NI roboRIO User Manual
Contents
1. e o 2 5 2229520022292 amp Z z nm a m Z z zz OO 0000 00 SSaanountaaes 200060006000m re3 4 a lt lt 7 33 31 29 27 25 23 21 19 17 15 13 11 9 7 5 3 1 34 32 30 28 26 24 22 2018 16 14 12 10 8 6 4 2 Eo 4022222252 Ke ESS Ss A AG AH Are lt ooanaa amp aoaa amp anoanotatcta x qa lt lt s E 2 S 6 a a a aa Table 3 MXP Signal Descriptions Signal Name Reference Direction Description T5V DGND Output 5 V power output AI lt 0 3 gt AGND Input 0 to 5 V referenced single ended AI channels Refer to the A Channels section for more information AO lt 0 1 gt AGND Output 0 to 5 V referenced single ended AO Refer to the AO Channels section for more information AGND Reference for Al and AO 3 3V DGND Output 3 3 V power output 8 nicom NI roboRIO User Manual Table 3 MXP Signal Descriptions Continued Signal Name Reference Direction Description DIO lt 0 15 gt DGND Input or General purpose digital lines with Output 3 3 V output 3 3 V 5 V compatible input Refer to the DIO PWM and Relay Lines section for more information UART RX DGND Input UART receive input UART lines are electrically identical to DIO lines UART TX DGND Output UA2. SPI Port 7 USB USB 10 100 Device Hosts Ethernet Port Port Port SPI 499 2 7 a cun sa ec e e emere i Xilinx Zyng 7020 CAN MN A C A Toa Port 1 J Power LED 1 L I 45 0 V gt Status LED 1 lt 3 3 V a EE gt Radio LED lt gt UART i 1 16 gt Comm LED gt DIO Eod bad 1 Mode LED 2 i l lt Analog Out k pi 1 le gt RSL LED nap 4 Pc Analog In Processor FPGA EE 1 pa LabVIEW RT rot 6 0V bod E PWM E 110 10 Port le 43 3 V E og 2 po gt PC E ld M lt Watchdog Nonvolantile 1 gt RS 232 Fu DOR ER Memory E DDR3 lt 45 0 V E DEE Acceler 2 DIO ee T 1 1 1 ometer E A A E A dura 8 Reset User RSL Relay Al 450v Button Button L P 4 y RSL RELAY ANALOG IN Port Port Port 4 nicom NI roboRIO User Manual Setting Up the NI roboRIO Wiring Power to the NI roboRIO The NI roboRIO requires an external power supply that meets the specifications in the Power Requirements section of the NI roboRIO Specifications The NI roboRIO filters and regulates the supplied power and provides power for all of the I O and user voltage The NI roboRIO has one layer of reverse voltage protection Complete the following steps to connect a power supply to the chassis
3. ta cso SCLK a cs1 MOSI a on 5V MISO a 1 052 3 3V CS3 Table 12 SPI Port Signal Descriptions Signal Name Direction Description 3 3V Output 3 3 V power output sv Output 5 V power output CS lt 0 3 gt Output SPI with 3 3 V output 3 3 V 5 V compatible input Refer to the SP Lines section for more SCLK Output information MOSI Output MISO Input GND Reference for digital lines and 3 3 V and 5 5 V power output NI roboRIO User Manual National Instruments Signal Ground References To minimize noise on analog measurement channels use the ground reference of the corresponding port For example when you are using Al the measurement should reference the GND of the Al port Interfaces Al Chamnels The NI roboRIO has Al channels on the MXP and on the Al port The channels are multiplexed to a single analog to digital converter ADC that samples all channels The MXP and the AI port each has four single ended AI channels AIO AI3 which you can use to measure 0 5 V signals Note For important information about improving measurement accuracy by reducing noise visit ni com info and enter the Info Code analogwiring Figure 14 shows the Al topology of the NI roboRIO Figure 14 NI roboRIO Al Circuitry AIO Al Mm Al2 AA AA Expansio
