National Instruments Deterministic Ethernet Expansion Chassis NI 9144 User Manual
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National Instruments Deterministic Ethernet Expansion Chassis NI 9144 User Manual

National Instruments Deterministic Ethernet Expansion Chassis NI 9144 User Manual

User guide and specifications deterministic ethernet expansion chassis for c series modules
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USER GUIDE AND SPECIFICATIONS
NI 9144
Deterministic Ethernet Expansion Chassis for C Series Modules
Contents
Introduction ............................................................................................. 2
Safety Guidelines .................................................................................... 3
Safety Guidelines for Hazardous Locations .................................... 3
in Europe................................................................................ 4
Special Conditions for Marine Applications ................................... 4
Mounting the NI 9144 Chassis................................................................ 4
Mounting the NI 9144 Chassis on a Panel....................................... 6
Mounting 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 Network Configuration ....................................... 12
Safe-State Outputs................................................................................... 12
Slave Timing Modes ............................................................................... 12
Updating your Firmware ......................................................................... 12
Using AoE/SDO .............................................................................. 13
Using CoE/SDO............................................................................... 13
Specifications .......................................................................................... 14
Network ........................................................................................... 14
Power Requirements ........................................................................ 14
Physical Characteristics ................................................................... 14
Safety Voltages ................................................................................ 14
Hazardous Locations........................................................................ 15
Environmental.................................................................................. 15
Shock and Vibration ........................................................................ 16
Cabling............................................................................................. 16
Safety Standards .............................................................................. 17

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  • Page 1: Table Of Contents

    USER GUIDE AND SPECIFICATIONS NI 9144 Deterministic Ethernet Expansion Chassis for C Series Modules Contents Introduction ... 2 Safety Guidelines ... 3 Mounting the NI 9144 Chassis... 4 Connecting the NI 9144 Chassis to a Network ... 9 Understanding LED Indications... 10 Resetting the NI 9144 Network Configuration ...

  • Page 2: Introduction

    Appendix A...19 Where to Go for Support ...65 Introduction This document describes how to connect the NI 9144 chassis to a network, how to use the NI 9144 chassis features, and contains the NI 9144 chassis specifications. The NI 9144 is a slave device and requires a compliant EtherCAT Master and network to function.

  • Page 3: Safety Guidelines

    Not following these guidelines may result in serious injury or death. Do not disconnect the power supply wires and connectors from the chassis unless Caution power has been switched off. © National Instruments Corporation POWER FPGA INPUT 9-30 V...

  • Page 4: Special Conditions For Hazardous Locations Use In Europe

    Substitution of components may impair suitability for Class I, Division 2. Caution Caution For Zone 2 applications, install the system in an enclosure rated to at least IP 54 as defined by IEC 60529 and EN 60529. Special Conditions for Hazardous Locations Use in Europe This equipment has been evaluated as Ex nA IIC T4 equipment under DEMKO Certificate No.
  • Page 5 POWER FPGA Ether 87.3 mm (3.44 in.) INPUT 9-30 V 20 W MAX © National Instruments Corporation Cabling Clearance 50.8 mm (2.00 in.) 286.4 mm (11.28 in.) Figure 2. NI 9144 Chassis, Bottom View with Dimensions 19.0 mm (0.75 in.) 165.1 mm...

  • Page 6: Mounting The Ni 9144 Chassis On A Panel

    Figure 4. NI 9144 Chassis, Side View with Dimensions Fasten the chassis to the panel mount kit using a number 2 Phillips screwdriver and two M4 × 16 screws. National Instruments provides these screws with the panel mount kit. You must use these screws because they are the correct depth and thread for the panel.
  • Page 7 Figure 6. Dimensions of NI 9144 Chassis with Panel Mount Accessory Installed Caution Remove any C Series I/O modules from the chassis before removing it from the panel. © National Instruments Corporation 1 4 4 N I 9 E t h...

  • Page 8: Mounting The Chassis On A Din Rail

    NI 9144 User Guide and Specifications 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 kit. Figure 7. Installing the DIN Rail Clip on the NI 9144 Chassis Insert one edge of the DIN rail into the deeper opening of the DIN rail clip, as shown in Figure 8.

  • Page 9: Connecting The Ni 9144 Chassis To A Network

    To prevent data loss and to maintain the integrity of your EtherCAT installation, do not use a CAT-5 Ethernet cable longer than 100 m. National Instruments recommends using a CAT-5 or better shielded twisted-pair Ethernet cable. If you need to build your own...

