REV Robotics Expansion Hub User manual

Expansion Hub Guide –Rev 4 © REV Robotics, LLC 2017
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EXPANSION HUB GUIDE

Expansion Hub Guide –Rev 4 © REV Robotics, LLC 2017
TABLE OF CONTENTS
1OVERVIEW..............................................................................................................................................................................................................1
1.1 Expansion Hub Basics ............................................................................................................................................................................1
1.2 Port Pin Outs ..............................................................................................................................................................................................2
1.3 Protection Features .................................................................................................................................................................................3
1.4 Cables and Connectors...........................................................................................................................................................................3
1.4.1 XT30 –Power Cable............................................................................................................................................................................3
1.4.2 JST VH –Motor Power ......................................................................................................................................................................4
1.4.3 JST PH –Sensors and RS485.........................................................................................................................................................5
2QUICK START ........................................................................................................................................................................................................7
2.1 Required Materials ...................................................................................................................................................................................7
2.2 System Wiring Diagram ..........................................................................................................................................................................8
2.3 Driver Station and Robot Controller Pairing ....................................................................................................................................8
2.4 Robot Configuration.................................................................................................................................................................................8
2.5 Adding an Additional Expansion Hub ..............................................................................................................................................12
2.6 LED Blink Codes ......................................................................................................................................................................................15
3INTEGRATED SENSORS ..................................................................................................................................................................................17
4LEGACY SENSOR SUPPORT ..........................................................................................................................................................................17
4.1 Level Shifter ..............................................................................................................................................................................................17
4.2 Connnecting a 5V Motor Encoder .....................................................................................................................................................18
4.3 Connecting a 5V Sensor .......................................................................................................................................................................18
4.4 Sensor Compatability Chart ................................................................................................................................................................19
5Dimensions ..........................................................................................................................................................................................................22

Expansion Hub Guide –Rev 4 © REV Robotics, LLC 2017 1
1OVERVIEW
1.1 Expansion Hub Basics
The REV Robotics Expansion Hub is a low-cost education device that can communicate with any computer (Commonly
an Android Phone or the REV Robotics Control Hub) to provide the interfaces required for building robots and other
mechatronics. The Expansion Hub was purposed built to stand up to the rigors of the classroom and competition field.
It features a mature firmware designed for basic and advanced use cases with the ability to be field upgraded in the
future.
The REV Robotics Expansion hub is an approved device for use in the FIRST Tech Challenge and FIRST Global.
•Physical Dimensions
o143mm X 103mm X 29.5 mm
oMounting holes on a 16mm spacing
•Input Voltage:
o12V Nominal (8-15VDC)
•3.3V Ports
o8x Digital I/O: 1A Source Max
o4x I2C 100kHz/400kHz Busses:
500mA Max
o4x 12-bit Analog Inputs: 500mA Max
o4x Quadrature Encoder Inputs:
500mA Max
•5V Ports
o5V Aux Power: 2A Max
oServos: 2A Maximum per Pair
oUSB 2.0: 1.5A Max
PORT
QTY
CONNECTOR
DESCRIPTION
Battery
2
XT30
Connect one 12V NiMh battery, use the second connector to add
another Expansion Hub
Motor
4
JST VH, 2-pin
Motor power output
Encoder
4
JST PH, 4-pin
Quadrature encoder input
Servo
6
0.1” Header
Extended range 5V servo output (500-2500ms)
5V Aux Power
2
0.1” Header
Auxiliary device 5V/2A
Analog
4
JST PH, 4-pin
Analog input 0-3.3V with two channels per connector
Digital
8
JST PH, 4-pin
Digital Input/Output with two channels per connector
I2C
4
JST PH, 4-pin
Four separate I2C busses, 400kHz bus speed
RS485
2
JST PH, 3-pin
Use this serial communication port to add another Expansion Hub
UART
2
JST PH, 3-pin
Debugging only
USB
1
Mini Type
Connect directly to the Robot Controller Android phone or PC

