USER MANUAL
NI roboRIONI roboRIO
POWERPOWER
STATUSSTATUS
RADIORADIO
SPISPI
CS0CS0
CS1CS1
5V5V
CS2CS2
CS3CS3
SCLKSCLK
MOSIMOSI
INPUTINPUT
CANCAN
7-16 V7-16V
45W
MA
X45W
M
A
X
L (GRN)L (GRN)
H (YEL)H (YEL)
I2C
SCLSCL
3.3V SDA3.3V SDA
RS-232RS-232
TXDTXD
RXDRXD
RSLRSL
MISOMISO
3.3V3.3V
COMMCOMM
MODEMODE
RSLRSL
RELAYRELAY
0 1
FWDFWD
5V5V
S
S
REVREV
2 3 0 1
133
33
2 3
3
2 1
0
79 8
6 5
4
4 5 6
7 8 9
0 1
2
3
ANALOG INANALOG IN
RESETRESET
ACCELEROMETERACCELEROMETER
PWMPWM
DIODIO
Y
Z
X
USERUSER
S
5V5V
S
6V
6V
5
6 7 8
14
9 10
15
161718
12
1
2
3
4
13
11
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
1 Digital input and output (DIO) port
2 RS-232 port
3I
4CAN port
5 Power connector
6USB Device port
7 USB Host retention mount
8 USB Host ports
9 Ethernet port
2
C 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
Contents
Safety Information .................................................................................................................... 3
Electromagnetic Compatibility Guidelines............................................................................... 3
Hardware Block Diagram ......................................................................................................... 4
Setting Up the NI roboRIO.......................................................................................................5
Wiring Power to the NI roboRIO ..................................................................................... 5
Powering On the NI roboRIO ........................................................................................... 5
Connecting the NI roboRIO to a Network........................................................................6
Preparing the NI roboRIO for Competition ...................................................................... 6
User Power........................................................................................................................ 6
Pinouts ...................................................................................................................................... 8
MXP.................................................................................................................................. 8
CAN Port .......................................................................................................................... 9
2
C Port .............................................................................................................................10
I
RS-232 Port....................................................................................................................... 10
DIO Port............................................................................................................................ 11
RSL Port ...........................................................................................................................11
Relay Port ......................................................................................................................... 12
AI Port...............................................................................................................................12
PWM Port ......................................................................................................................... 13
SPI Port .............................................................................................................................13
Signal Ground References ........................................................................................................14
Interfaces................................................................................................................................... 14
AI Channels ...................................................................................................................... 14
AO Channels.....................................................................................................................14
DIO, PWM, and Relay Lines............................................................................................ 15
UART and RS-232 Lines.................................................................................................. 16
SPI Lines...........................................................................................................................16
2
C Lines ........................................................................................................................... 16
I
USB Device Port............................................................................................................... 16
USB Host Port .................................................................................................................. 16
Accelerometer ........................................................................................................................... 17
Converting Raw Data Values to Voltage.................................................................................. 17
Front Panel Buttons .................................................................................................................. 17
Reset Button...................................................................................................................... 17
User Button ....................................................................................................................... 18
LED Indications ........................................................................................................................ 18
Power LED .......................................................................................................................18
Status LED ........................................................................................................................ 19
Radio LED ........................................................................................................................ 19
Comm LED....................................................................................................................... 20
Mode LED ........................................................................................................................20
RSL (Safety) LED ............................................................................................................ 21
Physical Dimensions................................................................................................................. 22
2 | ni.com | NI roboRIO User Manual
Mounting the NI roboRIO ........................................................................................................ 25
Method One: Using Cable Ties to Secure One Edge of the
NI roboRIO to Perfboard............................................................................................... 25
Method Two: Using Cable Ties to Secure One Corner of the
NI roboRIO to Perfboard............................................................................................... 27
Method Three: Using Screws to Secure the Bottom of the
NI roboRIO to a Metal Plate ......................................................................................... 30
Compatible USB and Ethernet Cables...................................................................................... 30
Warranty ................................................................................................................................... 31
Worldwide Support and Services ............................................................................................. 31
Safety Information
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. 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.
