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USER MANUAL

NI roboRIO

RIO Device for Robotics

The NI roboRIO is a portable reconfigurable I/O (RIO) device that students can use to design
control, robotics, and mechatronics systems used in the FIRST Robotics Competition (FRC).
This document contains pinouts, connectivity information, dimensions, and mounting
instructions for the NI roboRIO. The NI roboRIO provides the I/O shown in Figure 1 and
connects to a host computer over USB and 10/100 Ethernet.

Figure 1.

NI roboRIO Features

1

Digital input and output (DIO) port

2

RS-232 port

3

I

2

C port

4

CAN port

5

Power connector

6

USB Device port

7

USB Host retention mount

8

USB Host ports

9

Ethernet port

10 Serial peripheral interface bus (SPI) port
11 LEDs
12 Pulse-width modulation (PWM) port
13 myRIO Expansion Port (MXP)
14 MXP retention mount
15 User and Reset buttons
16 Analog input (AI) port
17 Relay port
18 Robot signal light (RSL) port

NI roboRIO

NI roboRIO

POWER

POWER

STATUS

STATUS

RADIO

RADIO

SPI

SPI

CS0

CS0
CS1

CS1
5V

5V
CS2

CS2
CS3

CS3

SCLK

SCLK

MOSI

MOSI

INPUT

INPUT

CAN

CAN

7-16V

7-16V

45W MAX

45W MAX

L (GRN)

L (GRN)

H (YEL)

H (YEL)

I

2

C

SCL

SCL

3.3V SDA

3.3V SDA

RS-232

RS-232

TXD

TXD

RXD

RXD

RSL

RSL

MISO

MISO

3.3V

3.3V

COMM

COMM

MODE

MODE

RSL

RSL

RELAY

RELAY

0

1

FWD

FWD

5V

5V

S

S

REV

REV

2

3

0

1

1

33

33

2

3

3

2

1

0

7

9

8

6

5

4

4

5

6

7

8

9

0

1

2

3

ANALOG IN

ANALOG IN

RESET

RESET

ACCELEROMETER

ACCELEROMETER

PWMP

W

M

DIOD

IO

Y

Z

X

USER

USER

S
5V

5V

S

6V

6V

5

6

7

8

14

9

10

15

16

17

1

8

12

1

2

3

4

1

3

11

1
2
3
...
»

Содержание NI roboRIO

Страница 1: ...orts 9 Ethernet port 10 Serial peripheral interface bus SPI port 11 LEDs 12 Pulse width modulation PWM port 13 myRIO Expansion Port MXP 14 MXP retention mount 15 User and Reset buttons 16 Analog input AI port 17 Relay port 18 Robot signal light RSL port NI roboRIO NI roboRIO POWER POWER STATUS STATUS RADIO RADIO SPI SPI CS0 CS0 CS1 CS1 5V 5V CS2 CS2 CS3 CS3 SCLK SCLK MOSI MOSI INPUT INPUT CAN CAN ...

Страница 2: ... CAN Port 9 I2C Port 10 RS 232 Port 10 DIO Port 11 RSL Port 11 Relay Port 12 AI Port 12 PWM Port 13 SPI Port 13 Signal Ground References 14 Interfaces 14 AI Channels 14 AO Channels 14 DIO PWM and Relay Lines 15 UART and RS 232 Lines 16 SPI Lines 16 I2C Lines 16 USB Device Port 16 USB Host Port 16 Accelerometer 17 Converting Raw Data Values to Voltage 17 Front Panel Buttons 17 Reset Button 17 User ...

Страница 3: ...stated in the product specifications These requirements and limits provide reasonable protection against harmful interference when the product is operated in the intended operational electromagnetic environment This product is intended for use in industrial locations However harmful interference may occur in some installations when the product is connected to a peripheral device or test object or ...

Страница 4: ...Port USB Hosts Port 10 100 Ethernet Port Status LED Comm LED Radio LED Mode LED RSL LED Power LED 3 3 V 5 0 V 16 16 2 4 UART DIO Analog Out Analog In myRIO Expansion Port MXP User Button Reset Button PWM Port 10 10 6 0 V PWM SPI SPI Port 5 0 V 3 3 V 7 7 2 RS 232 RS 232 Port 2 I2 C I2 C Port 2 3 3 V DIO Port DIO 10 10 5 0 V Watchdog Nonvolantile Memory DDR3 Acceler ometer RSL RSL Port Relay 8 8 REL...

Страница 5: ...V terminal of the COMBICON power connector shipped with the NI roboRIO and tighten the terminal screw Figure 3 shows the terminal screws which secure the wires in the screw terminals and the connector screws which secure the power connector on the front panel Figure 3 NI roboRIO COMBICON Power Connector 3 Connect the negative lead of the power supply to the C terminal of the power connector and ti...

Страница 6: ...le to initiate a DHCP connection it connects to the network with a link local IP address with the form 169 254 x x Preparing the NI roboRIO for Competition For information about configuring the controller for competitive use refer to the Tutorials tab in the Getting Started window of LabVIEW for FRC User Power Table 1 describes the user voltage rails for powering external sensors and peripherals T...