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1.2 Port Pin Outs

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1.3 Protection Features
•Reverse Battery Input Protection
•ESD Protection on all Connections
•Overcurrent PTC Protection
oDigital I/O Bus
oI2C Bus
oAnalog Bus
oUSB
oServos per Channel Pair
oEncoder Bus
•Over Current Monitoring for individual Motor Channels
•Keyed and Locking Connectors
•Failsafe Mode at Communication Loss
1.4 Cables and Connectors
The REV Robotics Expansion Hub connector selection provides robust high-density solution for FTC teams. All
connectors are keyed and locking with the exception of the Servo, 5V auxiliary power, and Mini USB ports.
1.4.1 XT30 –Power Cable
The XT30 connector is used for connecting a battery and powering a second Expansion Hub. Each Expansion Hub has
both a Male and Female XT30 connector. The connectors are tied together internally so it does not matter which is
power in or out, but the standard convention is that the male connector is the power in side.
Most teams will want to use premade cables which can be sources from the REV Robotics website directly (Table 1) for
convenience, but teams can also make their own cables. These connectors are solder cup style and do not require any
crimping tools; connectors are available from various online vendors. These connectors are an open design so they are
manufactured by a variety of sources and quality may vary. AMASS branded connectors are recommended, but there
are many other quality vendors available.
Table 1: Premade XT30 Cables and Accessories
Length
REV Robotics Part Number
XT30, Male
-
XT30, Female
20cm
REV-31-1391
XT30, Male
-
XT30, Female
30cm
REV-31-1392
XT30, Male
-
XT30, Female
50cm
REV-31-1393
XT30, Female
-
Tamiya
8cm
REV-31-1382
XT30, Female
-
Anderson Power Pole Style
8cm
REV-31-1385
Power Switch Cable (XT30 Male –XT30 Female)
REV-31-1387
XT30 Connector Pack –5 Pairs
-
REV-31-1399

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1.4.2 JST VH –Motor Power
Motor Power connections on the Expansion Hub use the JST VH style connector. This connector is keyed and locking
with a small latch (Figure 1) which must be depressed to release the cable.
Figure 1: How to Use a JST VH Cable
REV Robotics recommends in most cases that teams use pre-made cables because the quality of the crimp is better
when made using industrial tooling. These cables can be bought directly from the REV Robotics Website (Table 2) or
through other online vendors.
Table 2: Premade JST VH Cables and Accessories
Pins
Length
REV Robotics Part Number
JST VH
-
JST VH
2 pins
20cm
REV-31-1411
JST VH
-
JST VH
2 pins
30cm
REV-31-1412
JST VH
-
JST VH
2 pins
50cm
REV-31-1413
JST VH
-
Anderson Power Pole Type
2 pins
12cm
REV-31-1381
JST VH Cable Extension Board
2 pins
REV-31-1429
For teams which would like more information regarding the connectors or to try crimping their own cables, Table 3 lists
the appropriate part numbers.
Connector Specifications
•10A Continuous Current (16AWG)
•3.96mm Pitch
•Accepts 22-16AWG Wire
Table 3: JST VH Connector Part Number Reference
Manufacturer Part Number
DigiKey Part Number
Contact, JST VH, 18-22AWG
SVH-21T-P1.1
455-1133-1-ND
Contact, JST VH, 16-20AWG
SVH-41T-P1.1
455-1319-1-ND
Housing, JST VH, 2-pin
VHR-2N
455-1183-ND
Header, JST VH, 2-pin, Top Entry
B2P-VH
455-1639-ND
Header, JST VH, 2-pin, Side Entry
B2PS-VH
455-1648-ND
Connector Datasheet: http://www.jst-mfg.com/product/pdf/eng/eVH.pdf

