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NI 9144 User Guide and Specifications

1. 0 eee 30 V max Measurement Category I Measurement Category I is for measurements performed on circuits not directly connected to the electrical distribution system referred to as MAINS voltage MAINS is a hazardous live electrical supply system that powers equipment This category is for measurements of voltages from specially protected secondary circuits Such voltage measurements include signal levels special equipment limited energy parts of equipment circuits powered by regulated low voltage sources and electronics UN Caution Do not connect the system to signals or use for measurements within Measurement Categories II II or IV Hazardous Locations WES 2 UL rrer saena Class I Division 2 Groups A B C D T4 Class I Zone 2 AEx nA IIC T4 Canada CUL risiini Class I Division 2 Groups A B C D T4 Class I Zone 2 Ex nA IIC T4 Europe DEMKO Ex nA IIC T4 National Instruments Corporation 19 NI 9144 User Guide and Specifications Environmental The NI 9144 chassis is intended for indoor use only but it may be used outdoors if mounted in a suitably rated enclosure Operating temperature IEC 60068 2 1 IEC 60068 2 2 40 to 70 C B Note To meet this operating temperature range follow the guidelines in the installation instructions for your EtherCAT system Storage temperature IEC 60068 2 1 IEC 60068 2 2 40 to 85 C Ingress protection 0 0 0 eee eee
2. Bits Field 3 0 data bit as input 1 data bit as output 2 1 0 direction control only the relevant bits are connected to the I O pins NI 9144 User Guide and Specifications 82 Description Line direction control default 0 NI 9403 The vendor configuration extensions for the NI 9403 are listed in Table 87 Table 87 NI 9403 Vendor Configuration Extension Index Sub Type R W Description 0x2001 U32 R W T O direction control default 0 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 only the relevant bits are connected to the I O pins NI 9476 The vendor configuration extensions for the NI 9476 are listed in Table 88 Table 88 NI 9476 Vendor Configuration Extensions Index Sub Type R W Description 0x2002 0 U32 R Error Status sent as 8 bit PDO NI 9476 Error Status If a channel over current occurs on any of the 32 channels the corresponding bit in error status field is set to inform the user Errors are automatically internally acknowledged on the cycle after the error is reported National Instruments Corporation 83 NI 9144 User Gu
3. Calibration data is set up by driver during initialization and the calibration conversion is performed on the module ADC itself Thus you do not need to use the calibration tables National Instruments Corporation 39 NI 9144 User Guide and Specifications NI 9211 The vendor configuration extensions for the NI 9211 are listed in Table 24 Table 24 NI 9211 Vendor Configuration Extensions Index Sub Type R W Description 0x2001 0 ARR U32 Scan List 7 1 R Channels to Convert lt 1 6 gt default 6 2 7 R W Channel Number NI 9211 Scan List The scan list is a simple list of channels to convert in order The NI 9211 has six channels total that can be measured e lt 0 3 gt four input channels always measured in a 80 mV range e 4 one cold junction channel always measured in a 2 5 V range e 5 one auto zero channel always measured in a 80 mV range Table 25 contains the default scan list Table 25 NI 9211 Scan List Format Index Sub Type Value 0x2001 0 ARR U32 7 1 6 2 0 3 1 7 5 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 9144 User Guide and Specifications 40 ni com NI 9213 The vendor configuration extensions for the NI 9213 are listed in Table 26 Table 26 NI 9213 Vendor Configurati
