The cRIO 9074 is an integrated CompactRIO with 2M FPGA chip.
You will need the RealTime toolkit to work with the 9074, and optionally the FPGA toolkit to write custom FPGA code for the FPGA chip.
Once installed, check out this guide for creating Real Time code:http://www.ni.com/compactriodevguide/
Also, search the NI Example finder for examples of RealTime code, and code specific to your cRIO 9074.
If you have any specific modules for your chassis, search also for those in the Example Finder.
Thoric (CLA, CLED, CTD and LabVIEW Champion)