAN connector terminal. For documentation on how to wire the CAN bus connections see How to Wire an FRC

Robot

R718 *USB to CAN adapter permitted.

Additional CAN bus connections may be added to the roboRIO using the CTR Electronics CANivoreTM P/N 21-678682 USB-to-CAN adapter.

Any additional CAN bus added in this manner satisfies the requirements of R714 (i.e. you may connect motor controllers to this additional bus).

9.8 Pneumatic System

In order to maintain safety, the rules in this section apply at all times while at the event, not just while the

ROBOT

is on the

FIELD

for

MATCHES

R801 *Only use explicitly permitted pneumatic parts.

To satisfy multiple constraints associated with safety, consistency, inspection, and constructive innovation, no pneumatic parts other than those explicitly permitted in this section shall be used on the

ROBOT

R802 *No custom pneumatics and meet minimum pressure ratings.

All pneumatic items must be

COTS

pneumatic devices and either:

A. rated by their manufacturers for pressure of at least 125psi (~862 kPa) or
B. installed downstream of the primary relieving regulator (see R809), and rated for pressure of at least 70psi (~483 kPa)

Any pressure specification such as “working,” “operating,” “maximum,” etc. may be used to satisfy the requirements of this rule.

It is recommended that all pneumatic items be rated by their manufacturers for a working pressure of at least 60 psi (~414 kPa).

R803 *Don’t modify pneumatics.

All pneumatic

COMPONENTS

must be used in their original, unaltered condition. Exceptions are as follows:

A. tubing may be cut,
B. wiring for pneumatic devices may be modified to interface with the
control
system,
C. assembling and connecting pneumatic
COMPONENTS
using the pre-existing threads, mounting brackets, quick-connect fittings, etc.,
D. removing the mounting
pin
from a pneumatic cylinder, provided the cylinder itself is not modified, and
E. labeling applied to indicate device purpose, connectivity, functional performance, etc.

Do not, for example, paint, file, machine, or abrasively remove any part of a pneumatic

COMPONENT

– this would cause the part to become a prohibited item. Consider pneumatic

COMPONENTS

sacred.

R804 *Only use specific pneumatic devices.

The only pneumatic system items permitted on

ROBOTS

include the following items:

A. pneumatic pressure vent plug valves functionally equivalent to those provided in the
KOP
,
Examples of acceptable valves include Parker PV609-2 or MV709-2.
B. pressure relief valves functionally equivalent to those provided in the
KOP
,
Examples of acceptable valves include Norgren 16-004-011, 16-004-003 or McMaster-Carr 48435K714.
To be considered functionally equivalent the valve must be preset or adjustable to 125 psi (~862 kPA) and capable of relieving at least 1 scfm (~472 cm3/s).
C. solenoid valves with a maximum ⅛ in. (nominal, ~3 mm) NPT, BSPP, or BSPT port diameter or integrated quick connect ¼ in. (nominal, ~6mm) outside diameter tubing connection,
D. additional pneumatic tubing, with a maximum ¼ in. (nominal, ~6 mm) outside diameter,
E. pressure transducers, pressure gauges, passive flow
control
valves (specifically “needle valve”), manifolds, and connecting fittings (including
COTS
pneumatic U-tubes),
F. check and quick exhaust valves, provided that the requirements of R813 are still met.
G. shutoff valves which relieve downstream pressure to atmosphere when closed (may also be known as 3-way or 3-way exhausting valves),
H. pressure regulators with the maximum outlet pressure adjusted to no more than 60 psi (~413 kPa),
I. pneumatic cylinders, pneumatic linear actuators, and rotary actuators,
J. pneumatic storage tanks (with the exception of white Clippard tanks P/N AVT-PP-41),
K. 1 compressor that is compliant with R806,
L. debris or coalescing (water) filters, and
M. Venturi valves (note: the high-pressure side of a Venturi valve is considered a pneumatic device and must follow all pneumatic rules. The vacuum side of a Venturi valve is exempt from the pneumatic rules per “a” in the blue box below).

