NI RoboRIO 2.0 Manuale utente

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

4 5 8 96 70 1 2 3

USERRESET

ACCELEROMETER

COPI

3.3 V

CIPO

5 V

CS 3

CS 2

C S1

C S0

R EV

4589 67 0123

32103

33 1

5 V S

FWD

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

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

RADIO

SPISPI

CS0CS0

CS1

CS2

CS3

SCLK

COPI

CANCAN

L (GRN)L (GRN)

H (YEL)

II2

SCLSCL

3.3V SDA3.3V SDA

RS-232RS-232

TXDTXD

RXD

RSLRSL

CIPOCIPO

3.3V

COMMCOMM

MODE

RSL

RELAYRELAY

011

FWDFWD

5V5V SS

REVREV

22330011

13333

233

332

2110

799886

6554

4455667

78899

0112

ANALOG INANALOG IN RESET

RESET

ACCELEROMETERACCELEROMETER

PWMPWM

DIODIO

USERUSER

5V5V

SS6V

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.)

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.)

Figure 3. Dimensions, Primary Side LEDs

POWERED BYPOWERED BY

POWERPOWER

STATUS

RADIO

SPISPI

CS0CS0

CS1

CS2

CS3

SCLK

COPI

CANCAN

L (GRN)L (GRN)

H (YEL)

II2

SCLSCL

3.3V SDA3.3V SDA

RS-232RS-232

TXDTXD

RXD

RSLRSL

CIPOCIPO

3.3V

COMMCOMM

MODE

RSL

RELAYRELAY

011

FWDFWD

REVREV

22330011

13333

233

332

2110

7998866554

4455667

78899

0112

ANALOG INANALOG IN RESET

RESET

ACCELEROMETERACCELEROMETER

PWMPWM

DIODIO

USERUSER

5V5V

6V6V

INPUTINPUT

7-16V7-16V

45W MAX45W MAX

146.15 mm (5.754 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.)

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

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