4. Input Voltage Stage Range Behavior 1 6 3 V to 6 8 V The 6 V voltage rail starts to drop 2 4 5 V to 6 3 V The NI roboRIO enters a brownout fault condition and the following precautions are taken User voltage rails become disabled All PWM generation stops at the conclusion of the current cycle GPIOs configured as outputs go to High Z Relay control outputs are driven low e CAN based motor controllers become disabled The following systems continue to function normally with valid data and communication FPGA processor RAM disk and user code USB power and communication Radio if powered by USB Ethernet CAN Aland AO PC SPI RS 232 serial LED and RSL status lights Stage 2 continues until the input voltage rises to greater than 7 5 V or drops to less than 4 5 V 3 Lessthan 4 5 V All controller functions cease and the controller state is lost This condition continues until the input voltage rises to greater than 4 65 V at which point the controller starts the normal booting sequence At startup the controller remains in Stage 2 until the input voltage rises to greater than 7 5 V NI roboRIO User Manual National Instruments 7 Pinouts The following describe the pins and signals on the NI roboRIO ports MXP Figure 4 and Table 3 describe the MXP pins and signals Note that some pins carry both primary and secondary functions Figure 4 MXP Pinout
5. 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 19 52 mm 0 769 in 8 42 mm 0 332 in 7 16 mm 0 282 in 0 0 mm 0 in e E o 22 nicom 116 64 mm 4 592 in y RELAY 2 NAT ONAL INSTRUMENTS 2 i ve 2 3 x ACCELEROMETER RESET USER 129 83 mm 5 111 in 33 129 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 D H 65 64 mm 2 584 in j 58 02 mm 2 284 in H 54 40 mm 1 984 in 1 1 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 8 44 mm 0 332 in 22 26 mm 0 876 in 45 14 mm 1 777 in rjj NI roboRIO User Manual 52 76 mm 2 077 in 60 38 mm 2 377 in 78 15 mm 3 077 in 85 77 mm 3 377 in 68 00 mm 2 677 in 73 08 mm 2 87
6. Mode LED The Mode LED is a tri color red green yellow LED that indicates the mode of the NI roboRIO outputs as shown in Table 17 Table 17 Mode LED Indications Color State Indication Off Off Outputs disabled Green Solid Outputs enabled Autonomous mode Yellow Solid Outputs enabled TeleOperated mode Red Solid Outputs unknown undetermined or in test mode 20 nicom NlroboRIO User Manual RSL Safety LED The RSL LED is a single color yellow LED that functions identically to the RSL which is an external indicator connected to the NI roboRIO using a dedicated connector and indicates specific conditions as shown in Table 18 Table 18 RSL LED Indications Color State Indication Off Off Outputs disabled No power Yellow Solid Outputs disabled Robot is powered Yellow Blinking Outputs enabled Robot is powered NI roboRIO User Manual O National Instruments 21 Physical Dimensions Figures 19 through 22 describe the physical dimensions of the NI roboRIO enclosure and its features Figure 19 NI roboRIO Dimensions Primary Side 135 47 mm 5 333 in 132 61 mm 5 221 in 130 72 mm 5 147 in 2 844 mm 0 332 in N lO CO a 9 se E E or o dis M z st LI E E n o 49 45 1 947 74 55 mm 2 935 94 67 mm 3 727
7. 2 eh eo eR ent 25 Method One Using Cable Ties to Secure One Edge ofthe NI TODORIO to Perfbo td iter ertt tet re nenne 25 Method Two Using Cable Ties to Secure One Corner of the NLroboRIO to Perfboard 5 iter tied deest net e eie ges 27 Method Three Using Screws to Secure the Bottom of the NI roboRIO to a Metal Plate inner 30 Compatible USB and Ethernet Cables 30 Waraniyi 31 Worldwide Support and Services ul 31 Safety Information A Caution Do not operate the hardware in a manner not specified in the user documentation Misuse of the hardware can result in a hazard You can compromise the safety protection if the hardware is damaged in any way If the hardware is damaged contact National Instruments for repair Clean the hardware with a soft nonmetallic brush Make sure that the hardware is completely dry and free from contaminants before returning it to service 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