4. Use the calibration coefficients with the following equation to generate corrected data Vcorrected Vaw V qw bits x fisele w a 7 Offset p v a 10 NI 9144 User Guide and Specifications 62 ni com NI 9233 As a DSA module the NI 9233 does not synchronize to other modules and free runs at its own fixed rate The vendor configuration extensions for the NI 9233 are listed in Table 55 Table 55 NI 9233 Vendor Configuration Extensions Index Sub Type R W Description 0x2002 0 U32 R W Configure ADC default 0x0A 0x2100 0 ARR U32 Calibration 16 1 R ChO Offset 2 Ch0 Gain 3 R Ch1 Offset 8 Ch3 Gain 9 R External Ch0 Offset NI 9233 Configure ADC The NI 9233 and NI 9229 9239 converts at various rates controlled by the field in the ADC conversion command Table 56 NI 9233 Scan List Format Bits Field Description 7 Turbo Disable 0 The conversion rate is equal to the oversample clock rate 128 NI 9233 only Set to 0 for conversion rates gt 25 kS s 1 The conversion rate is equal to the oversample clock rate 256 Set to 1 for conversion rates lt 25 kS s 6 2 Clock Divisor 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
5. a 11 28 in Pi 3 2 mm m4 0 13 in Figure 2 NI 9144 Chassis Bottom View with Dimensions NI 9144 User Guide and Specifications 4 ni com NATIONAL INSTRUMENTS 36 4 mm h 1 48 in 87 3 mm Me lhipsiatecl eerie cces 3 44 in oI 51 7mm Pad i 2 04 in i Figure 3 NI 9144 Chassis Front View with Dimensions re f p 44 069 mm P h raen 1 74 in 25 078mm_ S A 0 99 in lt o i 20 320 mm a 0 8 in 44 125 mm i i 1 74 in 7 _ 4 63 178 mm 2 49 in gt Figure 4 NI 9144 Chassis Side View with Dimensions The following sections contain mounting instructions Before using any of these mounting instructions record the serial number from the back of the chassis After the chassis is mounted you will not be able to read the serial number UN Caution Remove any C Series I O modules from the chassis before mounting it National Instruments Corporation 5 NI 9144 User Guide and Specifications 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 us
6. Calibration data is set up by driver during initialization and the calibration conversion is performed on the module ADC itself Thus you do not need to use the calibration tables National Instruments Corporation 37 NI 9144 User Guide and Specifications NI 9208 The vendor configuration extensions for the NI 9208 are listed in Table 21 Table 21 NI 9208 Vendor Configuration Extensions Index Sub Type R W Description 0x2100 0 ARR U32 Scan List 17 1 R Channels to Convert lt 1 16 gt default 16 2 17 R W Channel Code 0x2002 0 U32 R W Conversion Speed Control 0 or 1 default 1 3 NI 9208 Conversion Speed Control The NI 9208 converts at two pre defined rates as controlled by the speed control field Note The conversion rate assumes that 16 channels are in the scan list Table 22 NI 9208 Conversion Speed Control Speed Control Meaning Conversion Rate 0 High Accuracy 62 5 ms channel 1 s total 1 High Speed NI 9208 Scan List The scan list is a simple list of channels to convert in order The NI 9208 has sixteen total channels that can be measured 1 92 ms channel 30 72 ms total Table 23 NI 9208 Scan List Format Index Sub Type Value 0x2001 0 ARR U32 17 1 16 2 0 3 1 17 15 NI 9144 User Guide and Specifications 38 ni com NI 9208 Calibration Data
7. crcShiftReg 0 ercShiftReg 2 if dataBool shiftBool crcShiftReg 0x8C for x 0 x lt 8 x dataBool 0x80 gt gt x amp configData shiftBool 0x01 amp crcShiftReg 0 ecrcShiftReg 2 if dataBool shiftBool crcShiftReg 0x8C crcShiftReg crcShiftReg lt lt 1 return crcShiftReg NI 9144 User Guide and Specifications 52 ni com NI 9219 Configuration Command Whether you are using the channel or not you must configure the Conversion Time Mode Range and Calibration Gain Offset values for each channel on the NI 9219 3 Note You must first send calibration gain and offset values in MSB format The Conversion Time value must be the same across all channels Table 47 NI 9219 Scan List Format Bits Field Description 7 6 Channel Number lt 0 3 gt 5 0 4 0 Configuration Type Conversion Type values Conversion Time Ox1F Mode amp Range 0x01 Calibration Offset 2 LSB 0x06 Calibration Offset 1 0x05 Calibration Offset 0 MSB 0x04 Calibration Gain 2 LSB Ox0A Calibration Gain 1 0x09 Calibration Gain 0 MSB 0x08 NI 9219 Configuration Data Table 48 NI 9219 Type Conversion Time Configuration 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 ms TC Best