Expansion Hub Guide –Rev 4 © REV Robotics, LLC 2017 5
1.4.3 JST PH –Sensors and RS485
The JST PH style connector is used for motor encoder, analog, digital, I2C, RS485, and UART connections on the
Expansion Hub. These are all 4-pin connections except for the RS485 and UART which are 3 pin. The connectors are
keyed (they only insert in one orientation) and are friction locking. In Figure 2 the keying feature aligned with the cable is
shown.
Figure 2: How to Use a JST PH Cable
REV Robotics recommends in most cases that teams use pre-made cables because the quality of the crimp is better
when made using industrial tooling. These cables can be bought directly from the REV Robotics Website (Table 4 and
Table 5) or through other online vendors.
Table 4: Premade 4-pin JST PH Cables and Accessories
Pins
Length
REV Robotics Part Number
JST PH
-
JST PH
4 pins
20cm
REV-31-1406
JST PH
-
JST PH
4 pins
30cm
REV-31-1407
JST PH
-
JST PH
4 pins
50cm
REV-31-1408
JST PH Cable Extension Board
4 pins
REV-31-1388
Table 5: Premade 3-pin JST PH Cables
Pins
Length
REV Robotics Part Number
JST PH
-
JST PH
3 pins
20cm
REV-31-1416
JST PH
-
JST PH
3 pins
30cm
REV-31-1417
JST PH
-
JST PH
3 pins
50cm
REV-31-1418
For teams which would like more information regarding the connectors or to try crimping their own cables, Table 6 lists
the appropriate part numbers.
Connector Specifications
•2A Continuous Current (24AWG)
•2.0mm Pitch
•Accepts 32-24AWG Wire

Expansion Hub Guide –Rev 4 © REV Robotics, LLC 2017 6
Table 6: JST PH Connector Part Number Reference
Manufacturer Part Number
DigiKey Part Number
Contact, JST PH, 30-24AWG
SPH-002T-P0.5S
455-1127-1-ND
Contact, JST PH, 28-24AWG
SPH-002T-P0.5L
455-2148-1-ND
Housing, JST PH, 4-pin
PHR-4
455-1164-ND
Header, JST PH, 4-pin, Top Entry
B4B-PH-K-S
455-1706-ND
Header, JST PH, 4-pin, Side Entry
S4B-PH-K-S
455-1721-ND
Housing, JST PH, 3-pin
PHR-3
455-1126-ND
Header, JST PH, 3-pin, Top Entry
B3B-PH-K-S
455-1705-ND
Header, JST PH, 3-pin, Side Entry
S3B-PH-K-S
455-1720-ND
Connector Datasheet: http://www.jst-mfg.com/product/pdf/eng/ePH.pdf

Expansion Hub Guide –Rev 4 © REV Robotics, LLC 2017 7
2QUICK START
2.1 Required Materials
Expansion Hub
REV-31-1153
12V NiMh Slim Battery *
REV-31-1302
Properly Configured Driver Station (DS)
and Robot Controller (RC) Phones *
USB Game Pad *
USB A Female to Micro USB *
REV-31-1426
* Other FTC legal part numbers exist.
Optional Additional Materials needed to Connect an Additional Expansion Hub:
•Expansion Hub (REV-31-1153)
•XT30 Extension Cable
•Communication Cable (RS-485)

Expansion Hub Guide –Rev 4 © REV Robotics, LLC 2017 8
2.2 System Wiring Diagram
Figure 3: System Wiring Diagram
2.3 Driver Station and Robot Controller Pairing
Please ensure that the Driver Station and Robot Controller phones are properly configured and paired. Refer to the latest
pairing and troubleshooting instructions provided by in the FTC Control System Wiki.
2.4 Robot Configuration
Every device connected to the Expansion Hub will need to be added to the Robot Configuration file before you can use
the device in your program. The Robot Configuration will allow you to give your sensors and actuators meaningful
names that you can reference while programming.
For this example, we will configure a simple two motor robot drivetrain (Figure 4).
Figure 4: The miniBot is a Simple 2-Motor Robot
NOTE: You should update your Driver Station(DS) and Robot Controller(RC) phones to the latest app version in order
to use the new Expansion Hub controller. The minimum compatible version is 3.1 released on May 10th, 2017

Expansion Hub Guide –Rev 4 © REV Robotics, LLC 2017 9
Configuring Your Robot for the First Time
2.4-1. Connect your Robot Controller Phone via USB to the Expansion Hub’s mini USB port. It’s also recommended
to connect a battery.
2.4-2. Select the menu on either the Driver Station or
Robot Controller. Then select “Configure Robot”.
2.4-3. Select “New” in the top left hand corner.
2.4-4. Select “Expansion Hub Portal 1”.