8. 1 Ensure that the power supply is turned off Caution Do not install or remove the power connector from the front panel of the NI roboRIO while power is applied 2 Connect the positive lead of the power supply to the V terminal of the COMBICON power connector shipped with the NI roboRIO and tighten the terminal screw Figure 3 shows the terminal screws which secure the wires in the screw terminals and the connector screws which secure the power connector on the front panel Figure 3 NI roboRIO COMBICON Power Connector 1 Terminal Screws 2 Connector Screws 3 Connect the negative lead of the power supply to the C terminal of the power connector and tighten the terminal screw 4 Install the power connector on the front panel of the NI roboRIO and tighten the connector screws 5 Turn on the power supply Powering On the NI roboRIO When you apply power the NI roboRIO 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 LED Indications section NI roboRIO User Manual National Instruments 5 Connecting the NI roboRIO to a Network Connect the NI roboRIO to an Ethernet network using the Ethernet port Use a standard Category 5 CAT 5 or better shielded twisted pair Ethernet cable to connect the NI roboRIO to an Ethernet hub router or
9. 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 modifications to the product not expressly approved by National Instruments could void your authority to operate it under your local regulatory rules A Caution To ensure the specified EMC performance the maximum length for DIO RS 232 PC CAN SPI PWM Al Relay and RSL signal wires is 2 0 m 6 56 ft The maximum length for USB cables is 5 0 m 16 40 ft The maximum length for Ethernet cables is 30 0 m 98 43 ft Refer to the Compatible USB and Ethernet Cables section of this document for information about compatible USB and Ethernet cables NI roboRIO User Manual National Instruments 3 Hardware Block Diagram Figure 2 shows the arrangement and functions of NI roboRIO components Figure 2 NI roboRIO Hardware Block Diagram myRIO Expansion Port MXP PC Port RS 232 Port DIO Port
10. Information tn h akay ana 3 Electromagnetic Compatibility Guidelines 3 Hardware Block Diagram 24 Setting Up the NI roboRIO 2 5 Wiring Power to the NI roboRIO sise 5 Powering On the NI roboRIO eee 5 Connecting the NI roboRIO to a Network 6 Preparing the NI roboRIO for Competition 6 User Power HR eed emen bo ir tie ee tei tes 6 Pinouts SPE POPE Hr 13 Signal Ground References ses 14 Intetfaces a emere de asiste po e a aed E p CREDO OE 14 ALDChannels entes 90s 005 e ec van RANT AAA AA its 14 AO Channels 14 DIO PWM and Relay Lines AS UART and RS 232 Lines 16 Nun cC 16 PETE nes eei EAEE RLS EAEE 16 USB Device Potts tiesa 16 USB Host Portar en nn p ta 16 Accelerometer essere 1 Converting Raw Data Values to Voltage 17 Front Panel B ttons tidad ra or obe q He OT 17 Reset Button DEREN TEE 17 User Button iu in 18 LED dic e 18 Power LED alocada 18 Status LED y a aa n a h a nq id dt aaa 19 Radio EED erste o its 19 Comm LED 20 Mode LED 20 RSL Safety LED 21 Physical Dimensions i Ea 22 2 nicom roboRIO User Manual Mounting the NI
11. 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 30 m The first time you power up the chassis it attempts to initiate a DHCP network connection If the chassis is unable to initiate a DHCP connection it connects to the network with a link local IP address with the form 169 254 x x Preparing the NI roboRIO for Competition For information about configuring the controller for competitive use refer to the Tutorials tab in the Getting Started window of LabVIEW for FRC User Power Table 1 describes the user voltage rails for powering external sensors and peripherals The rails are independent from the power supplies of internal systems such as the processor and memory Table 1 NI roboRIO Voltage Rails Voltage Rail Description 6 V Power from PWM ports for use with servos 5 V Power for DIO and Al ports for sensors and power for the MXP for powering expansion circults 13 3 V Power for PC SPI and the MXP 6 nicom NlroboRIO User Manual Input Voltage Brownout Behavior The NI roboRIO input voltage range is 7 V to 16 V The input voltage monitoring circuit monitors the voltage on the input voltage pin When the input voltage drops to between 4 5 V and 6 8 V the NI roboRIO enters brownout mode with a staged response as Table 2 describes Table 2 NI roboRIO Input Voltage Brownout Behavior
