NI roboRIO 2.0 User manual

RoboRIO

NI roboRIO 2.0 Embedded Controller for FRC User Manual2023-04-04

ContentsNI roboRIO 2.0 Embedded Controller for FRC User Manual. . . . . . . . . . . . . . . . . . . . . . . . . . 3
ni.com2NI roboRIO 2.0 Embedded Controller for FRC User Manual

NI roboRIO 2.0 Embedded Controller for FRC
User Manual
IntroductionThe NI roboRIO 2.0 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 2.0.
Physical FeaturesThe NI roboRIO 2.0 provides the I/O shown in the following figure and connects to a
host computer over USB and 10/100 Ethernet. © National Instruments3NI roboRIO 2.0 Embedded Controller for FRC User Manual

Figure 1. Features
5 V
S6 V
S
4 5 8 96 70 1 2 3
USERRESET
X
Z
Y
ACCELEROMETER
COPI
3.3 V
CIPO
CS
LK
5 V
CS 3
CS 2
C S1
C S0
R EV
4589 67 0123
32103
33 1
21
5 V S
S
0
FWD
SD
INPUT
7-16 V
45 W MAX
L (GRN)
3.3 V SDA
SCL
TXD
RXD
RS-232
DIO
RSL RELAY
PWM
ANALOG IN
I²C
H (YEL)
CAN
RSL
MODE
COMM
RADIO
STATUS
POW
ER
SPI
roboRIO 2.0
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. microSD card slot 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
Physical DimensionsThe following figures describe the physical dimensions of the NI roboRIO 2.0
enclosure and its features.
ni.com4NI roboRIO 2.0 Embedded Controller for FRC User Manual

Figure 2. Dimensions, Primary Side
POWERED BYPOWERED BY
POWERPOWER
STATUS
STATUS
RADIO
RADIO
SPISPI
CS0CS0
CS1
CS1
5V
5V
CS2
CS2
CS3
CS3
SCLK
SCLK
COPI
COPI
CANCAN
L (GRN)L (GRN)
H (YEL)
H (YEL)
II2
2C
C
SCLSCL
3.3V SDA3.3V SDA
RS-232RS-232
TXDTXD
RXD
RXD
RSLRSL
CIPOCIPO
3.3V
3.3V
COMMCOMM
MODE
MODE
RSL
RSL
RELAYRELAY
0
011
FWDFWD
5V5V SS
S
S
REVREV
22330011
1
13333
2
233
332
2110
0
7
799886
6554
4
4455667
78899
0
0112
23
3
ANALOG INANALOG IN RESET
RESET
ACCELEROMETERACCELEROMETER
PWMPWM
DIODIO
YY
Z
ZX
X
USERUSER
SS
5V5V
SS6V
6V
INPUTINPUT
7-16V7-16V
45W MAX45W MAX
137.72 mm (5.422 in.)
128.01 mm (5.040 in.)
117.85 mm (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.)
88.10 mm (3.469 in.)
80.48 mm (3.169 in.)
72.86 mm (2.869 in.)
65.24 mm (2.569 in.)
57.62 mm (2.269 in.)
50.00 mm (1.969 in.)
42.38 mm (1.669 in.)
34.76 mm (1.369 in.)
27.14 mm (1.069 in.)
129.83 mm (5.111 in.)
116.64 mm (4.592 in.) 94.67 mm (3.727 in.) 74.55 mm (2.935 in.)
49.45 mm (1.947 in.)
29.58 mm (1.164 in.) 9.71 mm (0.382 in.) 8.93 mm (0.352 in.) 8.44 mm (0.332 in.)
129.21 mm (5.087 in.)
126.94 mm (4.998 in.)
88.50 mm (3.484 in.)
80.88 mm (3.184 in.)
74.70 mm (2.941 in.)
65.64 mm (2.584 in.)
58.02 mm (2.284 in.)
54.40 mm (1.984 in.)
42.78 mm (1.684 in.)
42.58 mm (1.677 in.)
35.16 mm (1.384 in.)
27.54 mm (1.084 in.)
19.92 mm (0.784 in.)
8.09 mm (0.319 in.)
© National Instruments5NI roboRIO 2.0 Embedded Controller for FRC User Manual

Figure 3. Dimensions, Primary Side LEDs
POWERED BYPOWERED BY
POWERPOWER
STATUS
STATUS
RADIO
RADIO
SPISPI
CS0CS0
CS1
CS1
5V
5V
CS2
CS2
CS3
CS3
SCLK
SCLK
COPI
COPI
CANCAN
L (GRN)L (GRN)
H (YEL)
H (YEL)
II2
2C
C
SCLSCL
3.3V SDA3.3V SDA
RS-232RS-232
TXDTXD
RXD
RXD
RSLRSL
CIPOCIPO
3.3V
3.3V
COMMCOMM
MODE
MODE
RSL
RSL
RELAYRELAY
0
011
FWDFWD
SS
S
S
REVREV
22330011
1
13333
2
233
332
2110
0
7
7998866554
4
4455667
78899
0
0112
23
3
ANALOG INANALOG IN RESET
RESET
ACCELEROMETERACCELEROMETER
PWMPWM
DIODIO
YY
Z
ZX
X
USERUSER
SS
SS
5V5V
5V5V
6V6V
INPUTINPUT
7-16V7-16V
45W MAX45W 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.)
143.68 (5.657 in.)
123.51 mm (4.862 in.)
116.01 mm (4.567 in.)
111.01 mm (4.370 in.)
106.01 mm (4.173 in.)
98.51 mm (3.878 in.)
ni.com6NI roboRIO 2.0 Embedded Controller for FRC User Manual

Figure 4. 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
Figure 5. Dimensions, Side
5.71 mm (0.225 in.)
129.59 mm (5.102 in.) 122.39 mm (4.819 in.)
20.79 mm (0.819 in.)
13.59 mm (0.535 in.)
0.0 mm (0 in.)
0.0 mm (0 in.)
6.03 mm (0.238 in.)
20.91 mm (0.823 in.)
22.76 mm (0.896 in.)
34.43 mm (1.355 in.)
32.19 mm (1.267a in.)
Mounting the NI roboRIO 2.0You can mount the NI roboRIO 2.0 in the following ways: © National Instruments7NI roboRIO 2.0 Embedded Controller for FRC User Manual

■Using cable ties to secure one edge of the NI roboRIO 2.0 to perfboard with
6.35 mm (0.25 in.) diameter holes on 12.7 mm (0.5 in.) straight centers, such as
AndyMark part number am-0836.
■Using cable ties to secure one corner of the NI roboRIO 2.0 to perfboard.
■Using screws to secure the bottom of the NI roboRIO 2.0 to a metal plate.
Method One: Using Cable Ties to Secure One Edge of the NI roboRIO 2.0 to
Perfboard
The following figures show how to secure one edge of the NI roboRIO 2.0 to
perfboard.
Figure 6. Step 1 to Secure One Edge of the Device
Figure 7. Step 2 to Secure One Edge of the Device
ni.com8NI roboRIO 2.0 Embedded Controller for FRC User Manual

Figure 8. Step 3 to Secure One Edge of the Device
Figure 9. Step 4 to Secure One Edge of the Device
Method Two: Using Cable Ties to Secure One Corner of the NI roboRIO 2.0
to Perfboard
The following figures show how to secure one corner of the NI roboRIO 2.0 to
perfboard. © National Instruments9NI roboRIO 2.0 Embedded Controller for FRC User Manual