8. 48 1 R ChO Offset 2 R ChO Gain 3 R ChO Shunt 4 R Ch1 Offset 24 R Ch7 Shunt 25 R External ChO Offset The NI 9235 is a DSA module and as such does not synchronize with other modules but free runs at its own fixed rate Configure ADC The NI 9235 like the other DSA modules can convert at various rates controlled by the fields in the ADC conversion command Table 64 NI 9235 Scan List Format Bits Field Description 15 10 Clock Divisor The clock source internal or external is divided by one half of this value and used as the converter s oversample clock Valid values are from 2 to 63 but the final divided clock must be between 502 kHz and 5 12 MHz This means that only values from 5 to 51 representing the divisors 2 5 to 25 5 are valid when using the 12 8 MHz internal clock source NI 9144 User Guide and Specifications 68 ni com Table 64 NI 9235 Scan List Format Continued Bits Field Description 9 8 Clock Source 0b00 0 The OCLK pin is used as the oversample clock source 0b01 1 The 12 8 MHz internal clock is used as the clock source and this 12 8 MHz is driven onto the OCLK pin 0b10 2 The internal clock is used but not driven onto OCLK pin Currently this is the required clock setting 0b11 3 Reserved 7 0 Shunt Cal Enable lt ch7 ch0 gt Controls the shunt calibration switch for each of the eight channels A logic 1 in any bit closes the
9. 50 Hz Rejection 0x0F 2 Hz 1 96 Hz TC 500 ms 510 ms TC High Resolution i Note When any AI data channel is configured for Thermocouple ADC conversion time increases by 10 ms for all channels Refer to Max Frequency in Table 48 for various ACD timing configurations The TC mode range configuration code is OxOA National Instruments Corporation 53 NI 9144 User Guide and Specifications Table 49 NI 9219 Mode and Range Type Configuration Value Mode Range 0x00 Voltage 60 V 0x01 15V 0x02 3 75 V 0x03 1V 0x04 125 V 0x05 Current 25 mA 0x06 Resistance 10K 4w 0x07 1K 4w 0x08 10K 2w 0x09 1K 2w Ox0A TC TC 0x0B RTD Pt1000 4w 0x0C Pt100 4w 0x0D Pt1000 3w Ox0E Pt100 3w 0x0F Quarter Bridge 350 Q 0x10 120 Q 0x11 Half Bridge 1 V V 0x13 Full Bridge 62 5 mV V CJC 0x14 7 8 mV V 0x17 CJC range NI 9219 Example Command Words Sequence 3 Note The order in which you send the commands is important Configuration 1 all Channels lt ai0 ai3 gt for Voltage AI 15 Volt Range High Speed Mode 100 Hz Max Sample Rate NI 9144 User Guide and Specifications 54 ni com Table 50 NI 9219 Configuration 1 Command Bytes Command Byte Value Description 0x01 ADC Mode Configuration Byte Channel 0 0x01 Data Byte 0x46 CRC value Ox1F Mo
10. 6 250 kS s 01000 10 0x22 1 60 MHz 5 000 kS s 01010 10 Ox2A 1 28 MHz 3 333 kS s 01111 10 0x3E 853 3 KHz 2 500 kS s 10100 10 0x52 640 0 KHz 2 000 kS s 11001 10 0x66 512 0 KHz National Instruments Corporation 75 NI 9144 User Guide and Specifications 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 5B Note LSB weight is referred to as Gain in the object dictionary The calibration data is stored in a U16 array though each Offset field subindex 1 3 5 and so on should be interpreted as a signed value Table 74 NI 9237 Scan List Format Coefficient Representation Units LSB Weight Unsigned pV LSB Offset Signed nV Use the calibration coefficients with the following equation to generate corrected data V corrected Frun V aw bits x 158 ven EE x 0 a Offset p V x 10 NI 9144 User Guide and Specifications 76 ni com NI 9263 The vendor configuration extensions for the NI 9263 are listed in Table 75 Table 75 NI 9263 Vendor Configuration Extensions Index Sub Type R W Description 0x2100 0 ARR U32 Calibration 16 1 R ChO Offset 2 R ChO Gain 3 R Ch1 Offset 8 R Ch3 Gain 9 R External ChO Offset NI 9263 Calibration
11. 9144 rev2 foe ora custom FPGA project with a lvbitx extension as shown in Figure 15 Category EtherCAT Online State EtherCAT Online State EtherCAT Parameters Device State Operational l Safe Operational l E Pre Onerational 43 Download Firmware Firmware Filename l Download l Cancel Utility Note To download Firmware put the NI Scan Engine into Configuration mode and switch the device to Bootstrap state Download Firmware Figure 15 Download Firmware Do not disconnect the device or interrupt firmware while it is downloading 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 NI 9144 User Guide and Specifications 16 ni com 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 a