12. for your NI product Refer to the Export Compliance Information at ni com legal export compliance for the National Instruments global trade compliance policy and how to obtain relevant HTS codes ECCNs and other import export data NI MAKES NO EXPRESS OR IMPLIED WARRANTIES AS TO THE ACCURACY OF THE INFORMATION CONTAINED HEREIN AND SHALL NOT BE LIABLE FOR ANY ERRORS U S Government Customers The data contained in this manual was developed at private expense and is subject to the applicable limited rights and restricted data rights as set forth in FAR 52 227 14 DFAR 252 227 7014 and DFAR 252 227 7015 O 2014 National Instruments All rights reserved 374474A 01 Oct14
13. to connect to a network of PC slave devices USB Device Port You can deploy and debug code by connecting a USB cable from the USB device port on the NI roboRIO to a computer USB Host Port The NI roboRIO USB host port supports the following devices Web cameras that conform to the USB Video Device Class UVC protocol Machine vision cameras that conform to the USB3 Vision standard and are backward compatible with the USB 2 0 specification Basler ace USB3 cameras e USB Flash drives USB to IDE adapters formatted with FAT16 and FAT32 file systems LabVIEW usually maps USB devices to the U V W or X drive starting with the U drive if it is available 16 nicom NI roboRIO User Manual Accelerometer The NI roboRIO contains a three axis accelerometer MMA8452Q Refer to the Accelerometer section of the NI roboRIO Specifications for the accelerometer sample rates Converting Raw Data Values to Voltage You can use the following equations to convert raw data values to volts V Raw Data Value LSB Weight LSB Weight Nominal Range 24PC Resolution where Raw Data Value is the value returned by reading in the input channel LSB Weight is the value in volts of the increment between data values Nominal Range is the absolute value in volts of the full peak to peak nominal range of the channel and ADC Resolution is the resolution of the ADC in bits ADC Resolution 12 For Aland AO channels o
14. 000 00000000 000000000 0000000000 00000000000 000000000000 0000000000000 00000000000 0 0 000000000000 000000000000 0000000000000 000000000000 00000000000 0000000000 000000000 00000000 0000000 000000 00000 0 Step Five Figure 31 Cable Ties Method Two 0 0 000000 0000000 00000000 000000000 0000000000 00000000000 000000000000 0000000000000 Doc 0 0 0 00 000 0 0 0 000000000000 000000000000 0000000000000 000000000000 00000000000 0000000000 000000000 00000000 0000000 000000 00000 29 O National Instruments NI roboRIO User Manual Method Three Using Screws to Secure the Bottom of the NI roboRIO to a Metal Plate Figure 32 shows how to secure the bottom of the NI roboRIO to a metal plate using the built in 4 40 screw holes The length of the screws required depends on the thickness of the plate you use For example if the plate is 4 76 mm 0 188 in thick the recommended screw length is 7 94 mm 0 313 in Figure 32 Mounting NI roboRIO Using Screws EE en 1 Metal Mounting Plate 2 4 40 Screws x 4 Compatible USB and Ethernet Cables Table 19 lists the USB and Ethernet cables available from NI that you can use with the NI roboRIO Table 19 Compatible USB and Ethernet Cables Available from NI Cable Description NI Part Number USB cable USB 2 0 A B black 2 m 192256A 01 Peripheral USB cable USB 2 0
15. 0000000 0000000 000000 00000 0000 Step Three Figure 25 Cable Ties Method One 000000 0000000 00000000 000000000 0000000000 00000000000 000000000000 00000000000 00Y00000000000 000000000000000 00000000000000 0000000000000 000000000000 00000000000 0000000000 000000000 00000000 0000000 000000 00000 0000 NI roboRIO User Manual ni com 26 Figure 26 Cable Ties Method One Step Four Method Two Using Cable Ties to Secure One Corner of the NI roboRIO to Perfboard Figures 27 through 31 show how to secure one corner of the NI roboRIO to perfboard Figure 27 Cable Ties Method Two Step One 27 National Instruments NI roboRIO User Manual Figure 28 Cable Ties Method Two Step Two 000000 0000000 00000000 000000000 0000000000 00000000000 000000000000 0000000000000 00000000000000 000000000000000 00000000000000 0000000000000 000000000000 00000000000 0000000000 000000000 00000000 0000000 000000 00000 0000 Step Three Figure 29 Cable Ties Method Two 000000 0000000 00000000 000000000 0000000000 00000000000 000000000000 0000000000000 0000000000 000000000000 000000000000 0000000000000 000000000000 00000000000 0000000000 000000000 00000000 0000000 000000 00000 NI roboRIO User Manual ni com 28 Figure 30 Cable Ties Method Two Step Four 000000 0000
