NI roboRIO 2.0 User Manual
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NI roboRIO 2.0 User Manual

Embedded controller for frc
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Summary of Contents for NI roboRIO 2.0

  • Page 1 RoboRIO...
  • Page 2 NI roboRIO 2.0 Embedded Controller for FRC User Manual 2023-04-04...
  • Page 3 NI roboRIO 2.0 Embedded Controller for FRC User Manual Contents NI roboRIO 2.0 Embedded Controller for FRC User Manual......3 ni.com...

  • Page 4: Physical Features

    This document contains pinouts, connectivity information, dimensions, and mounting instructions for the NI roboRIO 2.0. Physical Features The 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 Instruments...

  • Page 5: Physical Dimensions

    14. MXP retention mount 15. User and Reset buttons (MXP) 16. Analog input (AI) port 17. Relay port 18. Robot signal light (RSL) port Physical Dimensions The following figures describe the physical dimensions of the NI roboRIO 2.0 enclosure and its features. ni.com...
  • Page 6 NI roboRIO 2.0 Embedded Controller for FRC User Manual Figure 2. Dimensions, Primary Side 135.47 mm (5.333 in.) 132.61 mm (5.221 in.) INPUT INPUT 129.83 mm (5.111 in.) 7-16V 7-16V 130.72 mm (5.147 in.) 129.21 mm (5.087 in.) 126.94 mm (4.998 in.) 123.43 mm (4.860 in.)
  • Page 7 NI roboRIO 2.0 Embedded Controller for FRC User Manual Figure 3. Dimensions, Primary Side LEDs 143.18 mm (5.637 in.) INPUT INPUT 7-16V 7-16V 128.51 mm (5.059 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.)
  • Page 8 0.0 mm (0 in.) Figure 5. Dimensions, Side 34.43 mm (1.355 in.) 32.19 mm (1.267a in.) 22.76 mm (0.896 in.) 5.71 mm (0.225 in.) Mounting the NI roboRIO 2.0 You can mount the NI roboRIO 2.0 in the following ways: © National Instruments...
  • Page 9 NI 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.
  • Page 10 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 perfboard. © National Instruments...
  • Page 11 NI roboRIO 2.0 Embedded Controller for FRC User Manual Figure 10. Step 1 to Secure One Corner of the Device Figure 11. Step 2 to Secure One Corner of the Device ni.com...
  • Page 12 NI roboRIO 2.0 Embedded Controller for FRC User Manual Figure 12. Step 3 to Secure One Corner of the Device Figure 13. Step 4 to Secure One Corner of the Device © National Instruments...
  • Page 13 Method Three: Using Screws to Secure the Bottom of the NI roboRIO 2.0 to a Metal Plate The following figure shows how to secure the bottom of the NI roboRIO 2.0 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.

  • Page 14: Connecting To Power

    Power Requirements section of the NI roboRIO 2.0 Specifications. The NI roboRIO 2.0 filters and regulates the supplied power and provides power for all of the I/O and user voltage. The NI roboRIO 2.0 has one layer of reverse-voltage protection.

  • Page 15: Connecting To A Network

    5. Turn on the power supply. Powering On the Device The NI roboRIO 2.0 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.
  • Page 16 C, SPI, and the MXP. Input Voltage Brownout Behavior The input voltage range on the NI roboRIO 2.0 is 7 V to 16 V. Operation below 7 V is allowed for short periods of time but is not recommended for continuous operation.
  • Page 17 NI roboRIO 2.0 Embedded Controller for FRC User Manual Stage Input Voltage Range Behavior the following precautions are taken: +6 V voltage rail is ■ disabled All PWM generation ■ stops at the conclusion of the current cycle. GPIOs configured as ■...

