National Instruments roboRIO User manual

USER MANUAL
NI roboRIO
RIO Device for Robotics
The NI roboRIO is a portable reconfigurable I/O (RIO) device that is used to design control,
robotics, and mechatronics systems.
This document contains pinouts, connectivity information, dimensions, and mounting
instructions for the NI roboRIO. The NI roboRIO provides the I/O shown in the following
figure and connects to a host computer over USB and 10/100 Ethernet.
Figure 1. NI roboRIO Features
NI roboRIONI roboRIO
POWERPOWER
STATUSSTATUS
RADIORADIO
SPISPI
CS0CS0
CS1CS1
5V5V
CS2CS2
CS3CS3
SCLKSCLK
MOSIMOSI
INPUTINPUT
CANCAN
7-16V7-16V
45W MAX45W MAX
L (GRN)L (GRN)
H (YEL)H (YEL)
II22CC
SCLSCL
3.3V SDA3.3V SDA
RS-232RS-232
TXDTXD
RXDRXD
RSLRSL
MISOMISO
3.3V3.3V
COMMCOMM
MODEMODE
RSLRSL
RELAYRELAY
0011
FWDFWD
5V5V
SS
SS
REVREV
22330011
113333
2233
33221100
779988665544
44556677889900112233
ANALOG INANALOG IN RESETRESET
ACCELEROMETERACCELEROMETER
PWMPWM
DIODIO
YY
ZZXX
USERUSER
SS
5V5V
SS
6V6V
56 7 8
14
9 10
15
161718
12
1
2
3
4
13
11
1. Digital input and output (DIO) port
2. RS-232 port
3. I2C 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

Contents
Safety Information.................................................................................................................... 3
Electromagnetic Compatibility Guidelines...............................................................................3
Hardware Block Diagram......................................................................................................... 3
Setting Up the NI roboRIO....................................................................................................... 4
Connecting to Power.........................................................................................................4
Powering On the Device................................................................................................... 5
Connecting to a Network.................................................................................................. 5
User Power........................................................................................................................6
Input Voltage Brownout Behavior.................................................................................... 6
Pinouts.......................................................................................................................................7
MXP.................................................................................................................................. 8
CAN Port...........................................................................................................................9
I2C Port..............................................................................................................................9
RS-232 Port.....................................................................................................................10
DIO Port..........................................................................................................................10
RSL Port..........................................................................................................................11
Relay Port........................................................................................................................11
AI Port.............................................................................................................................12
PWM Port....................................................................................................................... 12
SPI Port........................................................................................................................... 13
Signal Ground References...................................................................................................... 13
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......................................................................................................................... 16
Converting Raw Data Values to Voltage................................................................................. 17
Front Panel Buttons.................................................................................................................17
Reset Button....................................................................................................................17
User Button..................................................................................................................... 18
LED Indications...................................................................................................................... 18
Power LED......................................................................................................................18
Status LED...................................................................................................................... 18
Radio LED...................................................................................................................... 19
Comm LED..................................................................................................................... 19
Mode LED.......................................................................................................................20
RSL (Safety) LED...........................................................................................................20
Physical Dimensions............................................................................................................... 21
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Mounting the NI roboRIO.......................................................................................................24
Method One: Using Cable Ties to Secure One Edge of the NI roboRIO to
Perfboard...................................................................................................................24
Method Two: Using Cable Ties to Secure One Corner of the NI roboRIO to
Perfboard...................................................................................................................26
Method Three: Using Screws to Secure the Bottom of the NI roboRIO to a Metal
Plate.......................................................................................................................... 29
Compatible USB and Ethernet Cables.................................................................................... 29
Warranty.................................................................................................................................. 30
Worldwide Support and Services............................................................................................ 30
Safety Information
Caution Do not operate the roboRIO in a manner not specified in this document.
Product misuse can result in a hazard. You can compromise the safety protection
built into the product if the product is damaged in any way. If the product is
damaged, return it to NI for repair.
Clean the product with a soft, nonmetallic brush. Make sure that the product is completely dry
and free from contaminants before returning it to service.
Electromagnetic Compatibility Guidelines
This product was tested and complies with the regulatory requirements and limits for
electromagnetic compatibility (EMC) 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 if the product is used in residential or commercial areas. To minimize interference with
radio and television reception and prevent unacceptable performance degradation, install and
use this product in strict accordance with the instructions in the product documentation.
Furthermore, any changes or modifications to the product not expressly approved by National
Instruments could void your authority to operate it under your local regulatory rules.
Hardware Block Diagram
The following figure shows the arrangement and functions of NI roboRIO components.
NI roboRIO User Manual | © National Instruments | 3

