National Instruments CompactRIO cRIO-FRC Manuale utente

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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

2 RS-232 Serial Port

3 RJ-45 Ethernet Port 2

4 RJ-45 Ethernet Port 1

5 Power Connector

6 Reset Button

7 DIP Switches

™

NI cRIO-FRC

POWER

FPGA

STATUS

USER1

RESET

LINK

10/

100

LINK

10/

100

INPUT

19-30 V

20 W MAX

SAFE MODE

CONSOLE OUT

IP RESET

NO APP

USER1

NO FPGA

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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 Competition kit, including cRIO-FRC reconfigurable

embedded chassis with integrated intelligent real-time controller and

the LabVIEW for FRC software

❑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 remove the film cover before installing the cRIO-FRC.

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 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.

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©National Instruments Corporation 3 cRIO-FRC Operating Instructions and Specifications

Note You must remove all I/O modules from the chassis before mounting it. Your

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.

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

2345678

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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.)

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©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

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.)

2345678

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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

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©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.

1 DIN Rail Clip 2 DIN Rail Spring 3 DIN Rail

88.1 mm

(3.47 in.)

70.7 mm

(2.78 in.)

22.9 mm

(0.9 in.)

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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.

1 Insertion Groove 2 Latch

NI cRIO-FRC

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©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 integrity 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.

Next you need to assign an IP address to the chassis. For information about

assigning an IP address and setting up your network, refer to the FRC

Control System Manual.

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