  • Page 10: Understanding Led Indications

    Understanding LED Indications Figure 9 shows the NI 9144 chassis LEDs. POWER LED The POWER LED is lit while the NI 9144 chassis is powered on. This LED indicates that the power supply connected to the chassis is adequate. FPGA LED—Open FPGA Mode Only This LED is for Open FPGA mode only.
  • Page 11 Table 1. RUN and ERR LED Indications (Continued) Behavior Run Mode Double-Flash — Operational Flickering Bootstrap Figure 10 shows the Run Mode transition. © National Instruments Corporation RUN LED Description — Inputs and Outputs are functional Firmware Update INIT PRE-OP...

  • Page 12: Resetting The Ni 9144 Network Configuration

    Resetting the NI 9144 Network Configuration To reset the NI 9144 network configuration, unplug and replug in the NI 9144 chassis. Safe-State Outputs The NI 9144 has a safe state that lies between its configuration and operational states. When moving out of the operational state down to the configuration state, during normal operation or in case of a serious error, the NI 9144 passes through this safe state.

  • Page 13: Using The Ni 9144 With An Ethercat Third-Party Master

    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 Appendix © National Instruments Corporation NI 9144 User Guide and Specifications...

  • Page 14: Specifications

    Specifications The following specifications are typical for the –40 to 70°C operating temperature range unless otherwise noted. For more information, refer to the specific module specifications. Network Network interface ...100BaseTX Ethernet Compatibility ...EtherCAT Communication rates ...100 Mbps Maximum cabling distance...100 m/segment Power Requirements Caution You must use a National Electric Code (NEC) UL Listed Class 2 power supply...

  • Page 15: Hazardous Locations

    (IEC 60068-2-56) ... 5 to 95% RH, noncondensing Maximum altitude ... 2,000 m Pollution Degree (IEC 60664) ... 2 © National Instruments Corporation B, C, D, T4; Class I, Zone 2, AEx nA IIC T4 B, C, D, T4; Class I, Zone 2,...

  • Page 16: Shock And Vibration

    Shock and Vibration To meet these specifications, you must panel mount the EtherCAT system and affix ferrules to the ends of the power terminal wires. Operating shock (IEC 60068-2-27) ...30 g, 11 ms half sine, Operating vibration, random (IEC 60068-2-64) ...5 g Operating vibration, sinusoidal (IEC 60068-2-6) ...5 g, 10 to 500 Hz Cabling...

  • Page 17: Safety Standards

    • • For the standards applied to assess the EMC performance of this product, refer to the Note Online Product Certification © National Instruments Corporation Pin 8 Figure 11. Ethernet Connector Pinout IEC 61010-1, EN 61010-1 UL 61010-1, CSA 61010-1 section.

  • Page 18: Ce Compliance

    Waste Electrical and Electronic Equipment (WEEE) At the end of their life cycle, all products must be sent to a WEEE recycling EU Customers center. For more information about WEEE recycling centers and National Instruments WEEE initiatives, visit National Instruments...

  • Page 19: Appendix A

    ARR:U32 — — — — 0x5FFF © National Instruments Corporation Table 3. Module Vendor Extensions — Timing Overrides: provides additional control over the timing of the NI 9144 Minimum free-run cycle time in nanoseconds. Set to 0 to operate at the minimum cycle. Set to 1,000,000 for a 1 mS cycle (1 kHz).

  • Page 20: Supported C Series Modules

    Table 3. Module Vendor Extensions (Continued) Index Type C Series Module Vendor Extensions 0x2000 0x2001 0..N ARR: 0x2002 0x2003 0x2005 0x2100 0..N ARR: 0x3002 0x4000 — — … 0x47FF 0x4800 — — … 0x4FFF Supported C Series Modules C Series Modules with No Configurable Options The following lists the modules with no configurable options: •...