Figure 2. NI roboRIO Hardware Block Diagram
CAN
Port
Xilinx Zynq-7020
Processor/FPGA
(LabVIEW RT)
USB
Device
Port
USB
Host
Ports
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
I
2
C
I
2
C
Port
2
+3.3 V
DIO
Port
DIO
10 10
+5.0 V
Watchdog
Nonvolatile
Memory
DDR3
Acceler-
ometer
RSL
RSL
Port
Relay
8
8
RELAY
Port
4
+5.0 V
AI
ANALOG IN
Port
Setting Up the NI roboRIO
Connecting to Power
The NI roboRIO requires an external power supply that meets the specifications in the Power
Requirements section of the NI roboRIO Specifications. The NI roboRIO filters and regulates
the supplied power and provides power for all of the I/O and user voltage. The NI roboRIO
has one layer of reverse-voltage protection.
Complete the following steps to connect a power supply to the chassis.
1. Ensure that the power supply is turned off.
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Caution Do not install or remove the power connector from the front panel of
the NI roboRIO while power is applied.
2. Connect the positive lead of the power supply to the V terminal of the COMBICON
power connector shipped with the NI roboRIO, and tighten the terminal screw. The
following figure 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
C
V
2
2
1
1. Terminal Screws
2. Connector Screws
3. Connect the negative lead of the power supply to the C terminal of the power connector
and tighten the terminal screw.
4. Install the power connector on the front panel of the NI roboRIO and tighten the
connector screws.
5. Turn on the power supply.
Powering On the Device
The NI roboRIO runs a power-on self test (POST) when you apply power to the device.
During the POST, the Power and Status LEDs turn on. When the Status LED turns off, the
POST is complete. If the LEDs do not behave in this way when the system powers on, refer to
the LED Indications section.
Connecting to a Network
Connect the NI roboRIO to an Ethernet network using the Ethernet port. Use a standard
Category 5 (CAT-5) or better shielded, twisted-pair Ethernet cable to connect the NI roboRIO
to an Ethernet hub, router, or directly to a computer.
Caution To prevent data loss and to maintain the integrity of your Ethernet
installation, do not use a cable longer than 30 m.
The first time you power up the chassis, it attempts to initiate a DHCP network connection. If
the chassis is unable to initiate a DHCP connection, it connects to the network with a link-
local IP address with the form 169.254.x.x.
NI roboRIO User Manual | © National Instruments | 5

User Power
The following table describes the user voltage rails for powering external sensors and
peripherals. The rails are independent from the power supplies of internal systems, such as the
processor and memory.
Table 1. NI roboRIO Voltage Rails
Voltage Rail Description
+6 V Power from PWM ports for use with servos.
+5 V Power for DIO and AI ports for sensors, and power for the MXP for powering
expansion circuits.
+3.3 V Power for I2C, SPI, and the MXP.
Input Voltage Brownout Behavior
The NI roboRIO input voltage range is 7 V to 16 V. The input voltage monitoring circuit
monitors the voltage on the input voltage pin. When the input voltage drops to between 4.5 V
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and 6.8 V, the NI roboRIO enters brownout mode with a staged response, as the following
table describes.
Table 2. NI roboRIO Input Voltage Brownout Behavior
Stage Input Voltage
Range Behavior
1 6.3 V to 6.8 V The +6 V voltage rail starts to drop.
2 4.5 V to 6.3 V
The NI roboRIO enters a brownout fault condition and the
following precautions are taken:
• User voltage rails become disabled.
• All PWM generation 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 and RSL status lights
Stage 2 continues until the input voltage rises to greater than 7.5 V
or drops to less than 4.5 V.
3 Less than 4.5 V
All controller functions cease and the controller state is lost. This
condition continues until the input voltage rises to greater than
4.65 V, at which point the controller starts the normal booting
sequence. At startup, the controller remains in Stage 2 until the
input voltage rises to greater than 7.5 V.
Pinouts
The following describe the pins and signals on the NI roboRIO ports.
NI roboRIO User Manual | © National Instruments | 7

