NI cRIO-FRC II User manual

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USER MANUAL AND SPECIFICATIONS
NI cRIO-FRC II
Reconfigurable Embedded Chassis with Integrated Intelligent
Real-Time Controller for FIRST Robotics Competition
Figure 1. cRIO-FRC II Front Panel
1
23
5
4
1. LEDs
2. RJ-45 Ethernet Port
3. Power Connector
4. Reset Button
5. RS-232 Serial Port
This document describes how to connect the cRIO-FRC II to a network and how to use the
features of the cRIO-FRC II. This document also contains specifications for the cRIO-FRC II.
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Safety Guidelines
Operate the cRIO-FRC II only as described in this document.
Caution Do not operate the cRIO-FRC II 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.
Safety Guidelines for Hazardous Locations
The cRIO-FRC II is suitable for use in Class I, Division 2, Groups A, B, C, D, T4 hazardous
locations; Class I, Zone 2, AEx nA IIC T4 and Ex nA IIC T4 hazardous locations; and
nonhazardous locations only. Follow these guidelines if you are installing the cRIO-FRC II in
a potentially explosive environment. Not following these guidelines may result in serious
injury or death.
Caution Do not disconnect the power supply wires and connectors from the
controller unless power has been switched off.
Caution Do not disconnect I/O-side wires or connectors unless power has been
switched off or the area is known to be nonhazardous.
Caution Do not remove modules unless power has been switched off or the area is
known to be nonhazardous.
Caution Substitution of components may impair suitability for Class I, Division 2.
Caution For Division 2 and Zone 2 applications, install the system in an enclosure
rated to at least IP54 as defined by IEC/EN 60079-15.
Special Conditions for Hazardous Locations Use in Europe and
Internationally
The cRIO-FRCII has been evaluated as Ex nA IIC T4 Gc equipment under DEMKO
Certificate No. 07 ATEX 0626664X and is IECEx UL 14.0089X certified. Each device is
marked II 3G and is suitable for use in Zone 2 hazardous locations, in ambient temperatures
of 0 °C ≤ Ta ≤ 55 °C.
Caution You must make sure that transient disturbances do not exceed 140% of
the rated voltage.
Caution The system shall only be used in an area of not more than Pollution
Degree 2, as defined in IEC 60664-1.
Caution The system shall be mounted in an ATEX/IECEx-certified enclosure with
a minimum ingress protection rating of at least IP54 as defined in IEC/EN 60079-15.
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Caution The enclosure must have a door or cover accessible only by the use of a
tool.
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.
Special Conditions for Marine Applications
Some products are Lloyd’s Register (LR) Type Approved for marine (shipboard) applications.
To verify Lloyd’s Register certification for a product, visit ni.com/certification and search for
the LR certificate, or look for the Lloyd’s Register mark on the product.
Caution In order to meet the EMC requirements for marine applications, install the
product in a shielded enclosure with shielded and/or filtered power and input/output
ports. In addition, take precautions when designing, selecting, and installing
measurement probes and cables to ensure that the desired EMC performance is
attained.
What You Need to Install CompactRIO
Reconfigurable Embedded Hardware
• FIRST Robotics Competition kit, including cRIO-FRC II and FRC software
• C Series I/O modules
• DIN rail mount kit (for DIN rail mounting only)
• Panel mount kit (for panel mounting only)
• Two M4 or number 8 flathead screws (for mounting the chassis without one of the listed
mounting kits)
• A number 2 Phillips screwdriver
• Power supply
• Ethernet cable
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Related Documentation
To find the FIRST Robotics Competition Manual and other helpful documents mentioned in
this document, go to the FRC Community Web site at www.usfirst.org/community/frc and
select Documents and Updates»Competition Manual and Related Documents.
Mounting the CompactRIO Reconfigurable
Embedded Chassis
You can mount the chassis horizontally on a flat, vertical surface. The following figure shows
the chassis mounted horizontally.
Figure 2. cRIO-FRC II Mounted Horizontally
Up
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Caution Your installation must meet the following requirements for space and
cabling clearance:
• Allow 25.4 mm (1 in.) on the top and the bottom of the chassis for air
circulation.
• Allow 50.8 mm (2 in.) in front of modules for cabling clearance for common
connectors, such as the 10-terminal, detachable screw terminal connector.
Figure 3. cRIO-FRC II Bottom View with Dimensions
29.1 mm
(1.14 in.)
Cabling Clearance
50.8 mm (2.00 in.)
25.4 mm
(1 in.)
63.5 mm
(2.50 in.)
25.4 mm
(1 in.)
63.5 mm
(2.50 in.)
1
178.1 mm
(7.01 in.)
