National Instruments cRIO-FRC II Manuale utente
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.
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.
2| ni.com | NI cRIO-FRC II User Manual and Specifications
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
NI cRIO-FRC II User Manual and Specifications | © National Instruments | 3
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
4| ni.com | NI cRIO-FRC II User Manual and Specifications
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.)
NI cRIO-FRC II User Manual and Specifications | © National Instruments | 5
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.).
6| ni.com | NI cRIO-FRC II User Manual and Specifications
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.
NI cRIO-FRC II User Manual and Specifications | © National Instruments | 7
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.).
8| ni.com | NI cRIO-FRC II User Manual and Specifications
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.
NI cRIO-FRC II User Manual and Specifications | © National Instruments | 9
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.
10 | ni.com | NI cRIO-FRC II User Manual and Specifications
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