12. 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 3 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 so on should be interpreted as a signed value Table 76 NI 9263 Scan List Format Coefficient Representation Units LSB Weight Unsigned nV LSB Offset Signed nV Use the calibration coefficients with the following equation to generate corrected data V tesireq Code Codex LSB veien 2 x107 L Offset nV x 10 dt Z National Instruments Corporation 77 NI 9144 User Guide and Specifications NI 9264 The vendor configuration extensions for the NI 9264 are listed in Table 77 Table 77 NI 9264 Vendor Configuration Extensions Index Sub Type R W Description 0x2100 1 ARR U32 Calibration 16 2 R ChO Gain 3 R Chl Offset 8 R Ch3 Gain 9 R External ChO Offset NI 9264 Calibration Data The NI 9263 has four channels with a nominal range of 10 5 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 ik Note LSB weigh
13. 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 OxFF Data Byte Ox3E CRC value 0x86 Calibration Offset LSB Channel 2 NI 9144 User Guide and Specifications ni com Table 50 NI 9219 Configuration 1 Command Bytes Continued Command Byte Value Description OxC8 Data Byte OxC2 CRC value 0x88 Calibration Gain MSB Channel 2 0x6C Data Byte 0x96 CRC value 0x89 Calibration Gain Byte 2 Channel 2 OxBO Data Byte OxF4 CRC value Ox8A Calibration Gain LSB Channel 2 0x90 Data Byte OxSE CRC value OxCl ADC Mode Configuration Byte Channel 3 0x01 Data Byte OxEC CRC value OxDF Mode Range Configuration Channel 3 0x01 Data Byte 0x6C CRC value OxC4 Calibration Offset MSB Channel 3 Ox7F Data Byte OxFE CRC value OxC5 Calibration Offset Byte 2 Channel 3 OxFF Data Byte Ox1C CRC value OxC6 Calibration Offset LSB Channel 3 0xD3 Data Byte OxCA CRC value OxC8 Calibration Gain MSB Channel 3 0x6C Data Byte OxB4 CRC value OxC9 Calibration Gain Byte 2 Channel 3 OxD8 Data Byte National Instruments Corporation 57 NI 9144 User Guide and Specifications Table 50 NI 9219 Configuration 1 Command Bytes Continued Command Byte Value Description 0x56 CRC value O
14. each Offset field subindex 1 3 5 and so on should be interpreted as a signed value Table 82 NI 9263 Scan List Format Coefficient Representation Units LSB Weight Unsigned nV LSB Offset Signed nV Use the calibration coefficients with the following equation to generate corrected data V tesireq Code Codex LSB veien 2 x107 L Offset nV x 10 dt Z National Instruments Corporation 81 NI 9144 User Guide and Specifications NI 9401 The vendor configuration extensions for the NI 9401 are listed in Table 83 Table 83 NI 9401 Vendor Configuration Extensions Index Sub Type R W Description 0x2001 U32 R W Nibble direction control default 0 Index Note Both the input and output bytes are transmitted in the PDO regardless of the NI 9401 Direction Control Table 84 NI 9401 Scan List Format Bits Field 1 0 data bits lt 3 0 gt as input F 1 data bits lt 7 4 gt as output direction control only the relevant bits are connected to the I O pins Sub NI 9402 The vendor configuration extensions for the NI 9402 are listed in Table 85 Table 85 NI 9402 Vendor Configuration Extensions Type R W 0x2001 U32 R W 3 Note Both the input and output bytes are transmitted in the PDO regardless of the NI 9402 Direction Control Table 86 NI 9402 Scan List Format
15. in a 2 5 V range The default scan list is defined as shown in Table 33 Table 33 NI 9214 Vendor Configuration Extensions Index Sub Type Value 0x2001 0 ARR U32 21 1 20 2 0 3 1 20 18 21 19 Calibration Data Calibration data is set up by the driver during initialization and the calibration conversion is performed on the module ADC itself so the third party user does not need to worry about the calibration tables NI 9144 User Guide and Specifications 44 ni com NI 9215 The vendor configuration extensions for the NI 9215 are listed in Table 34 Table 34 NI 9215 Vendor Configuration Extensions Index Sub Type R W Description 0x2100 0 ARR U32 Calibration 16 1 R ChO Offset 2 ChO Gain 7 R Ch3 Offset 8 Ch3 Gain 9 R External Calibration ChO Offset 3 NI 9215 Calibration Data The NI 9215 has four channels with a nominal range of 10 4 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 Note LSB weight is referred to as Gain in the object dictionary The NI 9215 EEPROM stores these two constants for each channel The host can then take these constants and adjust the raw data into calibrated data The calibration data is stored in a U32 array though each Offset
