National Instruments CompactRIO cRIO-FRC Manuale utente

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

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

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

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

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

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

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

©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.

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