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NI 9144 User Guide and Specifications

Using the NI 9144 with an EtherCAT Third-Party Master

All of the functionality of the NI C Series modules is available to
third-party masters using vendor extensions to the object dictionary. The
NI 9144 is a modular device, meaning each module plugged into the
backplane has its own object dictionary, and each module configuration
is done through this dictionary. If your master software supports AoE
services (ADS over EtherCAT), you can address the module directly. If
your master software does not support AoE services, you can still configure
your module using NI vendor extensions and CoE (CAN over EtherCAT).

Using AoE/SDO

The AoE protocol allows you to specify the destination port or address of
the SDO request. An address of 0 indicates the NI 9144 device, while
addresses 1 through 8 route the SDO request to the object dictionary of the
module in the addressed slot. If no module is inserted in the addressed slot,
the request fails. SDOInfo and SDO requests work with module object
dictionaries over AoE in a manner similar to the NI 9144 main object
dictionary.

Depending on the master software interface, you may be required to add
1,000 to the slot number to create a valid AoE address.

For more information, refer to your C Series Module documentation.

Using CoE/SDO

The CoE protocol does not have a destination port or address, so the
NI 9144 provides an object dictionary entry that allows addressing support.
Prior to sending an SDO or SDOInfo request, your application can write a
slot number of 1 through 8 to the object dictionary index 0x5FFF subindex
0. Once this address is written, all future SDO transactions are sent to the
object dictionary of the module in the addressed slot. If no module is
inserted in the addressed slot, the request fails.

After the module-specific SDOInfo and SDO requests are complete, the
application writes 0 to the module’s object dictionary index 0x5FFF
subindex 0 to return control to the NI 9144 main object dictionary.

For a list of all chassis and module object dictionary entries, refer to

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Содержание Deterministic Ethernet Expansion Chassis NI...

Страница 1: ...the Chassis on a DIN Rail 8 Connecting the NI 9144 Chassis to a Network 9 Understanding LED Indications 10 POWER LED 10 FPGA LED Open FPGA Mode Only 10 RUN and ERR LEDs 10 Resetting the NI 9144 Netwo...

Страница 2: ...1 9221 21 NI 9203 24 NI 9205 9206 28 NI 9211 31 NI 9213 32 NI 9215 34 NI 9217 35 NI 9219 38 NI 9233 49 NI 9234 52 NI 9237 55 NI 9229 9239 58 NI 9263 60 NI 9264 61 NI 9265 62 NI 9401 63 NI 9403 63 NI 9...

Страница 3: ...dous locations Class 1 Zone 2 AEx nA IIC T4 and Ex nA IIC T4 hazardous locations and nonhazardous locations only Follow these guidelines if you are installing the NI 9144 chassis in a potentially expl...

Страница 4: ...arine applications To verify Lloyd s Register certification visit ni com certification and search for the LR certificate or look for the Lloyd s Register mark on the chassis Mounting the NI 9144 Chass...

Страница 5: ...nsions Figure 3 NI 9144 Chassis Front View with Dimensions 58 9 mm 2 32 in 48 4 mm 1 9 in 29 0 mm 1 14 in 286 4 mm 11 28 in 3 2 mm 0 13 in Cabling Clearance 50 8 mm 2 00 in 19 0 mm 0 75 in 2 9 mm 0 12...

Страница 6: ...es from the chassis before mounting it Mounting the NI 9144 Chassis on a Panel Use the NI 9905 panel mount kit to mount the NI 9144 chassis on a flat surface To use the NI 9905 panel mount kit complet...

Страница 7: ...the NI 9905 panel to the wall using the screwdriver and screws that are appropriate for the wall surface Caution Remove any C Series I O modules from the chassis before removing it from the panel Ethe...

Страница 8: ...mount the chassis on a DIN rail 1 Fasten the DIN rail clip to the chassis using a number 2 Phillips screwdriver and two M4 16 screws National Instruments provides these screws with the DIN rail mount...

Страница 9: ...nect the secondary port of the LabVIEW Real Time target to the NI 9144 IN port Use a standard Category 5 CAT 5 or better Ethernet cable Use the NI 9144 OUT port to connect to other NI 9144 chassis and...