MXP
The following figure and table describe the MXP pins and signals. Note that some pins carry
both primary and secondary functions.
Figure 4. MXP Pinout
AO0 AO1
AGND
DGND
UART.RX
DGND
UART.TX
DGND
DIO11 / ENC.A
DGND
DIO12 / ENC.B
DGND
DIO13
DGND
DGND
DIO14 / I2C.SCL
DIO15 / I2C.SDA
+5V
AI1
AI3
AI2
DIO1
DIO2 DIO3 DIO4
AI0
DIO0
DIO5 / SPI.CLK
DIO6 / SPI.MISO
DIO7 / SPI.MOSI
DIO8 / PWM0
DIO9 / PWM1
DIO10 / PWM2
+3.3V
34
33
32
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
1
33
Table 3. MXP Signal Descriptions
Signal Name Reference Direction Description
+5V DGND Output +5 V power output.
AI <0..3> AGND Input 0 V to 5 V, referenced, single-ended AI
channels. Refer to the AI Channels section for
more information.
AO <0..1> AGND Output 0 V 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.
DIO <0..15> DGND Input or 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.
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Table 3. MXP Signal Descriptions (Continued)
Signal Name Reference Direction Description
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.
CAN Port
The following figure and table describe the CAN port pins and signals.
Figure 5. CAN Port Pinout
H (YEL)
L (GRN)
Table 4. CAN Port Signal Descriptions
Signal Name Direction Description
L (GRN) Input/Output CAN bus differential low signal.
H (YEL) Input/Output CAN bus differential high signal.
Note The NI roboRIO contains an internal 120 Ω termination resistor between L
(GRN) and H (YEL).
I2C Port
The following figure and table describe the I2C port pins and signals.
Figure 6. I2C Port Pinout
3.3V
SCL
SDA
NI roboRIO User Manual | © National Instruments | 9

Table 5. I2C Port Signal Descriptions
Signal Name Direction Description
GND — Reference for digital lines and +3.3 V power output.
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
RS-232 Port
The following figure and table describe the RS-232 port pins and signals.
Figure 7. RS-232 Serial Port Pinout
RXD
TXD
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 Serial receive input with ±15 V input voltage range. Refer to the
UART and RS-232 Lines section for more information.
GND — Reference for digital lines.
DIO Port
The following figure and table describe the DIO port pins and signals.
Figure 8. DIO Port Pinout
12356 7
48
09
S
5V
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Table 7. DIO Port Signal Descriptions
Signal Name Direction Description
S (DIO) <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.
RSL Port
The following figure and table describe the RSL port pins and signals.
Figure 9. RSL Port Pinout
S
Table 8. RSL Port Signal Descriptions
Signal Name Direction Description
S Output Switched power output to drive RSL when RSL is enabled. The
voltage level depends on the connected input voltage. RSL current
is limited at 120 mA.
GND — Reference for S.
Relay Port
The following figure and table describe the Relay port pins and signals.
Figure 10. Relay Port Pinout
12
FWD
REV
30
NI roboRIO User Manual | © National Instruments | 11

Table 9. Relay Port Signal Descriptions
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.
AI Port
The following figure and table describe the AI port pins and signals.
Figure 11. AI Port Pinout
S
5V
12 0 3
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 — Reference for AI and +5 V power.
PWM Port
The following figure and table describe the PWM port pins and signals.
Figure 12. PWM Port Pinout
876432
51
90
S
6V
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Table 11. PWM Port Signal Descriptions
Signal Name Direction Description
S (PWM) <0..9> Output PWM 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.
SPI Port
The following figure and table describe the SPI port pins and signals.
Figure 13. SPI Port Pinout
SCLK
MOSI
MISO
3.3V
CS0
CS1
CS2
CS3
5V
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 Input
GND — Reference for digital lines and +3.3 V and +5.5 V power output.
Signal Ground References
To minimize noise on analog measurement channels, use the ground reference of the
corresponding port. For example, when you are using AI, the measurement should reference
the GND of the AI port.
NI roboRIO User Manual | © National Instruments | 13

