roboRIO 2.0 Embedded Controller for FRC Specifications

roboRIO 2.0 Specifications

These specifications apply to the roboRIO 2.0 Embedded Controller for FRC.

These specifications are typical for the 0° C to 40° C operating temperature range unless otherwise noted.

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roboRIO 2.0 Pinouts

Use the pinouts to connect to terminals on the roboRIO 2.0.

MXP Pinout

The following figure and table describe the MXP pins and signals. Note that some pins carry both primary and secondary functions.

Table 1. MXP Signal Descriptions
Signal Name	Reference	Direction	Description
+5V	DGND	Output	+5 V power output.
AI <0..3>	AGND	Input	0 V to 5 V, referenced, single-ended AI channels.
AO <0..1>	AGND	Output	0 V to 5 V referenced, single-ended AO.
AGND	—	—	Reference for AI and AO.
+3.3V	DGND	Output	+3.3 V power output.
DIO <0..15>	DGND	Input or Output	General-purpose digital lines with 3.3 V output, 3.3 V-/5 V-compatible input.
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 Pinout

The following figure and table describe the CAN port pins and signals.

Table 2. 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 roboRIO 2.0 contains an internal 120 Ω termination resistor between L (GRN) and H (YEL).

I²C Port Pinout

The following figure and table describe the I²C port pins and signals.

I^2C Port Pinout — Figure 4. I²C Port Pinout

Table 3. Signal Descriptions
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.
SDA	Input or Output	I²C lines with 3.3 V output, 3.3 V-/5 V-compatible input.

RS-232 Port Pinout

The following figure and table describe the RS-232 port pins and signals.

Table 4. Signal Descriptions
Signal Name	Direction	Description
TXD	Output	Serial transmit output with ±5 V to ±15 V signal levels.
RXD	Input	Serial receive input with ±15 V input voltage range.
GND	—	Reference for digital lines.

DIO Port Pinout

The following figure and table describe the DIO port pins and signals.

Table 5. 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.
5V	Output	+5 V power output.
GND	—	Reference for digital lines and +5 V power output.

RSL Port Pinout

The following figure and table describe the RSL port pins and signals.

Table 6. Signal Descriptions
Signal Name	Direction	Description
S	Output	Switched power output to drive RSL when RSL is enabled. The voltage level depends on the connected input voltage. RSL current is limited at 120 mA.
GND	—	Reference for S.

Relay Port Pinout

The following figure and table describe the Relay port pins and signals.

Table 7. 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.
GND	—	Reference for digital lines.

AI Port Pinout

The following figure and table describe the AI port pins and signals.

Table 8. Signal Descriptions
Signal Name	Direction	Description
S (AI) <0..3>	Input	0 V to 5 V referenced, single-ended AI channels.
5V	Output	+5 V power output.
GND	—	Reference for AI and +5 V power.

PWM Port Pinout

The following figure and table describe the PWM port pins and signals.

Table 9. Signal Descriptions
Signal Name	Direction	Description
S (PWM) <0..9>	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 Pinout

The following figure and table describe the SPI port pins and signals.

Table 10. Signal Descriptions
Signal Name	Direction	Description
3.3V	Output	+3.3 V power output.
5V	Output	+5 V power output.
CS <0..3>	Output	SPI with 3.3 V output, 3.3 V-/5 V-compatible input.
SCLK	Output
COPI	Output
CIPO	Input
GND	—	Reference for digital lines and +3.3 V and +5.5 V power output.

Processor

Type	Xilinx Z-7020 All Programmable SoC dual-core ARM Cortex-A9
Speed	866 MHz
Cores	2

Memory

Nonvolatile

16 MB

microSD

4 GB

DDR3
Amount	512 MB
Clock frequency	533 MHz
Data bus width	16 bits

For information about the life span of the nonvolatile memory and about best practices for using nonvolatile memory, visit ni.com/info and enter the Info Code SSDBP.

FPGA

Type	Xilinx Z-7020

Network

Network interface	10BaseT and 100BaseTX Ethernet
Compatibility	IEEE 802.3
Communication rates	10 Mbps, 100 Mbps, auto-negotiated
Maximum cabling distance	100 m/segment

USB Ports

Host
Number of ports	2
Type	USB 2.0 Hi-Speed
VBus current	900 mA maximum per port

Device
Number of ports	1
Type	USB 2.0 Hi-Speed

Analog Input

Aggregate sample rate	500 kS/s
Resolution	12 bits
Overvoltage protection	±16 V
Expansion port configuration	4 single-ended channels
Integrated AI connector configuration	4 single-ended channels
Input impedance	>500 kΩ acquiring at 500 kS/s, 1 MΩ powered on and idle, 4.7 kΩ powered off
Recommended source impedance	3 kΩ or less
Nominal range	0 V to +5 V
Absolute accuracy	±50 mV
Bandwidth	20 kHz minimum, >50 kHz typical

Analog Output

Aggregate maximum update rate	345 kS/s
Resolution	12 bits
Overload protection	±16 V
Startup voltage	0 V after FPGA initialization
Configuration	2 single-ended channels on expansion port
Range	0 V to +5 V
Absolute accuracy	50 mV
Current drive	3 mA
Slew rate	0.3 V/μs

Digital I/O

Number of lines

Expansion port

16 DIO lines; one UART

Integrated DIO, I²C, and SPI bus
DIO lines	10 DIO lines
I²C lines	1 SDA and 1 CLK
SPI lines	Drives up to four devices

Direction control

Each DIO line individually programmable as input or output

Logic level

5 V compatible LVTTL input; 3.3 V LTTL output

Input logic levels
Input low voltage, V_IL	0.0 V min; 0.8 V max
Input high voltage, V_IH	2.0 V min; 5.25 V max