1
64.3 mm
(2.53 in.)
1. Measure ambient temperature here.
Note Go to ni.com/info and enter the Info Code rdcrioconn to find the minimum
cabling clearance for C Series modules with other connector types.
Figure 4. cRIO-FRC II Front View with Dimensions
87.3 mm
(3.44 in.)
47.2 mm
(1.86 in.) 30.6 mm
(1.2 in.)
41.1 mm
(1.62 in.)
47.0 mm
(1.85 in.)
4.0 mm
(0.16 in.)
4.0 mm
(0.16 in.)
Cooling Outline
25.4 mm (1 in.)
Cooling Outline
25.4 mm (1 in.)
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Figure 5. cRIO-FRC II Side View with Dimensions
44 mm
(1.73 in.)
74.0 mm
(2.91 in.)
44.1 mm
(1.74 in.)
29.1 mm
(1.15 in.)
2X M4X0.7
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
Panel or wall mounting is the best method for applications that are subject to high shock and
vibration. You can use the NI 9904 panel mount kit to mount the cRIO-FRC II 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 × 25 screws. NI provides these screws with the panel mount kit. You must use these
screws because they are the correct depth and thread for the panel. Tighten the screws to a
maximum torque of 1.3 N · m (11.5 lb · in.).
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Figure 6. Installing the Panel Mounting Plate on the cRIO-FRC II
Figure 7. Dimensions of cRIO-FRC II with Panel Mounting Plate Installed
]
31.7 mm
(1.25 in.)
63.5 mm
(2.5 in.)
88.1 mm
(3.47 in.)
7.2 mm
(0.29 in.)
27.3 mm
(1.08 in.)
235.0 mm
(9.25 in.)
215.9 mm
(8.5 in.)
29.5 mm
(1.16 in.)
9.5 mm
(0.38 in.)
2. Fasten the NI 9904 panel to the wall using the screwdriver and screws that are
appropriate for the wall surface. The maximum screw size is M4 or number 8.
Mounting the Chassis Directly on a Flat Surface Using
the Mounting Holes
Panel or wall mounting is the best method for applications that are subject to high shock and
vibration. If you do not have the NI 9904 panel mount kit and do not require the portability
that the NI 9904 affords, you can mount the chassis directly on a flat surface using the
mounting holes. Complete the following steps.
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1. Align the chassis on the surface.
2. Fasten the chassis to the surface using M4 or number 8 flathead screws. NI does not
provide these screws with the chassis.
Figure 8. Mounting the Chassis Directly on a Flat Surface
Caution Make sure that no I/O modules are in the chassis before removing it
from the surface.
Mounting the Chassis on a DIN Rail
You can order the NI 9912 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 × 25 screws. NI provides these screws with the DIN rail mount kit. Tighten the
screws to a maximum torque of 1.3 N · m (11.5 lb · in.).
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Figure 9. Installing the DIN Rail Clip on the cRIO-FRC II
2. Insert one edge of the DIN rail into the deeper opening of the DIN rail clip.
Figure 10. One Edge of the DIN Rail Inserted in a Clip
3
2
1
1. DIN Rail Clip
2. DIN Rail
3. DIN Rail Spring
3. Press down firmly on the chassis to compress the spring until the clip locks in place on
the DIN rail.
Mounting the Chassis on a Desktop Using the NI 9901
Desktop Mounting Kit
You can use the NI 9901 desktop mounting kit to mount the chassis on a desktop. You must
install the adapter bracket using two M3 × 20 screws. The adapter bracket and the screws are
included in the kit. Refer to the NI 9901 documentation for information about mounting the
chassis on a desktop.
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Installing C Series I/O Modules in the Chassis
The following figure shows the mechanical dimensions of C Series I/O modules.
Figure 11. C Series I/O Module, Front and Side View with Dimensions
88.1 mm
(3.47 in.)
70.7 mm
(2.78 in.)
22.9 mm
(0.90 in.)
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. If the system is in a
nonhazardous location, the chassis power can be on when you install I/O modules.
2. Align the I/O module with an I/O module slot in the chassis. The module slots are labeled
1 to 4, left to right.
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Figure 12. Installing an I/O Module in the Chassis
1
2
1. Insertion Groove
2. Latch
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.
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. If the system is in a
nonhazardous location, 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 Earth Ground
You must connect the panhead screw at the end of the chassis to ground as required by the
FRC Game Manual.
Connecting the Chassis to a Network
Connect the chassis to an Ethernet network using the RJ-45 Ethernet port on the controller
front panel. Use a standard Category 5 (CAT-5) or better shielded, twisted-pair Ethernet cable
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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 integrity of your Ethernet
installation, do not use a cable longer than 100 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. After powerup, you must install software on
the chassis and configure the network settings in NI Measurement & Automation Explorer
(MAX).