  • Page 18: Hardware Block Diagram

    At startup, the controller remains in Stage 1 until the input voltage rises to greater than the brownout threshold voltage. Hardware Block Diagram The following figure shows the arrangement and functions of NI roboRIO 2.0 components. © National Instruments...
  • Page 19 ANALOG IN Port Port Port Pinouts The following describe the pins and signals on the NI roboRIO 2.0 ports. The following figure and table describe the MXP pins and signals. Note that some pins carry both primary and secondary functions. ni.com...
  • Page 20 NI roboRIO 2.0 Embedded Controller for FRC User Manual Figure 18. MXP Pinout Table 4. MXP Signal Descriptions Signal Name Reference Direction Description DGND Output +5 V power output. AI <0..3> AGND Input 0 V to 5 V, referenced, single-ended AI channels.
  • Page 21 H (YEL) Input/Output CAN bus differential high signal. Note The NI roboRIO 2.0 contains an internal 120 Ω termination resistor between L (GRN) and H (YEL). C Port The following figure and table describe the I C port pins and signals.
  • Page 22 NI roboRIO 2.0 Embedded Controller for FRC User Manual Table 6. I C Port Signal Descriptions Signal Name Direction Description — Reference for digital lines and +3.3 V power output. 3.3V Output +3.3 V power output. Input or Output C lines with 3.3 V output, 3.3 V-/5 V-compatible input.

  • Page 23: Relay Port

    NI roboRIO 2.0 Embedded Controller for FRC User Manual Figure 22. DIO Port Pinout Table 8. DIO Port Signal Descriptions Signal Name Direction Description S (DIO) <0..9> Input/Output General-purpose digital lines with 3.3 V output, 3.3 V-/5 V- compatible input. Refer to the DIO, PWM, and Relay Lines section for more information.
  • Page 24 NI roboRIO 2.0 Embedded Controller for FRC User Manual Figure 24. Relay Port Pinout Table 10. Relay Port Signal Descriptions Signal Name Direction Description FWD <0..3> Output Relay digital lines with 5 V output. REV <0..3> Output Relay digital lines with 5 V output.
  • Page 25 NI roboRIO 2.0 Embedded Controller for FRC User Manual Figure 26. PWM Port Pinout Table 12. PWM Port Signal Descriptions Signal Name Direction Description S (PWM) <0..9> Output PWM digital lines with 5 V output. Output +6 V power output for servos only.
  • Page 26 Interfaces AI Channels The NI roboRIO 2.0 has AI channels on the MXP and on the AI 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, AI0-AI3, which you can use to measure 0 V to 5 V signals.
  • Page 27 NI roboRIO 2.0 Embedded Controller for FRC User Manual The following figure shows the AO topology of the NI roboRIO 2.0. Figure 29. AO Circuitry Expansion port 0–5 V DIO, PWM, and Relay Lines The NI roboRIO 2.0 provides the following DIO lines: 3.3 V general-purpose DIO lines on the MXP.
  • Page 28 UART and RS-232 Lines The NI roboRIO 2.0 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.

  • Page 29: Usb Host Port

    This slot is for the microSD card which holds the LabVIEW RT operating system for the roboRIO 2.0. The card may also function as extra storage space. The microSD card must be present before powering on the roboRIO 2.0 as it is necessary for operation.

  • Page 30: Front Panel Buttons

    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 2.0 into safe mode. In safe mode, the NI roboRIO 2.0 © National Instruments...

  • Page 31: User Button

    When the NI roboRIO 2.0 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...

  • Page 32: Status Led

    Status LED The Status LED is off during normal operation. The NI roboRIO 2.0 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.
  • Page 33 Yellow Solid Green and Red enabled. Mode LED The Mode LED is a tri-color red/green/yellow LED that indicates the mode of the NI roboRIO 2.0 outputs, as shown in the following table. Table 18. Mode LED Indications Color State Indication Green and Red disabled.

  • Page 34: Warranty

    RSL enabled. Warranty For customers other than private individual users in the EU: The NI roboRIO 2.0 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. NI will, at its option, repair or replace equipment that proves to be defective during the warranty period.
  • Page 35 NI product. Product registration facilitates technical support and ensures that you receive important information updates from NI corporate headquarters is located at 11500 N Mopac Expwy, Austin, TX, 78759-3504, USA. ni.com © 2023 National Instruments Corporation.

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