Interfaces
AI Channels
The NI roboRIO has AI channels on the MXP and on the AI port. The channels are
multiplexed to a single analog-to-digital converter (ADC) that samples all channels.
The MXP and the AI port each has four single-ended AI channels, AI0-AI3, which you can
use to measure 0 V to 5 V signals.
Note For important information about improving measurement accuracy by
reducing noise, visit ni.com/info and enter the Info Code analogwiring.
The following figure shows the AI topology of the NI roboRIO.
Figure 14. NI roboRIO AI Circuitry
MUX ADC
AI0
AI1
AI2
AI3
AI0
AI1
AI2
AI3
0–5 V
Expansion port (MXP)
Integrated AI port
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-analog converter (DAC), which
allows all AO channels to update simultaneously. The maximum update rate is specified as an
aggregate rate in the Analog Output section of the NI roboRIO Specifications.
The following figure shows the AO topology of the NI roboRIO.
Figure 15. NI roboRIO AO Circuitry
DAC
DAC
0–5 V
AO0
AO1
Expansion port
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DIO, PWM, and Relay Lines
The NI roboRIO provides the following DIO lines:
• 3.3 V general-purpose DIO lines on the MXP.
• 3.3 V digital lines on the DIO, I2C, and SPI ports.
• 5 V digital lines on the PWM and Relay ports.
DIO <9..0> on the DIO port, CS <3..0> on the SPI port, and DIO <13..0> on the MXP all have
40 kΩ pullup resistors to 3.3 V, as shown in the following figure.
Figure 16. DIO Lines with 40 kΩPullup Resistors to 3.3 V
40 kΩ
DIO/CS
+3.3 V
FPGA Bus Switch
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 the following figure.
Figure 17. DIO Lines with 2.2 kΩPullup Resistors to 3.3 V
2.2 kΩ
FPGA Bus Switch DIO/SCL/SDA
+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 the following figure.
Figure 18. DIO Lines with 40 kΩPulldown Resistors to Ground
40 kΩ
FPGA Bus Switch DIO or Other Line
You can program all MXP DIO lines and on-board DIO lines individually as inputs or outputs.
Secondary digital functions include SPI, I2C, PWM, and quadrature encoder input. Refer to
the NI roboRIO software documentation for information about configuring the behavior of the
DIO lines.
NI roboRIO User Manual | © National Instruments | 15

When a DIO line is floating, it floats in the direction of the pull resistor. A DIO line may be
floating in any of the following conditions:
• When the NI roboRIO device is starting up.
• When the line is configured as an input.
• When the NI roboRIO device is powering down.
You can add a stronger resistor to a DIO line to cause it to float in the opposite direction.
UART and RS-232 Lines
The NI roboRIO has one UART connected to the UART lines on the MXP and one UART
connected to the RS-232 port.
The 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 devices.
USB Device Port
You can deploy and debug code by connecting a USB cable from the USB device port on the
NI roboRIO to a computer.
USB Host Port
The NI roboRIO USB host port supports the following devices:
• Web cameras that conform to the USB Video Device Class (UVC) protocol.
• Machine vision cameras that conform to the USB3 Vision standard and are backward
compatible with the USB 2.0 specification.
• Basler ace USB3 cameras.
• USB Flash drives.
• USB-to-IDE adapters formatted with FAT16 and FAT32 file systems.
LabVIEW usually maps USB devices to the /U, /V, /W, or /X drive, starting with the /U drive
if it is available.
Accelerometer
The NI roboRIO contains a three-axis accelerometer, MMA8452Q. Refer to the Accelerometer
section of the NI roboRIO Specifications for the accelerometer sample rates.
16 | ni.com | NI roboRIO User Manual