Note Installing software may change the network behavior of the chassis. For
information about network behavior by installed software version, go to ni.com/info
and enter the Info Code ipconfigcrio.
Wiring Power to the Chassis
The cRIO-FRC II requires an external power supply that meets the specifications in the Power
Requirements section. The cRIO-FRC II filters and regulates the supplied power and provides
power for all of the I/O modules. The cRIO-FRC II 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.
Caution Do not install or remove the power connector from the front panel of
the cRIO-FRC II while power is applied.
2. Connect the positive lead of the power supply to the V terminal of the power connector
shipped with the cRIO-FRC II, 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 13. 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 cRIO-FRC II and tighten the
connector screws.
5. Turn on the power supply.
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Powering On the cRIO-FRC II
When you apply power to the cRIO-FRC II, 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.
You can configure the cRIO-FRC II to launch an embedded stand-alone LabVIEW RT
application each time you boot the controller. Refer to the LabVIEW Robotics Programming
Guide for the FIRST Robotics Competition for more information.
Restarting the cRIO-FRC II Using the Reset Button
Pressing the Reset button restarts the controller. The FPGA continues to run unless you have
selected the Autoload VI on device reboot chassis reset option.
To restart the cRIO-FRC II in safe mode, press and hold the Reset button for 5 s, then release
it. The Status LED lights solid yellow, indicating that the cRIO-FRC II is in safe mode. Refer
to the MAX help for information about safe mode.
Controller Startup Options
You can configure the following controller startup options in MAX:
• Safe Mode
• Console Out
• IP Reset
• No App
• No FPGA App
To turn these startup options on or off, select the controller under Remote Systems in the
MAX configuration tree, then select the Controller Settings tab. Refer to the MAX help for
information about the startup options and how to configure the controller.
Chassis Reset Options
The following table lists the reset options available on CompactRIO systems such as the
cRIO-FRC II. These options determine how the chassis behaves when the controller is reset in
various conditions. Use the RIO Device Setup utility to select reset options. Access the RIO
Device Setup utility by selecting Start»All Programs»National Instruments»NI-RIO»RIO
Device Setup.
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Table 1. CompactRIO Reset Options
Chassis Reset Option Behavior
Do not autoload VI Does not load the FPGA bit stream from flash memory.
Autoload VI on device
powerup
Loads the FPGA bit stream from flash memory to the FPGA
when the controller powers on.
Autoload VI on device reboot Loads the FPGA bit stream from flash memory to the FPGA
when you reboot the controller either with or without
cycling power.
Connecting Serial Devices to the cRIO-FRC II
The cRIO-FRC II 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 14. Controller Serial Port
Pin 1
Pin 5
Pin 6
Pin 9
Table 2. DB-9 Pin Descriptions
Pin Signal
1 DCD
2 RXD
3 TXD
4 DTR
5 GND
6 DSR
7 RTS
8 CTS
9 RI
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Understanding LED Indications
Figure 15. cRIO-FRC II LEDs
POWERPOWER
STATUS
USER1
USER FPGA1
POWER LED
The POWER LED is lit while the cRIO-FRC II is powered on. This LED indicates that the
power supply connected to the chassis is adequate.
STATUS LED
The STATUS LED is off during normal operation. The cRIO-FRC II indicates specific error
conditions by flashing the STATUS LED a certain number of times every few seconds, as
shown in the following table
Number of Flashes
Every Few
Seconds Indication
2
The 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. Refer to the Measurement & Automation
Explorer Help for information about safe mode.
4
The 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.
Continuously
blinking or solid
The chassis has detected an unrecoverable error. Contact National
Instruments.
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.
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USER FPGA1 LED
You can use the USER FPGA1 LED to help debug your application or easily retrieve
application status. Use the LabVIEW FPGA Module and NI-RIO software to define the USER
FPGA1 LED to meet the needs of your application. Refer to LabVIEW Help for information
about programming this LED.
Using the System Clock to Provide Data
Timestamps
At startup, the system clock resets to January 1, 1970, 12:00 a.m. (midnight). For information
about synchronizing the system clock with an SNTP time server on the network at startup, go
to ni.com/info and enter the Info Code criosntp.
Troubleshooting Network Communication
If the cRIO-FRC II cannot communicate with the network, you can perform the following
troubleshooting steps.
1. Press and hold the Reset button for 5 s, then release it. The chassis is now in safe mode
with output from the serial port enabled. You can use a serial port terminal to read the IP
address of the controller. If you want the controller to attempt a new DHCP connection,
proceed to step 2.