Output logic levels
Output low voltage, V_OL, sinking 4 mA	0.0 V min; 0.4 V max
Output high voltage, V_OH, sourcing 4 mA	2.4 V min; 3.465 V max

Minimum pulse width

20 ns

Maximum frequencies for secondary digital functions
SPI	4 MHz
I²C	400 kHz

UART lines
Maximum baud rate	230,400 bps
Data bits	5, 6, 7, 8
Stop bits	1, 2
Parity	Odd, Even, Mark, Space
Flow control	XON/XOFF

RS-232 Serial Port

Maximum baud rate

115,200 bps

Data bits

5, 6, 7, 8

Stop bits

1, 2

Parity

Odd, Even, Mark, Space

Flow control

XON/XOFF

Logic level
Standard	Meets or exceeds TIA/EIA-232-F voltage levels
Receiver input voltage	+30 V maximum
Driver output high voltage	5 V minimum
Driver output low voltage	-5 V maximum

PWM and Relay Lines

PWM port

10 PWM lines

Relay port

4 forward; 4 reverse

Direction control

Output only

Logic level

5 V output

Maximum output current
PWM	15.0 mA
Relay	7.5 mA

Series resistor in each output path
PWM	330 Ω
Relay	680 Ω

Output high voltage, V_OH
PWM sourcing 0.1 mA	4.75 V minimum; 5.25 V maximum
Relay sourcing 0.1 mA	4.75 V minimum; 5.25 V maximum

Output low voltage, V_OL
PWM sinking 0.1 mA	0.0 V minimum; 0.25 V maximum
Relay sourcing 0.1 mA	0.0 V minimum; 0.25 V maximum

Maximum frequency

150 kHz

RSL

RSL port	Switched VIN output
Voltage range	7 V to 16 V (VIN)
Current range	120 mA maximum

Accelerometer

Number of axes	3
Range	±8 g
Resolution	12 bits
Sample rate	800 S/s
Noise	3.9 mg_ms typical at 25° C

Power Output

+6.0 V power output
Output voltage	5.5 V to 6.1 V
Output voltage with load >360 mA	5.75 V to 6.1 V
Maximum current	2.2 A total

+5.0 V power output
Output voltage with and without load	4.7 V to 5.25 V
Maximum current	1.0 A total

+3.3 V power output
Output voltage with and without load	3.1 V to 3.465 V
Maximum current	1.225 A total

Brownout Threshold

Default threshold	7 V
User-configurable threshold	4.5 V to 12 V
Tolerance	±0.35 V
Hysteresis	0.85 V

Power Requirements

The roboRIO 2.0 requires a power supply connected to the power connector.

Power supply voltage range	7 VDC to 16 VDC
Maximum power consumption	45 W
Typical idle power consumption	5 W

Physical Characteristics

Dimensions	14.6 cm x 14.3 cm x 3.5 cm (5.75 inch x 5.64 inch x 1.37 inch)
Weight	335 g (11.82 oz)

Environmental Characteristics

Temperature
Operating	0 °C to 40 °C
Storage	-20° C to 70° C

Humidity
Operating	10% RH to 90% RH, noncondensing
Storage	10% RH to 90% RH, noncondensing

Pollution Degree

2

Maximum altitude

2,000 m

Shock and Vibration

Operating vibration
Random	5 g_RMS, 10 Hz to 500 Hz
Sinusoidal	5 g, 10 Hz to 500 Hz

Operating shock

30 g, 11 ms half-sine; 50 g, 3 ms half-sine; 18 shocks at 6 orientations

Environmental Standards

This product meets the requirements of the following environmental standards for electrical equipment.

IEC 60068-2-1 Cold
IEC 60068-2-2 Dry heat
IEC 60068-2-78 Damp heat (steady state)
IEC 60068-2-64 Random operating vibration
IEC 60068-2-6 Sinusoidal operating vibration
IEC 60068-2-27 Operating shock

Note To verify marine approval certification for a product, refer to the product label or visit ni.com/certification and search for the certificate.

Safety Compliance Standards

This product is designed to meet the requirements of the following electrical equipment safety standards for measurement, control, and laboratory use:

IEC 61010-1, EN 61010-1
UL 61010-1, CSA C22.2 No. 61010-1

Note For safety certifications, refer to the product label or the Product Certifications and Declarations section.

EMC Standards

This product meets the requirements of the following EMC standards for electrical equipment for measurement, control, and laboratory use:

EN 61326-1 (IEC 61326-1): Class A emissions; Basic immunity
EN 55011 (CISPR 11): Group 1, Class A emissions
AS/NZS CISPR 11: Group 1, Class A emissions

Note Group 1 equipment is any industrial, scientific, or medical equipment that does not intentionally generate radio frequency energy for the treatment of material or inspection/analysis purposes.

Note In Europe, Australia, and New Zealand (per CISPR 11) Class A equipment is intended for use in non-residential locations.

Environmental Management

NI is committed to designing and manufacturing products in an environmentally responsible manner. NI recognizes that eliminating certain hazardous substances from our products is beneficial to the environment and to NI customers.

For additional environmental information, refer to the Engineering a Healthy Planet web page at ni.com/environment. This page contains the environmental regulations and directives with which NI complies, as well as other environmental information not included in this document.

Product Certifications and Declarations

Refer to the product Declaration of Conformity (DoC) for additional regulatory compliance information. To obtain product certifications and the DoC for NI products, visit ni.com/product-certifications, search by model number, and click the appropriate link.

1. Digital input and output (DIO) port	2. RS-232 port	3. I2C port
4. CAN port	5. Power connector	6. USB Device port
7. microSD card slot	8. USB Host ports	9. Ethernet 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