  • Page 21: Ni 9201/9221

    Table 4. NI 9201/9221 Vendor Configuration Extensions Index Type 0x2001 ARR:U32 2..9 0x2002 0x2100 ARR:U32 … … © National Instruments Corporation NI 9422 NI 9423 NI 9425 NI 9426 NI 9435 NI 9472 NI 9474 NI 9475 NI 9477 NI 9481 NI 9485 —...
  • Page 22 NI 9201/9221 Scan List The scan list channel codes consist of two bit fields in a 32-bit entry. Bits 23..16 describe the data offset to store a conversion at time t, and bits 7..0 describe the conversion control code that takes effect two conversions in the future, at time t+2.
  • Page 23 (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: corrected © National Instruments Corporation Table 7. NI 9221/9201 Calibration Coefficients Coefficient Representation LSB Weight...
  • Page 24 NI 9203 Table 8. NI 9203 Vendor Configuration Extensions Index 0x2001 2..9 0x2002 0x2100 NI 9203 Scan List The scan list channel codes consist of three bit fields in a 32-bit entry. NI 9144 User Guide and Specifications Type ARR:U32 —...
  • Page 25 So, for example, the scan list entry 0x00010006 indicates that this scan gets stored at address 1, and the conversion two is a bipolar channel 3 (3 reversed = 6). © National Instruments Corporation Table 9. NI 9203 Scan List Format (Continued) Bits...
  • Page 26 Table 11 contains the default scan list. Index 0x2001 NI 9203 Calibration Data The NI 9203 has eight channels each with two modes. Each channel can have a nominal unipolar input range of 0–20 mA or bipolar ±20 mA. Each channel has an associated LSB weight, which is the number of amps per bit, and an offset, which is the number of amps per bit measured when the inputs are open.
  • Page 27 The calibration data is stored in a U32 array, though each offset field should be interpreted as a signed value. Use the calibration coefficients with the following equation to generate corrected data: corrected expected0mA offset © National Instruments Corporation Table 12. NI 9203 Calibration Coefficients Coefficient Representation LSB Weight Unsigned Offset Signed –...