16. measurements are ultimately denominated in strain which require not only conversion in the strain equation but also the acquisition and use of an unstrained measurement as explained below NI 9144 User Guide and Specifications 72 ni com Due to initial tolerances in all of the bridge elements but primarily of the gage itself the module reading will be nonzero even when the gage is in an unstrained state If handled correctly this is not a source of inaccuracy however because strain measurement is inherently a delta measurement A fundamental element of strain measurement involves the capture of this unstrained measurement which is analogous to the cold junction measurement of a thermocouple measurement system The strain equation is strain e ae oe Ve calles GF 0 2 i Vps Vp unst where V stand V uns are the strained and unstrained readings respectively from the module National Instruments Corporation 73 NI 9144 User Guide and Specifications NI 9237 The vendor configuration extensions for the NI 9237 are listed in Table 71 Table 71 NI 9237 Vendor Configuration Extensions Index Sub Type R W Description 0x2002 0 U32 R W Configure Module default 0x00060000 0x2100 0 ARR U16 Calibration 16 1 R ChO Offset 2 R ChO Gain 3 R Chl Offset 8 R Ch3 Gain 9 R External ChO Offset As a DSA module the NI 9237 does not
17. source per channel and the module range is 500 to 500 Q The resistance range specified in the manual is 0 to 400 Q This range is tested and covers the temperature range of 200 to 850 C for the standard platinum RTD The channel does not read negative resistance Each channel has an associated LSB weight which is the number of ohms per bit and an offset which is the number of ohms per bit measured when the inputs are grounded ay 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 so on should be interpreted as a signed value Table 41 NI 9217 Calibration Coefficients Coefficient Representation Units LSB Weight Unsigned pQ LSB Offset Signed mW Use the calibration coefficients with the following equation to generate correct data Reorvected Rraw Rray bits x SB vn BO Ko 3 offser ua x 10 S where R aw bits data returned by the NI 9217 in bits R corrected Calibrated resistance reading NI 9144 User Guide and Specifications 48 ni com NI 9219 The vendor configuration extensions for the NI 9219 are listed in Table 42 Table 42 NI 9219 Vendor Configuration Extensions Index Sub Type R W Description 0x2001 0 ARR U32 Command List 33 1 R Command Count lt 1
18. switch for the respective channel while a logic 0 opens the switch Refer to Table 65 for example data rates using a 12 8 MHz clock source and using 0x00 in the shunt cal enable bits Table 65 NI 9235 Calibration Data Data Rate Clock Divisor Clock Source Configure ADC Oversample Clock Rate 10 000 kS s 000101 10 0x1600 5 12 MHz 8 333 kS s 000110 10 0x1A00 4 27 MHz 7 143 kS s 000111 10 0x1E00 3 66 MHz 2 500 kS s 010100 10 0x5200 1 28 MHz 1 613 kS s 011111 10 0x7E00 825 8 kHz 1 250 kS s 101000 10 0xA200 640 0 kHz 0 980 kS s 110011 10 OxCE00 502 0 kHz 3 Note LSB weight is referred to as Gain in the object dictionary NI 9235 Calibration Data The NI 9235 has eight input channels for measuring strain 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 There is also a shunt measurement value which is not used during normal operation The calibration data is stored in an U32 array though each Offset field subindex 1 4 7 etc should be interpreted as a signed value Table 66 NI 9235 Calibration Coefficients National Instruments Corporation Coefficient Representation LSB Weight Unsigned 69 NI 9144 User Guide and Specifications Table 66 NI 9235 Calibration Coefficients Continued Coefficient Representation Offset Signed Shunt Signed The calibr