The following devices are not considered pneumatic devices and are not subject to pneumatic rules (though they must satisfy all other rules):

a. a device that creates a vacuum,
b. closed-loop
COTS
pneumatic (gas) shocks,
c. air-filled (pneumatic) wheels, and
d. pneumatic devices not used as part of a pneumatic system (i.e. used in a way that does not allow them to contain pressurized air)

R805 *If using pneumatics, these parts are required.

If pneumatic

COMPONENTS

are used, the following items are required as part of the pneumatic circuit and must be used in accordance with this section, as illustrated in Figure 9‑17.

A. 1 FIRST Robotics Competition legal compressor (per R806),
B. a pressure relief valve (per R804-B) connected and calibrated (per R811),
C. a Nason pressure switch (P/N SM-2B-115R/443) and/or REV Robotics Analog Pressure Sensor (P/N REV-11-1107) connected and wired per R812,
D. at least 1 pressure vent plug plumbed (per R813),
E. stored pressure gauge and working pressure gauge (per R810), and
F. 1 primary working pressure regulator (per R808).

Figure 9‑17 Pneumatic circuitry

R806 *Compressed air from
robot
compressor only.

Throughout an event, compressed air on the

ROBOT

must be provided by its 1 onboard compressor only. Compressor specifications must not exceed nominal 1.1 cfm (~519 cm3/s) flow rate @ 12VDC at any pressure.

ROBOT

’S compressor may be substituted by another compressor, but a

ROBOT

may only have 1 designated compressor at a time, and all compressed air on the

ROBOT

must be sourced from a single compressor.

Note: Viair C-series compressors, which have a max working pressure of 120 PSI, are rated for intermittent pressures greater than 125 PSI and therefore meet the requirements of this rule.

R807 *Air storage pressure limit.

Stored air pressure on the

ROBOT

must be no greater than 120 psi (~827 kPa). No stored air pressure intended for the

ROBOT

may be located off-board the

ROBOT

R808 *Working air pressure limit.

Working air pressure (air pressure used to actuate devices) on the

ROBOT

must be no greater than 60 psi (~413 kPa) and must be provided through a single primary adjustable, relieving, pressure regulator.

Examples of acceptable valves include Norgren regulator P/N R07-100-RNEA and Monnier P/N 101-3002-1.

R809 *Limited devices at high pressure.

Only the compressor, relief valve, pressure switch, pressure vent plug, pressure gauge, storage tanks, tubing, pressure transducers, filters, and connecting fittings may be in the high-pressure pneumatic circuit upstream from the regulator.

It is recommended that all

COMPONENTS

in the high-pressure pneumatic circuit upstream from the regulator be rated for at least 115 psi (~793 kPa) working pressure.

R810 *Pressure gauges must be visible.

Pressure gauges must be placed in easily visible locations upstream and downstream of the regulator to display the stored and working pressures, respectively. Pressure gauges must show pressure in psi or kPa.

R811 *Relief valve requirements.

The relief valve must be attached directly to the compressor or attached by legal hard fittings (e.g. brass, nylon, etc.) connected to the compressor output port.

Teams are required to check and/or adjust the relief valve to release air at 125 psi (~861 kPa). The valve may or may not have been calibrated prior to being supplied to teams.

Instructions for adjusting the pressure relief valve can be found in the Pneumatics Manual.

R812 *Pressure switch requirements.

The pressure switch must be connected to the high-pressure side of the pneumatic circuit (i.e. prior to the pressure regulator) to sense the stored pressure of the circuit.

It must be either:

A. Nason P/N SM-2B-115R/443 (wired as described) and/or The 2 wires from the pressure switch must be connected directly to the pressure switch input of the
PCM
/
PH
controlling the compressor or, if controlled using the roboRIO and a relay, to the roboRIO. If connected to the roboRIO, the roboRIO must be programmed to sense the state of the switch and operate the relay module that powers the compressor to prevent over-pressuring the system.
B. REV Robotics P/N REV-11-1107 (wired as described) The analog output of the sensor must be connected directly to analog input 0 of the
PH
(with firmware version 22.0.2 or newer) controlling the compressor.

The REV Robotics Analog Pressure Sensor may only be used with

compressor

control

and may not be used with

PCM

compressor

control

R813 *Vent plug requirements.

