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.

©National Instruments Corporation 11 cRIO-FRC Operating Instructions and Specifications
Connecting Serial Devices to the cRIO-FRC
The cRIO-FRC has an RS-232 serial port to which you can connect devices
such as displays or input devices. Use the Serial VIs to read from and write
to the serial port from a LabVIEW RT application. For more information
about the Serial VIs, refer to the LabVIEW Help.
Figure 11. Controller Serial Port
Table 1. CompactRIO Reset Options
Reset Option Behavior
Do Not Autoload on Reset Does not load the FPGA bit stream from flash memory.
Autoload on Power-On Reset Loads the FPGA bit stream from flash memory to the FPGA
when the controller powers on.
Autoload on Any Device Reset Loads the FPGA bit stream from flash to the FPGA when you
reboot the controller either with or without cycling power.
Table 2. DB-9 Pin Descriptions
Pin Signal
1DCD
2RXD
3TXD
4DTR
5GND
6DSR
7RTS
8CTS
9RI
Pin 1
Pin 5
Pin 6
Pin 9

cRIO-FRC Operating Instructions and Specifications 12 ni.com
Using the Internal Real-Time Clock
The system clock of the cRIO-FRC is synchronized with the internal
high-precision real-time clock at startup. This synchronization provides
timestamp data to the controller. You can also use the internal real-time
clock to correct drift of the system clock. Refer to the Internal Real-Time
Clock specification in the Specifications section for the accuracy
specifications of the real-time clock.
Configuring DIP Switches
Figure 12. DIP Switches
All of the DIP switches are in the OFF position when the chassis is shipped
from National Instruments.
SAFE MODE Switch
The position of the SAFE MODE switch determines whether the embedded
LabVIEW Real-Time engine launches at startup. If the switch is in the OFF
position, the LabVIEW Real-Time engine launches. Keep this switch in the
OFF position during normal operation. If the switch is in the ON position
at startup, the cRIO-FRC launches only the essential services required for
updating its configuration and installing software. The LabVIEW
Real-Time engine does not launch.
Push the SAFE MODE switch to the ON position if the software on the
chassis is corrupted. Even if the switch is not in the ON position, if there
is no software installed on the chassis, the chassis automatically boots
into safe mode. The SAFE MODE switch must be in the ON position to
reformat the drive on the chassis. Refer to the Measurement & Automation
Explorer Help for more about installing software and reformatting the
drive.
1 65432

©National Instruments Corporation 13 cRIO-FRC Operating Instructions and Specifications
CONSOLE OUT Switch
With a serial-port terminal program, you can use the CONSOLE OUT
switch to read the IP address and firmware version of the controller. Use a
null-modem cable to connect the serial port on the chassis to a computer.
Push the switch to the ON position. Make sure that the serial-port terminal
program is configured to the following settings:
•9,600bitspersecond
•Eightdatabits
•Noparity
•Onestopbit
•Noflowcontrol
The serial-port terminal program displays the IP address and firmware
version of the chassis. Keep this switch in the OFF position during normal
operation.
IP RESET Switch
Push the IP RESET switch to the ON position and reboot the chassis to
reset the IP address to 0.0.0.0. If the chassis is on your local subnet and
the IP RESET switch is in the ON position, the chassis appears in MAX
with IP address 0.0.0.0. You can configure a new IP address for the
chassis in MAX. Refer to the Resetting the Network Configuration of the
cRIO-FRC section for more information about resetting the IP address.
You also can push this switch to the ON position to unlock a chassis that
was previously locked in MAX.
NO APP Switch
Push the NO APP switch to the ON position to prevent a LabVIEW RT
startup application from running at startup. If you want to permanently
disable a LabVIEW RT application from running at startup, you must
disable it in LabVIEW. To run an application at startup, push the NO APP
switch to the OFF position, create an application using the LabVIEW
Application Builder, and configure the application in LabVIEW to launch
at startup. If you already have an application configured to launch at startup
and you push the NO APP switch from ON to OFF, the startup application
is automatically enabled. For more information about automatically
launching VIs at startup and disabling VIs from launching at startup, refer
to the Running a Stand-Alone Real-Time Application (RT Module) topic of
the LabVIEW Help.
The NO APP switch does not affect C/C++ startup applications. You can
use the Undeploy option in Wind River Workbench to disable a C/C++
application.