Converting Raw Data Values to Voltage
You can use the following equations to convert raw data values to volts:
V = Raw Data Value × LSB Weight
LSB Weight = Nominal Range ÷ 2ADC Resolution
where
Raw Data Value is the value returned by reading in the input channel,
LSB Weight is the value in volts of the increment between data values,
Nominal Range is the absolute value in volts of the full, peak-to-peak nominal range of
the channel,
and ADC Resolution is the resolution of the ADC in bits (ADC Resolution = 12)
• For AI and AO channels on the MXP,
LSB Weight = 5 ÷ 212 = 1.221 
Maximum Reading = 4095 × 1.221  = 4.999 
• For the accelerometer,
LSB Weight = 16 ÷ 212 = 3.906 
Maximum Positive Reading = + 2047 × 3.906  = + 7.996 
Maximum Negative Reading = 2048 × 3.906  =8.000 
Front Panel Buttons
Reset Button
Pressing and releasing the Reset button restarts the processor and the FPGA.
Pressing and holding the Reset button until the status LED lights (about five seconds) and then
releasing the Reset button restarts the processor and the FPGA and forces the NI roboRIO into
safe mode. In safe mode, the NI roboRIO launches only the services necessary for updating
configuration and installing software.
When the NI roboRIO is in safe mode, you can communicate with it by using the serial lines
on the RS-232 serial port. You must configure your serial-port terminal program with the
following settings:
• 115,200 bits per second
• Eight data bits
• No parity
NI roboRIO User Manual | © National Instruments | 17

• One stop bit
• No flow control
User Button
The User Button produces a logic TRUE when depressed and a logic FALSE when not
depressed. The User Button is not debounced in hardware.
LED Indications
Note The Radio, Comm, and Mode LEDs do not indicate any specific condition of
the device but can be configured to display a set of colors or turned off completely.
Power LED
The Power LED is a dual-color red/green LED that indicates specific conditions, as shown in
the following table.
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 Brownout condition detected. The user rail and outputs are disabled.
Status LED
The Status LED is a single-color yellow LED. The Status LED is off during normal operation.
The NI roboRIO runs a power-on self test (POST) when you apply power to the device.
During the POST, the Power and Status LEDs turn on. When the Status LED turns off, the
POST is complete. The NI roboRIO indicates specific error conditions by flashing the Status
LED a certain number of times every few seconds, as shown in the following table.
Table 14. Status LED Indications
Number of Flashes
Every Few Seconds
Indication
2 The device has detected an error in its 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.
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Table 14. Status LED Indications (Continued)
Number of Flashes
Every Few Seconds
Indication
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 LabVIEW Real-Time VI and check
the memory usage. Modify the VI as necessary to solve the
memory usage issue.
Continuously flashing or
solid
The device has detected an unrecoverable error. Contact NI
Radio LED
The Radio LED is a tri-color red/green/yellow LED that indicates specific conditions for a
USB-connected radio, as shown in the following table.
Table 15. Radio LED Indications
Color State Indication
Off Off Green and Red disabled.
Green Solid Green enabled.
Red Solid Red enabled.
Yellow Solid Green and Red enabled.
Note Other LED states may indicate other, undetermined radio issues or failures.
This LED is undefined if a USB radio is not used.
Comm LED
The Comm LED is a tri-color red/green/yellow LED that indicates robot communication
conditions, as shown in the following table.
Table 16. Comm LED Indications
Color State Indication
Off Off Green and Red disabled.
Green Solid Green enabled.
Red Solid Red enabled.
Yellow Solid Green and Red enabled.
NI roboRIO User Manual | © National Instruments | 19

Mode LED
The Mode LED is a tri-color red/green/yellow LED that indicates the mode of the NI roboRIO
outputs, as shown in the following table.
Table 17. Mode LED Indications
Color State Indication
Off Off Green and Red disabled.
Green Solid Green enabled.
Red Solid Red enabled.
Yellow Solid Green and Red enabled.
RSL (Safety) LED
The RSL LED is a single-color yellow LED that functions identically to the RSL, which is an
external indicator connected to the NI roboRIO using a dedicated connector, and indicates
specific conditions, as shown in the following table.
Table 18. RSL LED Indications
Color State Indication
Off Off RSL disabled.
Yellow Solid RSL enabled.
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