Страница 7: ...ration stops at the conclusion of the current cycle GPIOs configured as outputs go to High Z Relay control outputs are driven low CAN based motor controllers become disabled The following systems continue to function normally with valid data and communication FPGA processor RAM disk and user code USB power and communication Radio if powered by USB Ethernet CAN AI and AO I2C SPI RS 232 serial LED a...

Страница 8: ...ed AI channels Refer to the AI Channels section for more information AO 0 1 AGND Output 0 to 5 V referenced single ended AO Refer to the AO Channels section for more information AGND Reference for AI and AO 3 3V DGND Output 3 3 V power output AO0 AO1 AGND DGND UART RX DGND UART TX DGND DIO11 PWM7 DGND DIO12 PWM8 DGND DIO13 PWM9 DGND DGND DIO14 I2C SCL DIO15 I2C SDA 5V AI1 AI3 AI2 DIO1 PWM1 DIO2 PW...

Страница 9: ...IO PWM and Relay Lines section for more information UART RX DGND Input UART receive input UART lines are electrically identical to DIO lines UART TX DGND Output UART transmit output UART lines are electrically identical to DIO lines DGND Reference for digital signals 5 V and 3 3 V Table 4 CAN Port Signal Descriptions Signal Name Direction Description L GRN Input Output CAN bus differential low sig...

Страница 10: ...3 3V Output 3 3 V power output SCL Input or Output I2C lines with 3 3 V output 3 3 V 5 V compatible input Refer to the I2C Lines section for more information SDA Input or Output Table 6 RS 232 Serial Port Signal Descriptions Signal Name Direction Description TXD Output Serial transmit output with 5 V to 15 V signal levels Refer to the UART and RS 232 Lines section for more information RXD Input Se...

Страница 11: ...IO 0 9 Input Output General purpose digital lines with 3 3 V output 3 3 V 5 V compatible input Refer to the DIO PWM and Relay Lines section for more information 5V Output 5 V power output GND Reference for digital lines and 5 V power output Table 8 RSL Port Signal Descriptions Signal Name Direction Description S Output Switched power output to drive RSL when RSLis enabled The voltage level depends...

Страница 12: ...escriptions Signal Name Direction Description FWD 0 3 Output Relay digital lines with 5 V output REV 0 3 Output Relay digital lines with 5 V output GND Reference for digital lines Table 10 AI Port Signal Descriptions Signal Name Direction Description S AI 0 3 Input 0 V to 5 V referenced single ended AI channels Refer to the AI Channels section for more information 5V Output 5 V power output GND Re...

Страница 13: ... digital lines with 5 V output 6V Output 6 V power output for servos only GND Reference for digital lines and 6 V power output Table 12 SPI Port Signal Descriptions Signal Name Direction Description 3 3V Output 3 3 V power output 5V Output 5 V power output CS 0 3 Output SPI with 3 3 V output 3 3 V 5 V compatible input Refer to the SPI Lines section for more information SCLK Output MOSI Output MISO...

Страница 14: ...easure 0 5 V signals Note For important information about improving measurement accuracy by reducing noise visit ni com info and enter the Info Code analogwiring Figure 14 shows the AI topology of the NI roboRIO Figure 14 NI roboRIO AI Circuitry AO Channels The NI roboRIO MXP has two AO channels AO0 and AO1 which you can use to generate signals of 0 V to 5 V Each channel has a dedicated digital to...

Страница 15: ...s shown in Figure 16 Figure 16 DIO Lines with 40 kΩ Pullup Resistors to 3 3 V DIO 15 14 on the MXP and the two lines on the I2C port all have 2 2 kΩ pullup resistors to 3 3 V as shown in Figure 17 Figure 17 DIO Lines with 2 2 kΩ Pullup Resistors to 3 3 V SCLK MOSI MISO on the SPI port and the lines on the PWM and Relay ports all have 40 kΩ pulldown resistors to ground as shown in Figure 18 Figure ...

Страница 16: ...e UART lines on the MXP are electrically identical to DIO lines 0 to 13 on the MXP Like those lines UART RX and UART TX have 40 kΩ pullup resistors to 3 3 V The RS 232 lines are compliant with TIA EIA 232 F voltage levels SPI Lines The SPI port can support up to four devices by using each of the four Chip Select CS lines I2C Lines The I2C lines can be used to connect to a network of I2C slave devi...

Страница 17: ...ution 12 For AI and AO channels on the MXP LSB Weight 5 V 212 1 221 mV Maximum reading 4095 1 221 mV 4 999 V For the accelerometer LSB Weight 16 g 212 3 906 mg Maximum Positive Reading 2047 3 906 mg 7 996 g Maximum Negative Reading 2048 3 906 mg 8 000 g Front Panel Buttons Reset Button Pressing and releasing the Reset button restarts the processor and the FPGA Pressing and holding the Reset button...

Страница 18: ...cates specific conditions as shown in Table 13 Table 13 Power LED Indications Color State Indication Off Off Power is outside valid input range Green Solid Power is valid with no fault condition Red Solid Fault condition detected One or more user voltage rails are in short circuit or overcurrent condition Red Flashing The input voltage is too high greater than 16 V and all outputs including the RS...