cRIO-FRC Operating Instructions and Specifications 14 ni.com
USER1 Switch
You can define the USER1 switch for your application. To define the
purpose of this switch in your embedded application, use the RT Read
Switch VI in your LabVIEW RT embedded VI. For more information
about the RT Read Switch VI, refer to the LabVIEW Help.
NO FPGA Switch
Push the NO FPGA switch to the ON position to prevent a LabVIEW
FPGA application from loading at startup. The NO FPGA switch overrides
the CompactRIO reset options described in the Boot Options section. After
startup you can download to the FPGA from software regardless of switch
position.
Using the RESET Button
Pressing the RESET button resets the processor in the same manner as
cycling power.
Note The FPGA continues to run unless you select the Autoload on Any Device Reset
boot option. Refer to the Boot Options section for more information.
Understanding LED Indications
Figure 13. cRIO-FRC LEDs
POWER LED
The POWER LED is lit while the cRIO-FRC is powered on. This LED
indicates that the power supply connected to the chassis is adequate.
FPGA LED
You can use the FPGA LED to help debug your application or easily
retrieve application status. Use the LabVIEW FPGA Module and NI-RIO
software to define the FPGA LED to meet the needs of your application.
Refer to LabVIEW Help for information about programming this LED.

©National Instruments Corporation 15 cRIO-FRC Operating Instructions and Specifications
STATUS LED
The STATUS LED is off during normal operation. The cRIO-FRC
indicates specific error conditions by flashing the STATUS LED a certain
number of times as shown in Table 3.
USER1 LED
You can define the USER1 LED to meet the needs of your application. To
define the LED, use the RT LEDs VI in LabVIEW. For more information
about the RT LEDs VI, refer to the LabVIEW Help.
Resetting the Network Configuration of the cRIO-FRC
If the cRIO-FRC is not able to communicate with the network, you can use
the IP RESET switch to manually restore the chassis to the factory network
settings. When you restore the chassis to the factory network settings, the
IP address, subnet mask, DNS address, gateway, and Time Server IP are set
to 0.0.0.0. Power-on defaults, watchdog settings, and VIs are unaffected.
Table 3. Status LED Indications
Number of Flashes Indication
1The chassis is unconfigured. Use MAX to configure the chassis. Refer
to the Measurement & Automation Explorer Help for information about
configuring the chassis.
2The chassis has detected an error in its software. This usually occurs
when an attempt to upgrade the software is interrupted. Reinstall
software on the chassis. Refer to the Measurement & Automation
Explorer Help for information about installing software on the chassis.
3The chassis is in safe mode because the SAFE MODE DIP switch is in
the ON position. Refer to the Configuring DIP Switches section for
information about the Safe Mode DIP switch.
4The software has crashed twice without rebooting or cycling power
between crashes. This usually occurs when the chassis runs out of
memory. Review your RT VI and check the memory usage. Modify
the VI as necessary to solve the memory usage issue.
Continuous flashing
or solid
The device may be configured for DHCP but unable to get an IP address
because of a problem with the DHCP server. Check the network
connection and try again. If the problem persists, contact National
Instruments.

cRIO-FRC Operating Instructions and Specifications 16 ni.com
Complete the following steps to reset the chassis.
1. Move the IP RESET DIP switch to the ON position.
2. Push the RESET button to cycle power to the chassis. The STATUS
LED flashes once, indicating that the IP address is unconfigured.
3. Move the IP RESET switch to the OFF position.
The network settings are restored. You can reconfigure the settings in MAX
from a computer on the same subnet. Refer to the Measurement &
Automation Explorer Help for more information about configuring the
chassis.
Note If the chassis is restored to the factory network settings, the LabVIEW run-time
engine does not load. You must reconfigure the network settings and restart the chassis for
the LabVIEW run-time engine to load.
Specifications
The following specifications are typical for the –20 to 55 °C operating
temperature range unless otherwise noted.
Network
Network interface ...................................10BaseT and 100BaseTX
Ethernet
Compatibility ..........................................IEEE 802.3
Communication rates..............................10 Mbps, 100 Mbps,
auto-negotiated
Maximum cabling distance.....................100 m/segment
RS-232 Serial Port
Maximum baud rate................................115,200 bps
Data bits ..................................................5, 6, 7, 8
Stop bits ..................................................1, 2
Parity.......................................................Odd, Even, Mark, Space
Flow control............................................RTS/CTS, XON/XOFF,
DTR/DSR