2. Press and hold the Reset button for 5 s, then release it. The cRIO-FRC II attempts to
establish a new DHCP connection. If it fails, it assigns itself a link-local IP address. If the
DHCP connection is successful and appropriate for your application, skip to step 4.
3. Configure the IP and other network settings in MAX.
4. Press and release the Reset button to reboot the chassis.
cRIO-FRCII Specifications
The following specifications are typical for the -0 °C to 55 °C operating temperature range
unless otherwise noted.
Caution Do not operate the cRIO-FRC II 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.
Network
Network interface 10Base-T and 100Base-TX Ethernet
Compatibility IEEE 802.3
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Communication rates 10 Mbps, 100 Mbps, auto-negotiated
Maximum cabling distance 100 m/segment
RS-232 Serial Port
Maximum baud rate 230,400 bps
Data bits 5, 6, 7, 8
Stop bits 1, 2
Parity Odd, Even, Mark, Space
Flow control RTS/CTS, XON/XOFF, DTR/DSR
Memory
Nonvolatile 256 MB
DRAM 128 MB
For information about the life span of the nonvolatile memory and about best practices for
using nonvolatile memory, go to ni.com/info and enter the Info Code SSDBP.
Reconfigurable FPGA
FPGA type Xilinx Spartan-6 LX 45
Number of flip-flops 54,576
Number of 4-input LUTs 27,288
Number of multipliers 58
Available block RAM 2,088 kbits
Number of DMA channels 5
Power Requirements
Caution You must use a UL Listed ITE power supply marked LPS with the
cRIO-FRC II.
Recommended power supply 24 W, 24 VDC
Power consumption 15 W maximum
Power supply input range 9 V to 30 V
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Physical Characteristics
If you need to clean the module, wipe it with a dry towel.
Tip For two-dimensional drawings and three-dimensional models of the C Series
module and connectors, visit ni.com/dimensions and search by module number.
Screw-terminal wiring
Gauge 0.2 mm 2 to 3.0 mm2 (24 AWG to 12 AWG)
copper conductor wire
Wire strip length 6 mm (0.24 in.) of insulation stripped from the
end
Temperature rating 85 °C
Torque for screw terminals 0.20 N · m to 0.25 N · m (1.8 lb · in. to
2.2 lb · in.)
Wires per screw terminal One wire per screw terminal
Ferrules 0.25 mm2 to 1.5 mm2
Connector securement
Securement type Screw flanges provided
Torque for screw flanges 0.3 N · m to 0.4 N · m (2.7 lb · in. to
3.5 lb · in.)
Dimensions (unloaded) 178.1 mm × 87.3 mm × 64.3 mm
(7.0 in. × 3.4 in. × 2.5 in.)
Weight 643 g (22.7 oz)
Safety Voltages
Connect only voltages that are within the following limits:
V terminal to C terminal 30 V maximum, Measurement Category I
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 cRIO-FRCII to signals or use for measurements
within Measurement Categories II, III, or IV.
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Note Measurement Categories CAT I and CAT O are equivalent. These test and
measurement circuits are not intended for direct connection to the MAINS building
installations of Measurement Categories CAT II, CAT III, or CAT IV.
Hazardous Locations
U.S. (UL) Class I, Division 2, Groups A, B, C, D, T4;
Class I, Zone 2, AEx nA IIC T4
Canada (C-UL) Class I, Division 2, Groups A, B, C, D, T4;
Class I, Zone 2, Ex nA IIC T4
Europe (ATEX) and International (IECEx) Ex nA IIC T4 Gc
Safety and Hazardous Locations Standards
This product is designed to meet the requirements of the following electrical equipment safety
standards for measurement, control, and laboratory use:
• IEC 61010-1, EN 61010-1
• UL 61010-1, CSA 61010-1
• EN 60079-0:2012, EN 60079-15:2010
• IEC 60079-0: Ed 6, IEC 60079-15; Ed 4
• UL 60079-0; Ed 5, UL 60079-15; Ed 3
• CSA 60079-0:2011, CSA 60079-15:2012
Note For UL and other safety certifications, refer to the product label or the Online
Product Certification section.
Electromagnetic Compatibility
This product meets the requirements of the following EMC standards for electrical equipment
for measurement, control, and laboratory use:
• EN 61326 (IEC 61326): Class A emissions; Industrial immunity
• EN 55011 (CISPR 11): Group 1, Class A emissions
• AS/NZS CISPR 11: Group 1, Class A emissions
• FCC 47 CFR Part 15B: Class A emissions
• ICES-001: Class A emissions
Note For EMC declarations and certifications, and additional information, refer to
the Online Product Certification section.
Note For EMC compliance, operate this product according to the documentation.
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