16. 5 e E E o E S N eo A x 24 nicom NI roboRIO User Manual Figure 22 NI roboRIO Dimensions Side 94 43 mm 1 355 1 32 19 mm 1 267a in 22 76 0 896 20 91 mm 0 823 6 03 mm 0 238 in cal p J 5 71 0 225 0 0 mm 0 in 0 0 mm 0 in 13 59 mm 0 535 in 20 79 mm 0 819 in 122 39 mm 4 819 in 129 59 mm 5 102 in Mounting the NI roboRIO You can mount the NI roboRIO in the following ways Using cable ties to secure one edge of the NI roboRIO 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 to perfboard Using screws to secure the bottom of the NI roboRIO to a metal plate Method One Using Cable Ties to Secure One Edge of the NI roboRIO to Perfboard Figures 23 through 26 show how to secure one edge of the NI roboRIO to perfboard Figure 23 Cable Ties Method One Step One NI roboRIO User Manual National Instruments 25 Figure 24 Cable Ties Method One Step Two 000000 0000000 00000000 000000000 0000000000 00000000000 000000000000 0 0 90000000 00000000000000 000000000000000 00000000000000 0000000000000 000000000000 00000000000 0000000000 000000000 0
17. 7 in 1 1 1 1 NN st N N ae E E E E i N or 2 128 01 mm 5 040 in N N 2 E N E N e Figure 20 NI roboRIO Dimensions Primary Side LEDs 143 68 5 657 in 143 18 mm 5 637 in c 128 51 mm 5 059 in 123 51 mm 4 862 in c 116 01 mm 4 567 in c 111 01 mm 4 370 in C4 106 01 mm 4 173 in 29 roboRIO R POWERED BY Iogan A 98 51 mm 3 878 in am AA E anaa LabVIEW E IE NATIONAL an INSTRUMENTS Je ACCELEROMETER gt RELAY ANALOG IN m RSL a a E RESET USER F k j FWD a g 2 Hi zE SLAG Hine 00 0 0 mm 0 in 1 e E E 2 o S 19 NI roboRIO User Manual National Instruments 23 Figure 21 NI roboRIO Dimensions Secondary Side c 3 S E E 2 3 e 4 40 Screw Insert e 135 09 mm 5 319 in 122 39 mm 4 819 in 20 79 mm 0 819 in IL e LE nb a i 2 0 0 mm 0 in ES gt
18. A A locking black 2 m 152166A 01 Ethernet cable CAT 5E thin profile 2 m 151733A 01 30 nicom NI roboRIO User Manual Warranty For customers other than private individual users in the EU The NI roboRIO is warranted against defects in materials and workmanship for a period of three years from the date of shipment as evidenced by receipts or other documentation National Instruments will at its option repair or replace equipment that proves to be defective during the warranty period This warranty includes parts and labor For private individual users in the EU Based on your statutory rights National Instruments will through its distributor cure defects in materials and workmanship within two years from delivery Worldwide Support and Services The National Instruments website is your complete resource for technical support At ni com support you have access to everything from troubleshooting and application development self help resources to email and phone assistance from NI Application Engineers Visit ni com services for NI Factory Installation Services repairs extended warranty and other services Visit ni com register to register your National Instruments product Product registration facilitates technical support and ensures that you receive important information updates from NI A Declaration of Conformity DoC is our claim of compliance with the Council ofthe European Communities using t