  • Page 28: Ni 9205/9206

    NI 9205/9206 Table 14. NI 9205/9206 Vendor Configuration Extensions Index Type 0x2001 ARR:U32 2..33 0x2100 ARR:U32 NI 9205/9206 Scan List The scan list channel codes consist of eight bit fields in a 32-bit entry. Bits 23..16 describe the data offset to store a conversion at time t, and bits 15..0 describe a complex conversion control code that takes effect two conversions in the future, at time t+2.
  • Page 29 © National Instruments Corporation Table 16. NI 9205/9206 Conversion Code Bits 15:13 001 = Read AI 12:11 Bank: 01 = Channels 0..15 10 = Channels 16..31 10:8 Channel LSB = 0..7 00 = Cal Pos Ref5V 00 = NRSE 11 = Cal Neg AI Gnd RSE or DIFF Mode: 10 = Single–End A...
  • Page 30 Table 17 contains the default scan list. Index 0x2001 NI 9205/9206 Calibration Data The NI 9205 uses a quadratic formula for conversion from 16-bit raw data to calibrated data. The NI 9205 EEPROM provides overall polynominal values a3–a0 along with gain and offset values for each voltage range, to be applied when converting 16-bit raw data to calibrated data.
  • Page 31 • • • © National Instruments Corporation Select the 32-bit offset value (to be interpreted as a signed int) for a particular range. Use the above final coefficients and complete the following steps in the...
  • Page 32 Table 19 contains the default scan list. Index 0x2001 NI 9211 Calibration Data Calibration data is set up by the driver during initialization, and the calibration conversion is performed on the module ADC itself. NI 9213 Table 20. NI 9213 Vendor Configuration Extensions Index Type 0x2001...
  • Page 33 The error/status field is shown in Table 22. NI 9213 Scan List The scan list contains channels to convert, in order. The NI 9213 has eighteen measurable channels: • • • © National Instruments Corporation Meaning High-Accuracy High-Speed Table 22. NI 9213 Error Status Field Bits 31:8...
  • Page 34 Table 23 contains the default scan list. Index 0x2001 NI 9213 Calibration Data Calibration data is set up by the driver during initialization; the calibration conversion is performed on the module ADC. NI 9215 Table 24. NI 9215 Vendor Configuration Extensions Index 0x2100 NI 9144 User Guide and Specifications...
  • Page 35 Use the calibration coefficients with the following equation to generate corrected data: corrected NI 9217 Table 26. NI 9217 Vendor Configuration Extensions Index 0x2001 ARR:U32 2..5 0x2002 © National Instruments Corporation Table 25. NI 9215 Calibration Coefficients Coefficient Representation Unsigned Signed ∗ ⎧ ⎛ ⎞...
  • Page 36 Table 26. NI 9217 Vendor Configuration Extensions (Continued) Index 0x2100 NI 9217 Conversion Speed Control The NI 9217 converts at two pre-defined rates, as controlled by the speed control field. The conversion rate assumes that 4 channels are in the scan list. Note Speed Control 31 (0x1F)
  • Page 37 Each channel has an associated LSB weight, which is the number of Ω per bit, and an offset, which is the number of Ω per bit measured when the inputs are grounded. © National Instruments Corporation Table 29. NI 9217 Conversion Code Bits Table 30.
  • Page 38 LSB weight is referred to as Gain in the object dictionary. Note 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. LSB Weight Offset Use the calibration coefficients with the following equation to generate correct data:...
  • Page 39 The format of the ADC Format field is shown in Table 33. Standard values for ADC Format are: • • • • © National Instruments Corporation Type — Calibration = 168 Ch0 60 V Offset Ch0 60 V Offset Ch0 15 V Offset Ch0 Full Bridge 7.8m V–V Gain...
  • Page 40 NI 9219 Error Status Configuring all the channels in full-bridge mode shorts the channels and results Caution in the firmware setting all the bits in the lower nibble. When a channel over-current condition occurs on any of the channels of the NI 9219 (such as, configure channels in 4-wire resistance mode and do not connect a resistor to the channel), the firmware sets a bit in the lower nibble indicating the presence of this condition (LSB = ch0).
  • Page 41 The NI 9219 returns calibrated 24-bit (padded to 32-bits) AI data for all modes and ranges. To convert raw data into engineering units use the following formula: • • © National Instruments Corporation Table 34. NI 9219 Channel Calibration (Continued) Entry Mode 3-Wire RTD...
  • Page 42 NI 9219 Configuration Commands There are eight configuration commands for the NI 9219. Eight configuration commands must be sent for each of the four channels. This is true even if you are only using a subset of the four channels. Each of the eight configuration commands is 1 Byte, each configuration command is followed by a data Byte, and then by a CRC value, which is 1 Byte.
  • Page 43 Calibration Offset 1 Calibration Offset 0 (MSB) Calibration Gain 2 (LSB) Calibration Gain 1 Calibration Gain 0 (MSB) © National Instruments Corporation Table 37. NI 9219 Scan List Format Bits Table 38. NI 9219 Conversion Time Value Configuration Type Field Channel Number, 0..3...
  • Page 44 NI 9219 Configuration Data Configuration Value Max Frequency 0x01 100 Hz/50 Hz (TC) 0x08 9.09 Hz/8.33 Hz (TC) 0x09 7.69 Hz/7.14 Hz (TC) 0x0F 2 Hz/1.96 Hz (TC) Note When any AI data channel is configured for Thermo-Couple, ADC conversion time increases by 10 ms for all channels.
  • Page 45 0x01 0x01 0x46 0x1F 0x01 0xC6 0x04 0x7F 0x54 0x05 0xFF 0xB6 0x06 0x85 © National Instruments Corporation Table 40. NI 9219 Mode and Range Type (Continued) Configuration Value Mode (0x0F) Quarter-Bridge (0x10) (0x11) Half-Bridge (0x13) Full-Bridge (0x14) (0x17) ADC Mode Configuration Byte – Channel 0...
  • Page 46 Table 41. NI 9219 Configuration 1: Command Bytes (Continued) Command Byte Value 0x56 0x08 0x6C 0x1E 0x09 0xAA 0x4E 0x0A 0xC1 0x32 0x41 0x01 0x64 0x5F 0x01 0xE4 0x44 0x7F 0x76 0x45 0xFF 0x94 0x46 0x86 0xE0 0x48 0x6C NI 9144 User Guide and Specifications Description CRC value Calibration Gain MSB –...
  • Page 47 0x3E 0x86 0xC8 0xC2 0x88 0x6C 0x96 0x89 0xB0 © National Instruments Corporation Description CRC value Calibration Gain Byte 2 – Channel 1 Data Byte CRC value Calibration Gain LSB – Channel 1 Data Byte CRC value ADC Mode Configuration Byte – Channel 2...
  • Page 48 Table 41. NI 9219 Configuration 1: Command Bytes (Continued) Command Byte Value 0xF4 0x8A 0x90 0x5E 0xC1 0x01 0xEC 0xDF 0x01 0x6C 0xC4 0x7F 0xFE 0xC5 0xFF 0x1C 0xC6 0xD3 0xCA 0xC8 0x6C 0xB4 0xC9 0xD8 0x56 0xCA NI 9144 User Guide and Specifications Description CRC value Calibration Gain LSB –...
  • Page 49 Table 42. NI 9233 Vendor Configuration Extensions Index 0x2002 0x2100 NI 9233 Configure ADC The NI 9233 (and NI 9229/9239) converts at various rates, controlled by the field in the ADC conversion command. © National Instruments Corporation Description Data Byte CRC value Type ARR:U32 —...
  • Page 50 Where: The clock source (internal or external) is divided by this value and used as the converters’ oversample clock. Valid values are from 2 to 31, but the final divided clock must be between 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.
  • Page 51 (subindex 1, 3, 5, and so on) should be interpreted as a signed value. Coefficient Representation LSB Weight Unsigned Offset Signed Use the calibration coefficients with the following equation to generate corrected data: © National Instruments Corporation Clock Clock Divisor Source 00101 01000 01010 01111...
  • Page 52 NI 9234 Table 46. NI 9234 Vendor Configuration Extensions Index 0x2002 0x2100 ARR:U32 As a DSA module, the NI 9234 does not synchronize to other modules and free-runs at its own fixed rate. NI 9234 Configure Module The NI 9234 has a variety of configuration fields available. Configuration bits 15:8 control the channel mode, while bits 7:0 set the conversion rate.
  • Page 53 0b10 = 2 The internal clock is used but not driven onto the required clock setting. 0b11 = 3 Reserved. © National Instruments Corporation Table 47. NI 9234 Scan List Format (Continued) Bits IEPE Enable <3:0> AC/~DC <3:0> Clock Divisor Clock Source pin is used as the oversample clock source.
  • Page 54 NI 9234 Example Data Rates The example data rates use a 12.8 MHz clock source. Clock Data Rate Divisor 50.000 kS/s 00001 25.000 kS/s 00010 16.667 kS/s 00011 12.500 kS/s 00100 10.000 kS/s 00101 6.250 kS/s 01000 5.000 kS/s 01010 NI 9234 Calibration Data The NI 9234 has four channels with a nominal range of ±...
  • Page 55 NI 9237 Configure Module This module is set to maximum speed and configured for Full Bridge Mode for all channels by default. © National Instruments Corporation Type ARR:U16 Table 51. NI 9237 Scan List Format...
  • Page 56 Where: Controls the shunt calibration switch for each of the four channels. A logic 1 in any bit closes the switch for the respective channel, while a logic 0 opens the switch. Controls the half bridge completion option for each channel. Enabling half bridge completion for a channel disconnects the negative signal input pin from the rest of the circuit, and uses an internal voltage equal to the midpoint of the excitation voltage as the negative input to the rest of the circuit.
  • Page 57 01000 5.000 kS/s 01010 3.333 kS/s 01111 2.500 kS/s 10100 2.000 kS/s 11001 © National Instruments Corporation Offset Cal Enable <3..0> Clock Divisor Table 52. NI 9237 Example Data Rates Clock Source Oversample Rate Byte Clock Rate 0x06 12.80 MHz 0x0A 6.40 MHz...

