Transcript cRIO FRC II
Original 8-slot Version 2009-2011 – 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 – 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 # OLD (2009-2011)-cRIO FRC I FRC cRIO Version Comparison NEW FRC II (2012) OLD FRC I (2009-2011) cRIO 9075/9076 cRIO 9072/9074 # slots 4 6 (+2 unusable) RS-232 1 1 Ethernet 1 2 Dimensions-chassis 7”(l) x 3.5”(w) x 2.5”(h) 11.4”(l) x 3.5”(w) x 2.5”(h) Weight-chassis 1.42 lbs 2.05 lbs Operating Voltage 9-30v 19-30v Power 15W 20W System Memory 256MB 128MB Storage Memory 512MB 256MB Processor Freescale MPC5125 Freescale MPC5200 -data/instr cache 32KB/32KB 16KB/16KB FPGA Spartan-6 LX45 Spartan-3 2000 -RAM 2088 Kb 720 Kb -logic cells 43,661 46,080 -multipliers 58 40 -IO transfer rate 1 Gb/s 622 Mb/s Note 2012 slot configuration NEW (2012)-cRIO FRC II 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. – 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 CAN optional Optional Required Optional 12v Optional 24v Note 2012 slot configuration Module Tradeoffs Analog Digital Inputs only Possible to use in lieu of digital inputs 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 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 • 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 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-sedmai-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