19. RT transmit output UART lines are electrically identical to DIO lines DGND Reference for digital signals 5 V and 3 3 V CAN Port Figure 5 and Table 4 describe the CAN port pins and signals Figure 5 CAN Port Pinout L GRN EX H YEL Table 4 CAN Port Signal Descriptions Signal Name Direction Description L GRN Input Output CAN bus differential low signal H YEL Input Output CAN bus differential high signal Note The NI roboRIO contains an internal 120 W termination resistor between L GRN and H YEL NI roboRIO User Manual National Instruments 9 12C Port Figure 6 and Table 5 describe the port pins and signals Figure 6 12C Port Pinout 3 3V SDA n T SCL Table 5 12C Port Signal Descriptions Signal Name Direction Description GND mE Reference for digital lines and 3 3 V power output 33V Output 3 3 V power output SCL Input or Output PC lines with 3 3 V output 3 3 V 5 V compatible input Refer to the IC Lines SDA Input or Output section for more information RS 232 Port Figure 7 and Table 6 describe the RS 232 port pins and signals Figure 7 RS 232 Serial Port Pinout LL Lio RXD Table 6 RS 232 Serial Port Signal Descriptions Signal Name Direction Description TXD Output Se
20. USER MANUAL NI roboRIO RIO Device for Robotics The NI roboRIO is a portable reconfigurable I O RIO device that students can use to design control robotics and mechatronics systems used in the FIRST Robotics Competition FRC This document contains pinouts connectivity information dimensions and mounting instructions for the NI roboRIO The NI roboRIO provides the I O shown in Figure 1 and connects to a host computer over USB and 10 100 Ethernet Figure 1 NI roboRIO Features sv Losa NI roboRIO gav css POWERED BY NATIONAL x D INSTRUMENTS 5 x ACCELEROMETER RELAY F ANALOG IN 5 RESET_ USER 1 2 3 gt j las rt 1 Digital input and output DIO port 10 Serial peripheral interface bus SPI port 2 RS 232 port 11 LEDs 3 12C port 12 Pulse width modulation PWM port 4 CAN port 13 myRIO Expansion Port MXP 5 Power connector 14 MXP retention mount 6 USB Device port 15 User and Reset buttons 7 USB Host retention mount 16 Analog input Al port 8 USB Host ports 17 Relay port 9 Ethernet port 18 Robot signal light RSL port Y NATIONAL P INSTRUMENTS Contents Safety
21. gnals Figure 10 Relay Port Pinout TETE Table 9 Relay Port Signal Descriptions allo o ojj Signal Name Direction Description FWD lt 0 3 gt Output Relay digital lines with 5 V output REV lt 0 3 gt Output Relay digital lines with 5 V output GND Reference for digital lines Al Port Figure 11 and Table 10 describe the AI port pins and signals Figure 11 Al Port Pinout a aojo oj Table 10 Al Port Signal Descriptions Signal Name Direction Description S AJ lt 0 3 gt Input 0 V to 5 V referenced single ended AI channels Refer to the A Channels section for more information 5V Output 5 V power output GND Reference for AI and 5 V power 12 nicom NIroboRIO User Manual PWM Port Figure 12 and Table 11 describe the PWM port pins and signals Figure 12 PWM Port Pinout 9 o o o o oj 6 o olla o o o0 p o ojn Table 11 PWM Port Signal Descriptions Signal Name Direction Description S PWM lt 0 9 gt Output PWM digital lines with 5 V output 6V Output 6 V power output for servos only GND Reference for digital lines and 6 V power output SPI Port Figure 13 and Table 12 describe the SPI port pins and signals Figure 13 SPI Port Pinout
22. he manufacturer s declaration of conformity This system affords the user protection for electromagnetic compatibility EMC and product safety You can obtain the DoC for your product by visiting ni com certification If your product supports calibration you can obtain the calibration certificate for your product atni com calibration National Instruments corporate headquarters is located at 11500 North Mopac Expressway Austin Texas 78759 3504 National Instruments also has offices located around the world For telephone support in the United States create your service request at ni com support or dial 1 866 ASK MYNI 275 6964 For telephone support outside the United States visit the Worldwide Offices section of ni com niglobal to access the branch office websites which provide up to date contact information support phone numbers email addresses and current events Refer to the NI Trademarks and Logo Guidelines at ni com trademarks for more information on National Instruments trademarks Other product and company names mentioned herein are trademarks or trade names of their respective companies For patents covering National Instruments products technology refer to the appropriate location Help Patents in your software the patents txt file on your media or the National Instruments Patents Notice at ni com patents You can find information about end user license agreements EULAs and third party legal notices in the readme file