Страница 10: ...I 9144 is in an operational state The ERR error LED is red and indicates error codes Table 1 lists the RUN and ERR LED indications Table 1 RUN and ERR LED Indications LED Behavior RUN LED ERR LED Run...

Страница 11: ...led EtherCAT telegram On Operational Inputs and Outputs are functional PDI Process DataInterface Watchdog Timeout Slave failed to transfer I O data in scheduled time Flickering Bootstrap Firmware Upda...

Страница 12: ...des the NI 9144 can operate in free run and synchronized using the EtherCAT distributed clock through DC synchronized mode In free run mode the NI 9144 by default runs its conversion cycle as quickly...

Страница 13: ...is inserted in the addressed slot the request fails SDOInfo and SDO requests work with module object dictionaries over AoE in a manner similar to the NI 9144 main object dictionary Depending on the ma...

Страница 14: ...ust use a National Electric Code NEC UL Listed Class 2 power supply with the NI 9144 chassis Recommended power supply 48 W 24 VDC Power consumption 20 W maximum Chassis input range 9 to 30 V Physical...

Страница 15: ...ments within Measurement Categories II III or IV Hazardous Locations U S UL Class I Division 2 Groups A B C D T4 Class I Zone 2 AEx nA IIC T4 Canada C UL Class I Division 2 Groups A B C D T4 Class I Z...

Страница 16: ...alf sine 18 shocks at 6 orientations Operating vibration random IEC 60068 2 64 5 grms 10 to 500 Hz Operating vibration sinusoidal IEC 60068 2 6 5 g 10 to 500 Hz Cabling Table 2 shows the standard Ethe...

Страница 17: ...or the Online Product Certification section Electromagnetic Compatibility This product meets the requirements of the following EMC standards for electrical equipment for measurement control and labora...

Страница 18: ...anufacturing products in an environmentally responsible manner NI recognizes that eliminating certain hazardous substances from our products is beneficial not only to the environment but also to NI cu...

Страница 19: ...e information listed here and any given object dictionary index may have a different meaning depending on which module is inserted For more information refer to your C Series module documentation Tabl...

Страница 20: ...ipolar control Module configuration command Module conversion rate control 0x2003 0 U32 R W Error acknowledgement or status 0x2005 0 U8 R W Refresh period Conversion format 0x2100 0 N ARR R Calibratio...

Страница 21: ...NI 9201 9221 Table 4 NI 9201 9221 Vendor Configuration Extensions Index Sub Type R W Description 0x2001 0 ARR U32 Scan List 9 1 R Channels to Convert 1 8 default 8 2 9 R W Channel Code 0x2002 0 U32 R...

Страница 22: ...bit flag where bit 0 represents a conversion on channel 0 through bit 7 for channel 7 So for example the scan list entry 0x00010008 indicates this scan stores at address 1 and the conversion two in t...

Страница 23: ...er bit measured when the inputs are grounded Note LSB weight is referred to as Gain in the object dictionary The calibration data is stored in a U32 array though each Offset field subindex 1 3 5 and s...

Страница 24: ...Type R W Value 0x2001 0 ARR U32 Scan List 9 1 R Channels to Convert 1 8 default 8 2 9 R W Channel Code 0x2002 0 U32 R W Unipolar Channel Mask 0x2100 0 ARR U32 Calibration 36 1 R Bipolar Offset 2 R Ch...

Страница 25: ...signed or unipolar unsigned and bits 2 0 are the channel number reversed So for example the scan list entry 0x00010006 indicates that this scan gets stored at address 1 and the conversion two is a bi...

Страница 26: ...d when the inputs are open Note LSB weight is referred to as Gain in the object dictionary The difference in offset from channel to channel is negligible The calibration data gives one offset and eigh...

Страница 27: ...I 9203 Calibration Coefficients Coefficient Representation Units LSB Weight Unsigned pA LSB Offset Signed pA Table 13 NI 9203 Calibration Equation Information Term Units Definition Icorrected pA Calib...

Страница 28: ...ns in the future at time t 2 On the NI 9205 9206 this conversion code is listed in Table 16 Table 14 NI 9205 9206 Vendor Configuration Extensions Index Sub Type R W Description 0x2001 0 ARR U32 Scan L...

