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cRIO FRC I

cRIO FRC I. Original 8-slot Version 2009-2011. Where The cRIO Fits. Basics. Chassis 8-slots (6 available, 2 unused) Modules & breakouts Module order for 2012 (changed in 2012) Slot 1 = Analog 9201 Module (required) Slot 2 = Digital 9403 Module (required)

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cRIO FRC I

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  1. cRIO FRC I Original 8-slot Version 2009-2011

  2. Where The cRIO Fits

  3. Basics • Chassis • 8-slots (6 available, 2 unused) • Modules & breakouts • Module order for 2012 (changed in 2012) • Slot 1 = Analog 9201 Module (required) • Slot 2 = Digital 9403 Module (required) • Slot 3 = Solenoid 9472 Module (optional) • Slot 4 = unused • Slot 5 = 2nd Analog (optional) • Slot 6 = 2nd Digital (optional) • Slot 7 = 2nd Solenoid (optional) • Slot 8 = unused

  4. Identifying Modules & Breakouts • Modules • Analog Module #9201 (No LEDs) • Solenoid Module #9472 (has green LEDs) • Digital Module #9403 (Longest connector) • Breakouts • Analog (long board w/ jumper) • Solenoid • (short board) • Digital (separate) Module #

  5. FRC cRIO By The Numbers OLD (2009-2011)-cRIO FRC I Note 2012 slot configuration NEW (2012)-cRIO FRC II

  6. Notes • Original cRIO FRC I is no longer available for purchase • It will continue to be supported by NI tech support • Warranty on cRIO units are 3-years from the day the unit ships from NI. • Original 2009 cRIO’s are now out of warranty. • Hardware • NO conformal coating to minimize damage from metal dust and bits and pieces • Use rubber caps. Optional gaskets are available from AndyMark • External DIP switches (for normal operation they are off) • Safe Mode, Console Out, IP Reset, No App, User1, No FPGA • (2) Ethernet ports • Port 1 MUST be used to connect to the WiFi Bridge. IP is 10.te.am.2 • Port 2 MAY be used to connect a web camera, but normal camera use connects it to the WiFi bridge. Port 2 IP address is 192.168.0.3, but since the cRIO doesn’t act as a router, Port 2 is invisible to the rest of the network. • Power • Four-wire connector, (2) 24v + (2) gnd, only one power and one ground are required. • FRC uses special 24v power dip protected output on Power Distribution Panel.

  7. Notes Too • cRIO NI Software Installed • Vision - Since the older cRIO has less memory, and since the vision module has grown substantially in later LabVIEW releases, the imaging tool installs a simplified version on the 8 slot. • Smaller, stripped down, version of the Vision package (IMAQ) on the 8-slot • For 2012 the features that were removed in the older cRIO FRC I were QR codes, meter reading, OCR, image calibration, and other instrumentation and inspection features. • cRIO Image Tool (PC application) • For 2012 a single image zip applies to both cRIO FRC I&II • Tool handles cRIO FRC I&II and optional module differences invisibly by extracting the appropriated files from the image zip • Helps validate modules are in the correct slots

  8. Making ConnectionsNetwork CAN optional Optional Required

  9. Making ConnectionsPower Optional 12v Optional 24v Note 2012 slot configuration

  10. Module Tradeoffs • Analog • Inputs only • Possible to use in lieu of digital inputs • Digital • Inputs & Outputs • PWM, Digital I/O, I2C, SPI, Relays • Possible to use in lieu of 12v solenoid outputs • Solenoid • Outputs only • Can power sensors via 12v or protected 24v source • Possible to use in lieu of digital outputs

  11. What Is An FPGA?(and why should I care?) • NOT a computer processor like a Pentium or PowerPC • Sort of a generic reconfigurable custom digital (not analog) circuit • Programming it is like doing a circuit design • FRC uses it for super fast data input collection and output • Teams do not touch it directly, only download updated FRC images • Field Programmable Gate Array • Huge collection of yes/no & sequential logic blocks in a massive routing grid • Logic cells combine multiple inputs in boolean ways • Flip-flops & registers are used for sequential logic • All connected by reconfigurable wires via programmable switches • Field Programmable just means the function of the board is defined by our program image, not when the hardware is made • It trades custom chip efficiency (size, power, performance), e.g., cell phone, for adaptability and different cost factors, e.g., cell phone base stations • Where are FPGAs found around the house? • Audio/Video (signal processing) - PC, TV, entertainment systems • Automotive infotainment systems • Wireless base stations keeping up with rapidly evolving cell phone features

  12. Care & Protection • Metal swarf collects inside the cRIO chassis and cause unusual, hard to trace problems, such as, failure to connect to the field and failure to power up. • The module connections, Ethernet ports, serial port, etc. all collect metallic dust and fragments. • Installing the cRIO face-up collects debris. A side mount alleviates some of this • Usually, a simple (careful) cleaning of the chassis interior will fix problems, and seasonal cleaning is recommended. • The cRIO FRC I DOES NOT have a protective conformal coating on the circuits to guard against metal dust and fragments that work their way into the case from shorting out the circuits. • The 2010 and on the KOP came with user installable gaskets that many teams never used or even knew what they were for. • Use the rubber caps to cover the unused 9-pin connectors

  13. Extras How to Clean the cRIO and Install Gaskets: http://digital.ni.com/public.nsf/allkb/FA1B856FC4EB6F9D86257673007935A1 • Spec Links • cRIO-9074 : http://sine.ni.com/nips/cds/view/p/lang/en/nid/203964 • FRC I Freescale Processor Core: http://www.iuma.ulpgc.es/~nunez/clases-sed-mai-68ppc/powerpc_MPC603EUM.pdf • Analog Input Module: http://sine.ni.com/nips/cds/view/p/lang/en/nid/208798 • Digital I/O Module: http://sine.ni.com/nips/cds/view/p/lang/en/nid/208811 • Solenoid Module: http://sine.ni.com/nips/cds/view/p/lang/en/nid/208822

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