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2.4-5. Select “Expansion Hub 1”.
2.4-6. Select “Motors”.
2.4-7. Select the Drop Down menu for “Port 0” then
select the motor type attached to the port. In the
case of the Minibot in Figure 4, select the “Rev
Robotics Core Hex Motor”.
2.4-8. Press “Enter motor name here” and name the
motor “left_drive”.
This is the name that you will use when you are
programming your robot to control this motor. Always
use descriptive names so that you can remember what a
device does when you are programming.

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2.4-9. Repeat the process for “Port 1” and name the
motor “right_drive”.
2.4-10. Press done once to go back to the list of device
port and then select I2C Bus 0.
2.4-11. Add the built-in REV Expansion Hub IMU. Name it
“imu”
2.4-12. Press the “Done” button (at the top left corner of the page) 3 times.

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2.4-13. Press “Save”.
2.4-14. Enter “miniBot” as your configuration name, then
select “OK”.
2.4-15. You now have an active configuration called
“miniBot”. Press the Android back button to
return to the Driver Station page.
2.5 Adding an Additional Expansion Hub
If you want to use more than 4 motors or 6 servos, you will need to add the Expansion Hub to your
robot. An Expansion Hub can be added to another Expansion Hub or to a Control Hub. The
Expansion Hub has all of the same ports as the Control Hub but without the wireless capability.
Control Hub vs Expansion Hub in FIRST
FIRST Tech Challenge
FIRST Global
Teams in FTC can use up to two (2)
Expansion Hubs and an Android Phone in
their robots starting in the 2017-2018
season. Read the official FTC Game
Manuals for complete game rules.
FIRST Global teams must use one (1)
Control Hub and may add one (1)
Expansion Hub to their robot. Read the
official FIRST Global manual for complete
game rules.

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Adding an Expansion Hub to your Robot
2.5-1. To add an additional Expansion Hub to your
robot, each hub must have a unique address.
Expansion Hubs come from the factory with
the default address: 2.
With the Robot Controller Phone connected
via USB to the Expansion Hub and no other
Expansion Hubs Connected, select the menu
on either the Driver Station or Robot
Controller. Then select “Settings”and
“Advanced Settings”.
2.5-2. In Advanced Settings, select “Expansion Hub
Address Change”
2.5-3. Use the drop-down Menu to change the
address. Select a number other than 2 and
then back out of the menu using the triangle
button.
Once you are back at the main app screen,
Power cycle the Expansion Hub by
unplugging the phone and battery (if used).
Reconnect the phone and battery.

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2.5-4. Use the XT30 Extension Cable to connect
power between the two Expansion Hubs.
2.5-5. Use the 3-pin JST PH cable and the RS485
port to connect communication between the
two Expansion Hubs.
2.5-6. From the Driver Station or Robot Controller
app choose “Configure Robot”
2.5-7. Select “New” in the top left hand corner.

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2.5-8. Select “Expansion Hub Portal 1”
2.5-9. Now you have 2 Hubs to choose from.
Configure and program as necessary.
2.6 LED Blink Codes
The RGB LED located on the Expansion Hub near the RS485 ports provides user feedback regarding the status of the
Expansion Hub. Reference Table 7 and Table 8 for different firmware LED codes.
Table 7: Firmware Version 1_06_00 LED Codes
Firmware Version 1_06_00
LED Status
LED Description
When
Hub Status
Solid Blue
At Boot
Expansion Hub has power; either 12V from the battery or 5V
sourced from the phone and is waiting to initialize
communications.
Solid Blue
Anytime
Hub is waiting for communication with the Driver Station Host.
Expansion Hub has power; either 12V from the battery or 5V
sourced from the phone.
Solid Green with
one or more blue
blinks every
~5 Seconds
Anytime
Hub has power and active communication with the Android
Platform. The number of blue blinks is the same as the Hub’s
address.
The factory default address is 2 ( ).