19. synchronize to other modules and free runs at its own fixed rate NI 9237 Configure Module This module is set to maximum speed and configured for Full Bridge Mode for all channels by default Table 72 NI 9237 Scan List Format Bits Field Description 31 23 Reserved 22 18 Clock Divisor The NI 9237 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 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 MHz internal clock source for external clock sources of more than 13 5 MHz or less than 3 1 MHz the valid divisors are limited to those that provide data rates within the specified range 17 16 Clock Source 15 12 Shunt Cal Enable lt ch3 ch0 gt 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 NI 9144 User Guide and Specifications 74 ni com Table 72 NI 9237 Scan List Format Continued Bits Field Description 11 8 Half Bridge Enable lt ch3 ch0 gt Controls the half bridge completion option for each channel Enabling half bridge completion for a channel disconnects the negative sig
20. the following equation to generate corrected data orreotedk Vzw Vaw bits x eseul NI 9144 User Guide and Specifications 28 ny bits x 10 7 opens Vx 10 NI 9203 The vendor configuration extensions for the NI 9203 are listed in Table 8 Table 8 NI 9203 Vendor Configuration Extensions Index Sub Type R W Value 0x2001 0 ARR U32 Scan List 9 1 R Channels to Convert lt 1 8 gt 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 Ch0 Bipolar Gain 3 R Ch1 Gain 9 R Ch7 Gain 10 R Unipolar Offset 11 R Ch0 Unipolar Gain 19 R R External Calibration Bipolar Gain NI 9203 Scan List The scan list channel codes consist of three bit fields in a 32 bit entry Table 9 NI 9203 Scan List Format Bits Field 31 24 0 23 16 Data Offset t 15 4 0 3 Bipolar 0 Unipoloar 1 2 0 Channel Code t 2 Bits lt 23 16 gt describe the data offset to store a conversion at time t and bits lt 3 0 gt describe the conversion control code that will take effect two conversions in the future at time f 2 On the NI 9203 bit 3 determines National Instruments Corporation 29 NI 9144 User Guide and Specifications whether the result is bipolar signed or unipolar unsigned and bits lt 2 0 gt a
21. these constants and adjust the raw data into calibrated data The calibration data is stored in a U32 array though each offset should be interpreted as a signed value Table 12 NI 9203 Calibration Coefficients Coefficient Representation Units LSB Weight Unsigned pA LSB Offset Signed pA Use the calibration coefficients with the following equation to generate corrected data ee Cee EET ta L orien oma x LSB eight Ioffset ke M SF eS Kj pA bits pA bit pA Table 13 NI 9203 Calibration Equation Information Term Units Definition Teorrected pA Calibrated current Le bits The raw code from the NI 9203 LexpectedOmA bits Expected code at 0 mA 0 bits for 0 20 mA range 32768 bits for 20 mA range LSB weight pA bit Number of pA in one bit Ioffset pA Offset at 0 mA National Instruments Corporation 31 NI 9144 User Guide and Specifications NI 9205 9206 The vendor configuration extensions for the NI 9205 9206 are listed in Table 14 Table 14 NI 9205 9206 Vendor Configuration Extensions Index Sub Type R W Description 0x2001 0 ARR U32 Scan List 33 1 R Channels to Convert lt 1 32 gt default 32 2 33 R W Channel Code 0x2100 0 ARR U32 Calibration 24 1 R Coeff 3 2 R Coeff 2 3 R Coeff 1 4 R Coeff 0 5 R 10 V offset 6 R 10 V gai
22. using the EtherCAT distributed clock DC through DC synchronized mode In free run mode the NI 9144 by default runs its conversion cycle as quickly as the slowest module allows It is possible to slow the free run conversion cycle down by writing a minimum cycle time in nanoseconds to the NI 9144 s index 0x3001 1 In DC synchronized mode the NI 9144 begins each conversion cycle on a signal from the EtherCAT Master scan engine If the external cycle time is too fast for the given module configuration the NI 9144 signals an error The NI Indcom for EtherCAT only supports DC mode of operation Updating Your Firmware Firmware updates are performed by way of the File over EtherCAT FoE download protocol All NI factory firmware update files have