Страница 29: ...205 9206 Conversion Code Bits Field 15 13 001 Read AI 12 11 Bank 01 Channels 0 15 10 Channels 16 31 10 8 Channel LSB 0 7 7 6 00 Cal Pos Ref5V 5 4 00 NRSE 11 Cal Neg AI Gnd RSE or DIFF 3 2 Mode 10 Sing...

Страница 30: ...ing point format for use in the calibration formula 2 Select the 32 bit gain value for a particular range Table 17 NI 9205 9206 Scan List Format Index Sub Type Value Sub Value 0x2001 0 ARR U32 33 1 32...

Страница 31: ...ta read from device Scaled 16 bit signed data in Volts a3 x3 a2 x2 a1 x a0 It is also possible to decode the raw data using only the offset and gain values For more information refer to the NI 9201 92...

Страница 32: ...module ADC itself NI 9213 Table 19 NI 9211 Scan List Format Index Sub Type Value 0x2001 0 ARR U32 7 1 6 2 0 3 1 7 5 Table 20 NI 9213 Vendor Configuration Extensions Index Sub Type R W Description 0x2...

Страница 33: ...mocouple channels always measured in a 78 mV range 16 One cold junction channel always measured in a 2 5 V range 17 One auto zero channel always measured in a 78 mV range Table 21 NI 9213 Conversion S...

Страница 34: ...on the calibration conversion is performed on the module ADC NI 9215 Table 23 NI 9213 Scan List Format Index Sub Type Value 0x2001 0 ARR U32 19 1 18 2 0 3 1 18 16 19 17 Table 24 NI 9215 Vendor Configu...

Страница 35: ...d adjust the raw data into calibrated data The calibration data is stored in a U32 array though each Offset field subindex 1 3 5 and so on should be interpreted as a signed value Use the calibration c...

Страница 36: ...re a conversion at time t and bits 7 0 describe the conversion control codes that take effect 0x2100 0 ARR U32 Calibration 16 1 R Ch0 Offset 2 R Ch0 Gain 3 R Ch1 Offset 8 R Ch3 Gain 9 R External Ch0 O...

Страница 37: ...mode There is a 1 mA excitation current source per channel and the module range is 500 to 500 The resistance range specified in the manual is 0 to 400 This range is tested and covers the temperature r...

Страница 38: ...rrect data Rraw bits data returned by the NI 9217 in bits Rcorrected calibrated resistance reading NI 9219 Table 31 NI 9217 Calibration Coefficients Coefficient Representation Units LSB Weight Unsigne...

Страница 39: ...e 0x0001000F High Speed 0x000B000F Best 60 Hz Rejection 0x000D000F Best 50 Hz Rejection 0x0032000F High Resolution 0x2100 0 ARR U32 Calibration 168 1 R Ch0 60 V Offset 2 R Ch0 60 V Offset 3 R Ch0 15 V...

Страница 40: ...ch0 NI 9219 Calibration Data The NI 9219 has four channels which each have 21 different operating modes and ranges Each channel has an associated LSB weight which is the number of volts per bit and an...

Страница 41: ...ring units use the following formula y m x b b offset based on range of the device such as 60 for 60 Volts Voltage Measurement Range m Gain Full Range 224 such as 120 224 for 60 Volts Voltage Measurem...

Страница 42: ...entries in the object dictionary Data in the object dictionary is held in LSB format so the value 0x12345678 is represented in memory as the series of bytes 0x78 0x56 0x34 0x12 The command word forma...

Страница 43: ...end calibration gain and offset values in MSB format The Conversion Time value must be the same across all channels Where Table 37 NI 9219 Scan List Format Bits Field 7 6 Channel Number 0 3 5 0 4 0 Co...

Страница 44: ...ration Value Max Frequency Conversion Time Description 0x01 100 Hz 50 Hz TC 10 ms 20 ms TC High Speed 0x08 9 09 Hz 8 33 Hz TC 110 ms 120 ms TC Best 60 Hz Rejection 0x09 7 69 Hz 7 14 Hz TC 130 ms 140 m...

Страница 45: ...l Bridge CJC 62 5 mV V 0x14 7 8 mV V 0x17 CJC range Table 41 NI 9219 Configuration 1 Command Bytes Command Byte Value Description 0x01 ADC Mode Configuration Byte Channel 0 0x01 Data Byte 0x46 CRC val...