Any pressure vent plug must be:

A. connected to the pneumatic circuit such that, when manually operated, it will vent to the atmosphere to relieve all stored pressure in a reasonable amount of time and
B. placed on the
ROBOT
so that it is visible and easily accessible.

R814 *Don’t connect solenoid outputs together.

The outputs from multiple solenoid valves must not be plumbed together.

9.9
OPERATOR CONSOLE

R901 *Use the specified
Driver Station
Software.

The

Driver Station

Software provided by National Instruments (install instructions found here) is the only application permitted to specify and communicate the operating mode (i.e.

AUTO

TELEOP

) and operating state (Enable/Disable) to the

ROBOT

. The

Driver Station

Software must be version 23.1 or newer.

Teams are permitted to use a portable computing device of their choice (laptop computer, tablet, etc.) to host the

Driver Station

Software while participating in

MATCHES

R902 *The
operator console
must have a visible display.

The

OPERATOR CONSOLE

, the set of

COMPONENTS

and

MECHANISMS

used by the

DRIVERS

and/or

HUMAN PLAYERS

to relay commands to the

ROBOT

, must include a graphic display to present the

Driver Station

Software diagnostic information. It must be positioned within the

OPERATOR CONSOLE

so that the screen display can be clearly seen during inspection and in a

MATCH

R903 *Connect
FMS
Ethernet directly to the
operator console
.

Devices hosting the

Driver Station

Software must only interface with the

FMS

via the Ethernet cable provided at the

DRIVER STATION

(e.g. not through a switch). Teams may connect the

FMS

Ethernet cable to the device running the

Driver Station

Software directly via an Ethernet pigtail, or with a single-port Ethernet converter (e.g. docking station, USB-Ethernet converter, Thunderbolt-Ethernet converter, etc.). The Ethernet port on the

OPERATOR CONSOLE

must be easily and quickly accessible.

Teams are strongly encouraged to use pigtails on the Ethernet port used to connect to the

FMS

. Such pigtails will reduce wear and tear on the device’s port and, with proper strain relief employed, will protect the port from accidental damage.

R904 *
Operator console
physical requirements.

The

OPERATOR CONSOLE

must not

A. be longer than 5 ft. (~152 cm),
B. be deeper than 1 ft. 2 in. (~35 cm) (excluding any items that are held or worn by the
DRIVERS
during the
MATCH
),
C. extend more than 6 ft. 6 in. (~198 cm) above the floor, or
D. attach to the
FIELD
(except as permitted by G301).

There is a 4 ft. 6 in. (~137 cm) long by 2 in. (nominal) wide strip of hook-and-loop tape (“loop” side) along the center of the

DRIVER STATION

support shelf that should be used to secure the

OPERATOR CONSOLE

to the shelf, per G301. See Section 5.7.1

DRIVER STATIONS

for details.

Please note that while there is no hard weight limit,

OPERATOR CONSOLES

that weigh more than 30 lbs. (~13 kg.) will invite extra scrutiny as they are likely to present unsafe circumstances.

R905 *
Field
wireless only.

Other than the system provided by the

FIELD

, no other form of wireless communications shall be used to communicate to, from, or within the

OPERATOR CONSOLE

Examples of prohibited wireless systems include, but are not limited to, active wireless network cards and Bluetooth devices. For the case of the FIRST Robotics Competition, a motion sensing input device (e.g. Microsoft Kinect) is not considered wireless communication and is allowed.

R906 *No unsafe
operator consoles
.

OPERATOR CONSOLES

shall not be made using hazardous materials, be unsafe, cause an unsafe condition, or interfere with other

DRIVE TEAMS

or the operation of other

ROBOTS

8 Game Rules: Humans

FIRST is committed to Equity, Diversity, and Inclusion and as such, FIRST makes reasonable accommodations for persons with disabilities that request accommodation. If a participant needs an accommodation for an event, please talk to a volunteer at the event or contact local leadership before the event so they can help ensure the accommodation is provided.

10 Inspection & Eligibility Rules

This section describes the rules governing MATCH participation. A team has participated in a MATCH if any member of their DRIVE TEAM is in the ALLIANCE AREA, with or without the ROBOT on the FIELD, at the start of the MATCH.

9 ROBOT Construction Rules