National Instruments CompactRIO cRIO-FRC User manual

OPERATING INSTRUCTIONS AND SPECIFICATIONS
CompactRIO cRIO-FRC
Reconfigurable Embedded Chassis with Integrated Intelligent
Real-Time Controller for FIRST Robotics Competition
Figure 1. CompactRIO cRIO-FRC
1LEDs
2RS-232SerialPort
3RJ-45EthernetPort2
4RJ-45EthernetPort1
5 Power Connector
6ResetButton
7 DIP Switches
™
NI cRIO-FRC
12
4
5
6
7
POWER
FPGA
STATUS
USER1
RESET
LINK
10/
100
LINK
10/
100
INPUT
19-30 V
20 W MAX
V
C
NC
C
SAFE MODE
CONSOLE OUT
IP RESET
NO APP
USER1
NO FPGA
1
2
3

cRIO-FRC Operating Instructions and Specifications 2 ni.com
This document describes how to connect the cRIO-FRC to a network and
how to use the features of the cRIO-FRC. This document also contains
specifications for the cRIO-FRC.
What You Need to Install the cRIO-FRC
❑FIRST Robotics Electronics kit, including cRIO-FRC reconfigurable
embedded chassis with integrated intelligent real-time controller
❑C Series I/O modules
❑DIN rail mount kit (for DIN rail mounting only)
❑Two M4 or number 10 panhead screws (for panel mounting only)
❑A number 2 Phillips screwdriver
❑Power supply
Note The cRIO-FRC may be shipped with a clear protective film cover on the front panel.
You can re m ove t h e fi l m c over b e f ore inst a l l i n g t h e cRIO-FRC .
Mounting the CompactRIO Reconfigurable
Embedded Chassis
You can mount the chassis in any orientation on a 35 mm DIN rail or on a
panel. Use the DIN rail mounting method if you already have a DIN rail
configuration or if you need to be able to quickly remove the CompactRIO
chassis. Use the panel mount method for high shock and vibration
applications.
Caution If the ambient operating temperature is 50 °C or higher, you must allow 25.4 mm
(1 in.) on the top and bottom of the chassis and in front of the I/O modules for air
circulation.
Note Yo u m u s t r e m ov e a l l I / O m o d u l e s f r o m t h e c h a s s i s b e f o r e m o u n t i n g i t . Yo u r
application may require that one or more of the I/O modules be installed in specific slot
locations. Record the slot location of each module before removing the modules from the
chassis, and replace each module in the same slot after mounting.
Note The cRIO-FRC is shipped with slot protectors that prevent debris and contaminants
from damaging the DB-15 I/O module connectors in unused slots. Do not remove slot
protectors from unused slots.

©National Instruments Corporation 3 cRIO-FRC Operating Instructions and Specifications
Figure 2. cRIO-FRC, Bottom View with Dimensions
Figure 3. cRIO-FRC, Front View with Dimensions
29 mm
(1.14 in.)
58.9 mm
(2.32 in.)
3.3mm
(0.13in.)
286.4 mm
(11.28 in.)
Cabling Clearance
25.4 mm (1.00 in.)
87.3mm
(3.44 in.)
165.1 mm
(6.50 in.)
3.1 mm
(0.12 in.)
51.1 mm
(2.04 in.)
36.4 mm
(1.43in.)
19 mm
(0.75 in.)
NI cRIO-FRC
1
2
1
2345678

cRIO-FRC Operating Instructions and Specifications 4 ni.com
Figure 4. cRIO-FRC, Side View with Dimensions
The following sections contain instructions for the mounting methods.
Before using any of these mounting methods, record the serial number from
the back of the chassis. You will be unable to read the serial number after
you have mounted the chassis.
Caution Make sure that no I/O modules are in the chassis before mounting it.
Mounting the Chassis on a Panel
You can use the NI 9905 panel mount kit to mount the cRIO-FRC on a flat
surface. Complete the following steps.
1. Fasten the chassis to the panel mount kit using a number 2 Phillips
screwdriver and two M4 ·16 screws. National Instruments provides
these screws with the panel mount kit. You must use these screws
because they are the correct depth and thread for the panel.
3XM4X0.7
25 mm
(0.98 in.)
44 mm
(1.73in.)
23.7 mm
(0.94 in.)
63.1 mm
(2.48 in.)
44.1 mm
(1.74 in.)

©National Instruments Corporation 5 cRIO-FRC Operating Instructions and Specifications
Figure 5. Installing the Panel Mount Accessory on the cRIO-FRC
Figure 6. Dimensions of cRIO-FRC with Panel Mount Accessory Installed
2. Fasten the NI 9905 panel to the wall using the screwdriver and screws
that are appropriate for the wall surface.
Caution Make sure that no I/O modules are in the chassis before removing it from the
panel.
NI cRIO-FRC
2
1
31.8 mm
(1.25 in.)
NI cRIO-FRC
15.5 mm
(0.61 in.)
9.5 mm
(0.38 in.) 28.1 mm
(1.11 in.)
63.5 mm
(2.50 in.)
88.1 mm
(3.47 in.)
311.2 mm
(12.25 in.)
330.2 mm
(13.00 in.)
1
2
1
2345678

cRIO-FRC Operating Instructions and Specifications 6 ni.com
Mounting the Chassis on a DIN Rail
You can order the NI 9915 DIN rail mount kit if you want to mount the
chassis on a DIN rail. You need one clip for mounting the chassis on a
standard 35 mm DIN rail. Complete the following steps to mount the
chassis on a DIN rail.
1. Fasten the DIN rail clip to the chassis using a number 2 Phillips
screwdriver and two M4 ·16 screws. National Instruments provides
these screws with the DIN rail mount kit.
Figure 7. Installing the DIN Rail Clip on the cRIO-FRC