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Table 8: Firmware Version 1_07_00 LED Codes
Firmware Version 1_07_00
LED Status
LED Description
When
Hub Status
Solid Blue
At Boot
Expansion Hub has power; Battery is >7V and is waiting to
initialize communications.
Solid Blue
Anytime
Hub is waiting for communication with the Driver Station Host.
Expansion Hub has power; Battery is >7V.
Solid Green with
one or more blue
blinks every
~5 Seconds
Anytime
Hub has power and active communication with the Android
Platform. The number of blue blinks is the same as the Hub’s
address.
The factory default address is 2 ( ).
Blinking Blue
Anytime
Keep alive has timed out. Fault will clear when communication
resumes.
Blinking Orange
Anytime
Battery Voltage is lower than 7V. Either the 12V battery needs
to be charged, or the Expansion Hub is running on USB power
only. This fault will clear when battery voltage is raised above
7V.
This will not be overwritten by the keepalive timeout pattern.

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3INTEGRATED SENSORS
The REV Robotics Expansion Hub integrates a number of feedback sensors on board. Some of these are user accessible
in the latest FTC Android Studio SDK (version 3.1 released May 2017) but others are not yet directly user accessible.
These sensors are in some cases also used the Expansion Hub for internal safety monitoring.
•Battery Voltage Monitoring [Accessible in Ver 3.1]
•Integrated 9-axis IMU [Accessible in Ver 3.1]
oBosch BNO055 9-axis absolute orientation sensor
oInternally connected to I2C port 0 and configured to address 0x28
•Current Monitoring [Not Available in Ver 3.1]
oBattery
oI2C Bus
oServo Bus
oDigital Bus
•Per Motor Channel Current Monitoring and Control [Not Available in Ver 3.1]
4LEGACY SENSOR SUPPORT
4.1 Level Shifter
The Expansion Hub is a 3.3V logic level device, but many of the sensor that teams have previously purchased through
companies such as Modern Robotics are 5V logic level devices. Many of these previously purchased sensors can be
used with the new system by using a level shifter device. REV Robotics offers a Level Shifter (REV-31-1389) and an
optional Sensor Adapter Cable (REV-31-1384) so teams can more easily use their legacy sensors with the new
Expansion Hub system.
The REV Robotics Level Shifter is a PCB which generates a 5V output from the 3.3V input and uses a MOSFET on each
signal line to create a bidirectional communication appropriate for a variety of digital signals include I2C communication
(Figure 5). For more information on how bidirectional level shifting communication is accomplished, please reference
the NXP Application Note AN10441.
Figure 5: 3.3V to 5V Level Shifter Board

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4.2 Connnecting a 5V Motor Encoder
The Level Shifter pin out directly matches the encoder cable pinout for the FTC legal motors. Encoder cables should be
plugged directly into the Level Shifter board and then the 4-pin JST PH Cable (REV-31-1407) which is included with the
Level Shifter can be plugged into the appropriate Expansion Hub Encoder Port and motors which are terminated with
Anderson Power Pole style connectors can use the JST VH to Anderson Power Pole Style (REV-31-1382) cable to
connect to the motor output port on the Expansion Hub (Figure 6).
Figure 6: Connecting a Motor with 5V Encoder to an Expansion Hub
All currently sold REV Robotics Motors have been updated to work directly with the Expansion Hub.
HD Hex Motors sold before September 2017 with the modern robotics compatible encoder cable and
built in power wires have 5V encoders.
4.3 Connecting a 5V Sensor
The I2C sensors from Modern Robotics can be used with the Level Shifter board with a pinout change. Teams can either
purchase a Sensor Cable as an addon to the Level Shifter Kit (REV-31-1389) which will cross over the correct wires, or
they can carefully rearrange the pin order on the sensor cable. If using the Sensor addon cable, connect the sensor to
the Expansion Hub as shown in Figure 7. It is recommended to zip tie the connection between the sensor and the
sensor cable to prevent accidental disconnects.
Figure 7: Connecting a Legacy 5V Sensor to an Expansion Hub