Страница 19: ...ts software This usually occurs when an attempt to upgrade the software is interrupted Reinstall software on the device 3 The device is in safe mode 4 The software has crashed twice without rebooting or cycling power between crashes This usually occurs when the device runs out of memory Review your RT VI and check the memory usage Modify the VI as necessary to solve the memory usage issue Continuo...

Страница 20: ... Table 16 Comm LED Indications Color State Indication Off Off No communication detected No heartbeat detected Red Solid No code The protocol indicates that no user code has been loaded Red Blinking E Stop The protocol indicates that the driver station has E Stopped the robot Green Solid Active The protocol is active and the driver station is in control of the robot Yellow Any Reserved Table 17 Mod...

Страница 21: ...o the RSL which is an external indicator connected to the NI roboRIO using a dedicated connector and indicates specific conditions as shown in Table 18 Table 18 RSL LED Indications Color State Indication Off Off Outputs disabled No power Yellow Solid Outputs disabled Robot is powered Yellow Blinking Outputs enabled Robot is powered ...

Страница 22: ... 4 64 in 101 01 mm 3 977 in 93 39 mm 3 677 in 85 77 mm 3 377 in 78 15 mm 3 077 in 73 08 mm 2 877 in 68 00 mm 2 677 in 60 38 mm 2 377 in 52 76 mm 2 077 in 45 14 mm 1 777 in 22 26 mm 0 876 in 8 44 mm 0 332 in 0 0 mm 0 in 0 0 mm 0 in 7 16 mm 0 282 in 8 42 mm 0 332 in 19 52 mm 0 769 in 135 47 mm 5 333 in 132 61 mm 5 221 in 130 72 mm 5 147 in 123 43 mm 4 860 in 110 96 mm 4 368 in 99 54 mm 3 919 in 88 1...

Страница 23: ...XD RXD RXD RSL RSL MISO MISO 3 3V 3 3V COMM COMM MODE MODE RSL RSL RELAY RELAY 0 1 FWD FWD S S REV REV 2 3 0 1 1 33 33 2 3 3 2 1 0 7 9 8 6 5 4 4 5 6 7 8 9 0 1 2 3 ANALOG IN ANALOG IN RESET RESET ACCELEROMETER ACCELEROMETER PWM PWM DIO DIO Y Z X USER USER S S 5V 5V 5V 5V 6V 6V INPUT INPUT 7 16V 7 16V 45W MAX 45W MAX 146 15 mm 5 754 in 0 0 mm 0 in 0 0 mm 0 in 143 18 mm 5 637 in 128 51 mm 5 059 in 14...

Страница 24: ...Figure 21 NI roboRIO Dimensions Secondary Side 22 28 mm 0 877 in 0 0 mm 0 in 123 88 mm 4 877 in 122 39 mm 4 819 in 20 79 mm 0 819 in 135 09 mm 5 319 in 8 09 mm 0 319 in 0 0 mm 0 in 3 84 mm 0 151 in 142 31 mm 5 603 in 4 40 Screw Insert ...

Страница 25: ...ng cable ties to secure one corner of the NI roboRIO to perfboard Using screws to secure the bottom of the NI roboRIO to a metal plate Method One Using Cable Ties to Secure One Edge of the NI roboRIO to Perfboard Figures 23 through 26 show how to secure one edge of the NI roboRIO to perfboard Figure 23 Cable Ties Method One Step One 5 71 mm 0 225 in 129 59 mm 5 102 in 122 39 mm 4 819 in 20 79 mm 0...

Страница 26: ...26 ni com NI roboRIO User Manual Figure 24 Cable Ties Method One Step Two Figure 25 Cable Ties Method One Step Three ...

Страница 27: ...7 Figure 26 Cable Ties Method One Step Four Method Two Using Cable Ties to Secure One Corner of the NI roboRIO to Perfboard Figures 27 through 31 show how to secure one corner of the NI roboRIO to perfboard Figure 27 Cable Ties Method Two Step One ...

Страница 28: ...28 ni com NI roboRIO User Manual Figure 28 Cable Ties Method Two Step Two Figure 29 Cable Ties Method Two Step Three ...

Страница 29: ...NI roboRIO User Manual National Instruments 29 Figure 30 Cable Ties Method Two Step Four Figure 31 Cable Ties Method Two Step Five ...

Страница 30: ...6 mm 0 188 in thick the recommended screw length is 7 94 mm 0 313 in Figure 32 Mounting NI roboRIO Using Screws Compatible USB and Ethernet Cables Table 19 lists the USB and Ethernet cables available from NI that you can use with the NI roboRIO 1 Metal Mounting Plate 2 4 40 Screws x 4 Table 19 Compatible USB and Ethernet Cables Available from NI Cable Description NI Part Number USB cable USB 2 0 A...

Страница 31: ...eriod This warranty includes parts and labor For private individual users in the EU Based on your statutory rights National Instruments will through its distributor cure defects in materials and workmanship within two years from delivery Worldwide Support and Services The National Instruments website is your complete resource for technical support At ni com support you have access to everything fr...

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