Caution To ensure the specified EMC performance, the maximum length for DIO,
2
RS-232, I
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.
C, CAN, SPI, PWM, AI, Relay, and RSL signal wires is 2.0 m (6.56 ft).
NI roboRIO User Manual | © National Instruments | 3
Hardware Block Diagram
CAN
Port
Xilinx Zynq-7020
Processor/FPGA
(LabVIEW RT)
USB
Device
Port
USB
Hosts
Port
10/100
Ethernet
Port
Status LED
Comm LED
Radio LED
Mode LED
R
SL LED
Power LED
+
3.3 V
+5.0 V
16 16
2
4
UART
DIO
Analog Out
Analog In
myRIO
Expansion
Port (MXP)
User
Button
Reset
Button
PWM
Port
10
10
+6.0 V
PWM
SPI
SPI Port
+5.0 V
+3.3 V
7
7
2
RS-232
RS-232
Port
2
I2C
I2C
Port
2
+3.3 V
DIO
Port
DIO
10 10
+5.0 V
Watchdog
Nonvolantile
Memory
DDR3
Acceler-
ometer
RSL
RSL
Port
Relay
8
8
RELAY
Port
4
+5.0 V
AI
ANALOG IN
Port
Figure 2 shows the arrangement and functions of NI roboRIO components.
Figure 2. NI roboRIO Hardware Block Diagram
4 | ni.com | 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.
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
2
1
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.
V
C
2
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 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 AI ports for sensors, and power for the MXP for
powering expansion circuits.
+3.3 V Power for I2C, SPI, and the MXP.
6 | ni.com | NI roboRIO 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
Input Voltage
Stage
Range
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.
• CAN-based motor controllers become disabled.
Behavior
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
• AI and AO
2
C
•I
•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 Less than 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
AO0
AO1
AGND
DGND
UART.RX
DGND
UART.TX
DGND
DIO11 / PWM7
DGND
DIO12 / PWM8
DGND
DIO13 / PWM9
DGND
DGND
DIO14 / I2C SCL
DIO15 / I2C SDA
+5V
AI1
AI3
AI2
DIO1 / PWM1
DIO2 / PWM2
DIO3 / PWM3
DIO4 / SPICS
AI0
DIO0 / PWM0
DIO5 / SPI CLK
DIO6 / SPI MISO
DIO7 / SPI MOSI
DIO8 / PWM4
DIO9 / PWM5
DIO10 / PWM6
+3.3V
3433323130292827262524
23222120191817
1615141312111098
7
6
5
4
3
2
1
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
Signal Name Reference Direction Description
+5V DGND Output +5 V power output.
AI <0..3> AGND Input 0 to 5 V, referenced, single-ended AI
AO <0..1> AGND Output 0 to 5 V referenced, single-ended AO.
8 | ni.com | NI roboRIO User Manual
AGND — — Reference for AI and AO.
+3.3V DGND Output +3.3 V power output.
Table 3. MXP Signal Descriptions
channels. Refer to the AI Channels
section for more information.
Refer to the AO Channels section for
more information.
Table 3. MXP Signal Descriptions (Continued)
Signal Name Reference Direction Description
DIO <0..15> DGND Input or
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.
UART.RX DGND Input UART receive input. UART lines are
electrically identical to DIO lines.
UART.TX DGND Output UART 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)
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
I2C Port
RXD
TXD
Figure 6 and Table 5 describe the I2C port pins and signals.
Figure 6. I
Table 5. I
2
C Port Signal Descriptions
2
C Port Pinout
SDA
3.3V
SCL
Signal Name Direction Description
GND — Reference for digital lines and +3.3 V power
output.
3.3V Output +3.3 V power output.
SCL Input or Output I2C lines with 3.3 V output, 3.3 V/
5 V-compatible input. Refer to the I
SDA Input or Output
section for more information.
RS-232 Port
2
C Lines
Figure 7 and Table 6 describe the RS-232 port pins and signals.
Figure 7. RS-232 Serial Port Pinout
Table 6. RS-232 Serial Port Signal Descriptions
Signal Name Direction Description
TXD Output Serial 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
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