  • Page 58: Ni 9229/9239

    NI 9237 Calibration Data The NI 9237 has four channels. 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 as Gain in the object dictionary.
  • Page 59 (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: corrected © National Instruments Corporation Table 55. NI 9229/9239 Scan List Format Coefficient Representation...
  • Page 60 NI 9263 Table 56. NI 9263 Vendor Configuration Extensions Index 0x2100 NI 9263 Calibration Data The NI 9263 has four channels with a nominal range of ±10.7 V. 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.
  • Page 61 (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: Code desired © National Instruments Corporation Type ARR:U32 Table 59. NI 9264 Scan List Format Coefficient...
  • Page 62 NI 9265 Table 60. NI 9265 Vendor Configuration Extensions Index 0x2002 0x2100 NI 9265 Error Status Each channel has open loop detection circuitry that reports an error whenever the load is disconnected and the current is set to a value higher than 0 mA.
  • Page 63 Both the input and output bytes are transmitted in the PDO regardless of the Note direction control; only the relevant bits are connected to the I/O pins. NI 9403 Table 64. NI 9403 Vendor Configuration Extension Index 0x2001 © National Instruments Corporation ⎛ ⎞ • Code LSB -------- - ⎝...
  • Page 64 NI 9403 Direction Control The direction control field has one bit for each I/O pin, with bit 0 matching channel 0, and so forth. 0 in the direction control indicates that I/O is an input; 1 indicates an output. Note Both the input and output data is transmitted in the PDO regardless of the direction control;...

  • Page 65: Where To Go For Support

    Thailand 662 278 6777, Turkey 90 212 279 3031, United Kingdom 44 (0) 1635 523545 National Instruments, NI, ni.com, and LabVIEW are trademarks of National Instruments Corporation. Refer to the Terms of Use section on ni.com/legal for more information about National Instruments trademarks.

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