©National Instruments Corporation 7 cRIO-FRC Operating Instructions and Specifications
2. Insert one edge of the DIN rail into the deeper opening of the DIN rail
clip, as shown in Figure 8.
Figure 8. One Edge of the DIN Rail Inserted in a Clip
3. Press down firmly on the chassis to compress the spring until the clip
locks in place on the DIN rail.
Caution Make sure that no I/O modules are in the chassis before removing it from the
DIN rail.
Installing C Series I/O Modules in the Chassis
Figure 9 shows the mechanical dimensions of C Series I/O modules.
Figure 9. C Series I/O Module, Front and Side View with Dimensions
Complete the following steps to install a C Series I/O module in the chassis.
1. Make sure that no I/O-side power is connected to the I/O module. The
chassis power can be on when you install I/O modules.
1DINRailClip 2DINRailSpring 3DINRail
2
1
3
88.1 mm
(3.47 in.)
70.7 mm
(2.78 in.)
22.9 mm
(0.9 in.)

cRIO-FRC Operating Instructions and Specifications 8 ni.com
2. Align the I/O module with an I/O module slot in the chassis as shown
in Figure 10. The module slots are labeled 1 to 8, left to right.
Figure 10. Installing an I/O Module in the Chassis
3. Squeeze the latches and insert the I/O module into the module slot.
4. Press firmly on the connector side of the I/O module until the latches
lock the I/O module into place.
5. Repeat these steps to install additional I/O modules.
1InsertionGroove 2Latch
NI cRIO-FRC
1
2
2
1

©National Instruments Corporation 9 cRIO-FRC Operating Instructions and Specifications
Removing I/O Modules from the Chassis
Complete the following steps to remove a C Series I/O module from the
chassis.
1. Make sure that no I/O-side power is connected to the I/O module. The
chassis power can be on when you remove I/O modules.
2. Squeeze the latches on both sides of the module and pull the module
out of the chassis.
Connecting the Chassis to a Network
Connect the chassis to an Ethernet network using RJ-45 Ethernet port 1 on
the controller front panel. Use a standard Category 5 (CAT-5) or better
shielded, twisted-pair Ethernet cable to connect the chassis to an Ethernet
hub, or use an Ethernet crossover cable to connect the chassis directly to a
computer.
Caution To prevent data loss and to maintain the integri ty of your Ethernet installation,
do not use a cable longer than 100 m.
If you need to build your own cable, refer to the Cabling section for more
information about Ethernet cable wiring connections.
The host computer communicates with the chassis over a standard Ethernet
connection. If the host computer is on a network, you must configure
the chassis on the same subnet as the host computer. If neither the host
computer nor the chassis is connected to a network, you can connect the
two directly using a crossover cable.
If you want to use the chassis on a subnet other than the one the host
computer is on, first connect the chassis on the same subnet as the host
computer. Use DHCP to assign an IP address or reassign a static IP address
for the subnet where you want it to be and physically move it to the other
subnet. The first time you configure the chassis, you must also install
software on it. Refer to the Measurement & Automation Explorer Help for
more information about installing software on and configuring the chassis
in Measurement & Automation Explorer (MAX). Contact your network
administrator if you need assistance configuring the host computer and
chassis on the same subnet.

cRIO-FRC Operating Instructions and Specifications 10 ni.com
Wiring Power to the Chassis
The cRIO-FRC requires an external power supply that meets the
specifications in the Power Requirements section. The cRIO-FRC filters
and regulates the supplied power and provides power for all of the I/O
modules. The cRIO-FRC has one layer of reverse-voltage protection.
Complete the following steps to connect a power supply to the chassis.
1. Connect the positive lead of the power supply to the V terminal of the
COMBICON connector shipped with the cRIO-FRC.
2. Connect the negative lead of the power supply to one of the C terminals
of the COMBICON connector.
3. Install the COMBICON connector on the front panel of the cRIO-FRC
and tighten the screws on the connector.
Caution The C terminals are internally connected to each other.
Caution Do not disconnect the power supply wires and connectors from the controller
unless power has been switched off.
Powering On the cRIO-FRC
When you apply power to the cRIO-FRC, the controller runs a power-on
self test (POST). During the POST, the Power and Status LEDs turn on.
The Status LED turns off, indicating that the POST is complete. If the
LEDs do not behave in this way when the system powers on, refer to the
Understanding LED Indications section.
You can co n figu r e t h e c R IO-FRC to la u n c h a n e mbedde d s t a n d -alone
LabVIEW RT application each time you boot the controller. Refer to the
Running a Stand-Alone Real-Time Application (RT Module) topic of the
LabVIEW Help for more information.
You can al s o confi gure th e c R I O - FR C to lau n c h an embed d e d s tand- a l o n e
C/C++ application each time you boot the controller. Refer to the Robot
Programming with the WPI Robotics Library document for more
information.
Boot Options
Table 1 lists the reset options available on CompactRIO systems such
as the cRIO-FRC. These options are used to determine how the FPGA
behaves when the controller is reset in various conditions.