Страница 46: ...e Configuration Byte Channel 1 0x01 Data Byte 0x64 CRC value 0x5F Mode Range Configuration Channel 1 0x01 Data Byte 0xE4 CRC value 0x44 Calibration Offset MSB Channel 1 0x7F Data Byte 0x76 CRC value 0...

Страница 47: ...value 0x9F Mode Range Configuration Channel 2 0x01 Data Byte 0x4E CRC value 0x84 Calibration Offset MSB Channel 2 0x7F Data Byte 0xDC CRC value 0x85 Calibration Offset Byte 2 Channel 2 0xFF Data Byte...

Страница 48: ...ue 0xC4 Calibration Offset MSB Channel 3 0x7F Data Byte 0xFE CRC value 0xC5 Calibration Offset Byte 2 Channel 3 0xFF Data Byte 0x1C CRC value 0xC6 Calibration Offset LSB Channel 3 0xD3 Data Byte 0xCA...

Страница 49: ...he ADC conversion command 0x65 Data Byte 0xA0 CRC value Table 42 NI 9233 Vendor Configuration Extensions Index Sub Type R W Description 0x2002 0 U32 R W Configure ADC default 0x0A 0x2100 0 ARR U32 Cal...

Страница 50: ...etween 512 kHz and 6 4 MHz This means that only values from 2 to 25 are valid when using the 12 8 MHz internal clock source Clock Source 0b00 0 The OCLK pin is used as the oversample clock source 0b01...

Страница 51: ...in in the object dictionary The calibration data is stored in a U32 array though each Offset field subindex 1 3 5 and so on should be interpreted as a signed value Use the calibration coefficients wit...

Страница 52: ...15 8 control the channel mode while bits 7 0 set the conversion rate Table 46 NI 9234 Vendor Configuration Extensions Index Sub Type R W Description 0x2002 0 U32 R W Configure Module default 0x06 0x21...

Страница 53: ...ration Clock Divisor The NI 9234 divides the clock source internal or external by this value and uses it as the converters oversample clock The data rate is equal to 1 256 times this oversample clock...

Страница 54: ...n a U32 array though each Offset field subindex 1 3 5 and so on should be interpreted as a signed value Use the calibration coefficients with the following equation to generate corrected data Table 48...

Страница 55: ...Full Bridge Mode for all channels by default Table 50 NI 9237 Vendor Configuration Extensions Index Sub Type R W Description 0x2002 0 U32 R W Configure Module default 0x00060000 0x2100 0 ARR U16 Cali...

Страница 56: ...ltage equal to the midpoint of the excitation voltage as the negative input to the rest of the circuit A logic 1 in any bit enables half bridge completion for the respective channel while a logic 0 di...

Страница 57: ...his oversample clock frequency The final data rate must be between 391 kS s and 52 734 kS s This means that while all values from 1 to 31 are within the specified operating range when using the 12 8 M...

Страница 58: ...field subindex 1 3 5 and so on should be interpreted as a signed value Use the calibration coefficients with the following equation to generate corrected data NI 9229 9239 Table 53 NI 9237 Scan List...

Страница 59: ...Each channel has an associated LSB weight which is the number of volts per bit and an offset which is the number of volts per bit measured when the inputs are grounded Note LSB weight is referred to...

Страница 60: ...ation data is stored in a U32 array though each Offset field subindex 1 3 5 and so on should be interpreted as a signed value Use the calibration coefficients with the following equation to generate c...

Страница 61: ...dictionary The calibration data is stored in a U32 array though each Offset field subindex 1 3 5 and so on should be interpreted as a signed value Use the calibration coefficients with the following e...

Страница 62: ...is the number of volts per bit measured when the inputs are grounded Note LSB weight is referred to as Gain in the object dictionary The calibration data is stored in a U32 array though each Offset f...

Страница 63: ...are connected to the I O pins NI 9403 Table 62 NI 9401 Vendor Configuration Extensions Index Sub Type R W Description 0x2001 0 U32 R W Nibble direction control default 0 Table 63 NI 9401 Scan List Fo...

Страница 64: ...th the input and output data is transmitted in the PDO regardless of the direction control only the relevant bits are connected to the I O pins NI 9476 NI 9476 Error Status If a channel over current o...

Страница 65: ...ustin Texas 78759 3504 National Instruments also has offices located around the world to help address your support needs For telephone support in the United States create your service request at ni co...

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