23. n port AIO w Al w Al2 w Integrated Al port AO Channels The NI roboRIO MXP has two AO channels AO0 and AO1 which you can use to generate signals of 0 V to 5 V Each channel has a dedicated digital to analog converter DAC which allows all AO channels to update simultaneously The maximum update rate is specified as an aggregate rate in the Analog Output section of the NI roboRIO Specifications Figure 15 shows the AO topology of the NI roboRIO 14 nicom NIroboRIO User Manual Figure 15 NI roboRIO AO Circuitry DAC AO0 Expansion port 0 5 V DAC AO1 DIO PWM and Relay Lines The NI roboRIO provides the following DIO lines 3 3 V general purpose DIO lines on the MXP 3 3 V digital lines on the DIO PC and SPI ports SV digital lines on the PWM and Relay ports DIO lt 9 0 gt on the DIO port CS lt 3 0 gt on the SPI port and DIO lt 13 0 gt on the MXP all have 40 kO pullup resistors to 3 3 V as shown in Figure 16 Figure 16 DIO Lines with 40 kQ Pullup Resistors to 3 3 V 3 3 V 40 FPGA Bus Switch DIO CS DIO lt 15 14 gt on the MXP and the two lines on the C port all have 2 2 pullup resistors to 3 3 V as shown in Figure 17 Figure 17 DIO Lines with 2 2 KQ Pullup Resistors to 3 3 V 3 3 V 2 2 FPGA Bus Switch DIO SCL SDA lt SCLK MOSI MISO gt on the SPI port and the lines on the PWM and Relay
24. n the MXP LSB Weight 5 V 212 1 221 mV Maximum reading 4095 1 221 mV 4 999 V For the accelerometer LSB Weight 16 g 2 3 906 mg Maximum Positive Reading 2047 3 906 mg 7 996 g Maximum Negative Reading 2048 3 906 mg 8 000 g Front Panel Buttons Reset Button Pressing and releasing the Reset button restarts the processor and the FPGA Pressing and holding the Reset button until the status LED lights about five seconds and then releasing the Reset button restarts the processor and the FPGA and forces the NI roboRIO into safe mode In safe mode the NI roboRIO launches only the services necessary for updating configuration and installing software When the NI roboRIO is in safe mode you can communicate with it by using the serial lines on the RS 232 serial port You must configure your serial port terminal program with the following settings 115 200 bits per second Eight data bits NI roboRIO User Manual National Instruments 17 e No parity Onestop bit No flow control User Button The User Button produces a logic TRUE when depressed and a logic FALSE when not depressed The User Button is not debounced in hardware LED Indications Power LED The Power LED is a tri color red green yellow LED that indicates specific conditions as shown in Table 13 Table 13 Power LED Indications Color State Indication Off Off Power is out
25. nrecoverable error Contact National or solid Instruments Radio LED The Radio LED is a tri color red green yellow LED that indicates specific conditions for an USB connected radio as shown in Table 15 Table 15 Radio LED Indications Color State Indication Off Off No connection detected Yellow Blinking Booting as access point Radio is enabled and access point is being constructed Yellow Solid Access point active Radio is enabled and in access point mode Green Blinking Booting as bridge Radio is enabled and bridging is in progress Green Solid Bridge active Radio is enabled and has bridge configured with SSID settings Red Any Reserved NI roboRIO User Manual National Instruments 19 Other LED states may indicate other undetermined radio issues or failures This LED is undefined if a USB radio is not used Comm LED The Comm LED is a tri color red green yellow LED that indicates robot communication conditions as shown in Table 16 Table 16 Comm LED Indications Color State Indication Off Off No communication detected No heartbeat detected Red Solid No code The protocol indicates that no user code has been loaded Red Blinking E Stop The protocol indicates that the driver station has E Stopped the robot Green Solid Active The protocol is active and the driver station is in control of the robot Yellow Any Reserved