©National Instruments Corporation 17 cRIO-FRC Operating Instructions and Specifications
Memory
Nonvolatile............................................. 128 MB
System memory...................................... 64 MB
Reconfigurable FPGA
FPGA type.............................................. Spartan-3 2000
Number of logic cells............................. 46,080
Number of 18 ·18 multipliers .............. 40
Embedded block RAM........................... 720 kbits
Internal Real-Time Clock
Accuracy ................................................ 200 ppm; 35 ppm at 25 °C
Power Requirements
Recommended power supply ................. FIRST Power Distribution Board
24 VDC supply
Power consumption with
I/O modules installed ............................. 20 W maximum
Power supply input range....................... 19 to 30 V
Physical Characteristics
If you need to clean the controller, wipe it with a dry towel.
Screw-terminal wiring............................ 0.5 to 2.5 mm2(24 to 12 AWG)
copper conductor wire with
10 mm (0.39 in.) of insulation
stripped from the end
Torque for screw terminals .................... 0.5 to 0.6 N · m
(4.4 to 5.3 lb · in.)
Weight.................................................... 929 g (32.7 oz)
Safety Voltages
Connect only voltages that are within these limits.
V terminal to C terminal ........................ 35 V max, Measurement
Category I

cRIO-FRC Operating Instructions and Specifications 18 ni.com
Measurement Category I is for measurements performed on circuits not
directly connected to the electrical distribution system referred to as
MAINS voltage. MAINS is a hazardous live electrical supply system that
powers equipment. This category is for measurements of voltages from
specially protected secondary circuits. Such voltage measurements include
signal levels, special equipment, limited-energy parts of equipment,
circuits powered by regulated low-voltage sources, and electronics.
Caution Do not connect the system to signals or use for measurements within
Measurement Categories II, III, or IV.
Safety Standards
This product is designed to meet the requirements of the following
standards of safety for electrical equipment for measurement, control,
and laboratory use:
•IEC61010-1,EN-61010-1
•UL61010-1,CSA61010-1
Note For other safety certifications, refer to the product label or visit ni.com/
certification, search by model number or product line, and click the appropriate link
in the Certification column.
Electromagnetic Compatibility
This product is designed to meet the requirements of the following
standards of EMC for electrical equipment for measurement, control,
and laboratory use:
•EN61326EMCrequirements;IndustrialImmunity
•EN55011Emissions;Group1,ClassA
•CE,C-Tick,ICES,andFCCPart15Emissions;ClassA
Note For EMC compliance, operate this device according to product documentation.
CE Compliance
This product meets the essential requirements of applicable European
Directives, as amended for CE marking, as follows:
• 2006/95/EC; Low-Voltage Directive (safety)
•2004/108/EEC;ElectromagneticCompatibilityDirective(EMC)

©National Instruments Corporation 19 cRIO-FRC Operating Instructions and Specifications
Note Refer to the Declaration of Conformity (DoC) for this product for any additional
regulatory compliance information. To obtain the DoC for this product, visit ni.com/
certification, search by model number or product line, and click the appropriate link
in the Certification column.
Environmental Management
National Instruments is committed to designing and manufacturing
products in an environmentally responsible manner. NI recognizes that
eliminating certain hazardous substances from our products is beneficial
not only to the environment but also to NI customers.
For additional environmental information, refer to the NI and the
Environment Web page at ni.com/environment. This page contains the
environmental regulations and directives with which NI complies, as well
as other environmental information not included in this document.
Waste Electrical and Electronic Equipment (WEEE)
EU Customers At the end of their life cycle, all products must be sent to a WEEE recycling
center. For more information about WEEE recycling centers and National Instruments
WEEE initiatives, visit ni.com/environment/weee.htm.
Hazardous Locations
This product is not certified for use in hazardous locations.
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cRIO-FRC Operating Instructions and Specifications 20 ni.com
Environmental
The cRIO-FRC is intended for indoor use only, but it may be used outdoors
if mounted in a suitably rated enclosure.
Operating temperature
(IEC 60068-2-1, IEC 60068-2-2) ...........–20 to 55 °C
Note To meet this operating temperature range, follow the guidelines in the installation
instructions for your CompactRIO system.
Storage temperature
(IEC 60068-2-1, IEC 60068-2-2) ...........–40 to 85 °C
Ingress protection ...................................IP 40
Operating humidity
(IEC 60068-2-56) ...................................10 to 90% RH, noncondensing
Storage humidity
(IEC 60068-2-56) ...................................5 to 95% RH, noncondensing
Maximum altitude...................................2,000 m
Pollution Degree (IEC 60664)................2
Shock and Vibration
To meet these specifications, you must panel mount the CompactRIO
system and affix ferrules to the ends of the power terminal wires.
Operating shock
(IEC 60068-2-27) ...................................30 g, 11 ms half sine
50 g, 3 ms half sine,
18 shocks at 6 orientations
Operating vibration, random
(IEC 60068-2-64) ...................................5 grms, 10 to 500 Hz
Operating vibration, sinusoidal
(IEC 60068-2-6) .....................................5 g, 10 to 500 Hz