26. ports all have 40 KQ pulldown resistors to ground as shown in Figure 18 Figure 18 DIO Lines with 40 kQ Pulldown Resistors to Ground FPGA Bus Switch V pDIO or Other Line 40 kQ NI roboRIO User Manual National Instruments 15 You can program all MXP DIO lines and on board DIO lines individually as inputs or outputs Secondary digital functions include SPI IC PWM and quadrature encoder input Refer to the NI roboRIO software documentation for information about configuring the behavior of the DIO lines When a DIO line is floating it floats in the direction of the pull resistor A DIO line may be floating in any of the following conditions When the NI roboRIO device is starting up When the line is configured as an input When the NI roboRIO device is powering down You can add a stronger resistor to a DIO line to cause it to float in the opposite direction UART and RS 232 Lines The NI roboRIO has one UART connected to the UART lines on the MXP and one UART connected to the RS 232 port The UART lines on the MXP are electrically identical to DIO lines 0 to 13 on the MXP Like those lines UART RX and UART TX have 40 kQ pullup resistors to 3 3 V The RS 232 lines are compliant with TIA EIA 232 F voltage levels SPI Lines The SPI port can support up to four devices by using each of the four Chip Select CS lines Lines The PC lines can be used
27. rial transmit output with 5 V to 15 V signal levels Refer to the UART and RS 232 Lines section for more information RXD Input Serial receive input with 15 V input voltage range Refer to the UART and RS 232 Lines section for more information GND Reference for digital lines 10 ni com NI roboRIO User Manual DIO Port Figure 8 and Table 7 describe the DIO port pins and signals Figure 8 DIO Port Pinout Table 7 DIO Port Signal Descriptions oo nj o ojo n Signal Direction Description S DIO lt 0 9 gt Input Output General purpose digital lines with 3 3 V output 3 3 V 5 V compatible input Refer to the D O PWM and Relay Lines section for more information 5V Output 5 V power output GND Reference for digital lines and 5 V power output RSL Port Figure 9 and Table 8 describe the RSL port pins and signals Figure 9 RSL Port Pinout Sala re s D Table 8 RSL Port Signal Descriptions Signal Name Direction Description S Output Switched power output to drive RSL when RSLis enabled The voltage level depends on the connected input voltage RSL current is limited at 120 mA GND Reference for S NI roboRIO User Manual National Instruments 11 Relay Port Figure 10 and Table 9 describe the Relay port pins and si
28. side valid input range Green Solid Power is valid with no fault condition Red Solid Fault condition detected One or more user voltage rails are in short circuit or overcurrent condition Red Flashing The input voltage is too high greater than 16 V and all outputs including the RSL output are disabled Yellow Solid Brownout condition detected The 6 V user rail and outputs are disabled 18 nicom roboRIO User Manual Status LED The Status LED is a single color yellow LED The Status LED is off during normal operation The NI roboRIO runs a power on self test POST when you apply power to the device During the POST the Power and Status LEDs turn on When the Status LED turns off the POST is complete The NI roboRIO indicates specific error conditions by flashing the Status LED a certain number of times every few seconds as shown in Table 14 Table 14 Status LED Indications Number of Flashes Every Few Seconds Indication The device has detected an error in its software This usually occurs when an attempt to upgrade the software is interrupted Reinstall software on the device The device is in safe mode The software has crashed twice without rebooting or cycling power between crashes This usually occurs when the device runs out of memory Review your RT VI and check the memory usage Modify the VI as necessary to solve the memory usage issue Continuously flashing The device has detected an u
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