a foe extension and have internal identification information that guides the NI 9144 during the update Refer to your specific master software documentation for the procedure of sending FoE downloads The NI 9144 firmware update does not use the filename or password information You may also use this utility to download custom FPGA projects with a lvbitx extension NI 9144 User Guide and Specifications 12 ni com How to Upgrade Your Firmware To upgrade your firmware to a new version or reset your device to the factory state complete the following steps 1 Discover your real time target and NI 9144 chassis 2 Right click the RT target and select Deploy All as shown in Figure 1
23. when using the 12 8 MHz internal clock source 1 0 Clock Source 2 0b00 0 The OCLK pin is used as the oversample clock source 0b01 1 The 12 8 MHz internal clock is used as the clock source and this 12 8 MHz is driven onto the OCLK pin 0b10 2 The internal clock is used but not driven onto OCLK pin Currently this is the required clock setting 0b11 3 Reserved National Instruments Corporation 63 NI 9144 User Guide and Specifications Table 57 NI 9233 Calibration Data Oversample Data Rate Turbo Disable Clock Divisor Clock Source Configure ADC Clock Rate 50 000 kS s 0 00010 10 Ox0A 6 40 MHz 25 000 kS s 1 00010 10 Ox8A 6 40 MHz 12 500 kS s 1 00100 10 0x92 3 20 MHz 10 000 kS s 1 00101 10 0x96 2 56 MHz 6 250 kS s 1 01000 10 OxA2 1 60 MHz 5 000 kS s 1 01010 10 OxAA 1 28 MHz 3 333 kS s 1 01111 10 OxBE 853 kHz 3 125 kS s 1 10000 10 OxC2 800 kHz 2 500 kS s 1 10100 10 0xD2 640 kHz 2 000 kS s 1 11001 10 OxE6 512 kHz 3 NI 9233 Calibration Data The NI 9233 has four input channels with a fixed gain The inputs are AC coupled so calibration is done with a sine wave rather than with DC signals The specification derivations are based on calibration at 250 Hz acquired at 25 kS s The AC response flatness changes with both input frequency and sample rate therefore calibrating at different signal frequencies or at different sample rates gives differen
24. 1 T project Explorer Untitled Project To Wow File Edit View Project Operate Tools Window Help JoSHha xoox9 Ale m e Items Files fe Project Untitled Project 1 E My Computer VP Dependencies ae Build Specifications gs cRIO 9074 EC Maa raat GH Chassis cR iiti FB EthercATN Add gt Device t VP Dependenc E Build Specifi Connect Utilities gt Deploy Deploy All Disable Autodeploy Variables Arrange by b Expand All Collapse All Remove from Project Rename F2 Help Properties Figure 11 Deploy All National Instruments Corporation 13 NI 9144 User Guide and Specifications 3 After a successful deployment change the controller to Configuration Mode Right click the RT target and select Utilities Scan Engine Mode Switch to Configuration as shown in Figure 12 a Project Explorer Untitled Project 1 Je X File Edit view Project Operate Tools Window Help oSha xHoxo ala Ree Items Files b Project Untitled Project 1 My Computer 2 Dependencies Build Specifications Disconnect Utilities gt view in System Manager Deph View Error Log Pats all Target Information enor Compare Project amp System i b mew O E o p Reboot Switch to Configuration Collapse All Remove from Project Rename F2 He
25. 1 NI 9144 User Guide and Specifications Table 69 NI 9236 Calibration Data Data Rate Clock Divisor Clock Source Configure ADC Oversample Clock Rate 10 000 kS s 000101 10 0x1600 5 12 MHz 8 333 kS s 000110 10 0x1A00 4 27 MHz 7 143 kS s 000111 10 0x1E00 3 66 MHz 2 500 kS s 010100 10 0x5200 1 28 MHz 1 613 kS s 011111 10 0x7E00 825 8 kHz 1 250 kS s 101000 10 0xA200 640 0 kHz 0 980 kS s 110011 10 0xCE00 502 0 kHz NI 9236 Calibration Data The NI 9236 has eight input channels for measuring strain 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 3 Note LSB weight is referred to as Gain in the object dictionary There is also a shunt measurement value which is not used during normal operation The calibration data is stored in an U32 array though each Offset field subindex 1 4 7 etc should be interpreted as a signed value Table 70 NI 9235 Calibration Coefficients Coefficient Representation LSB Weight Unsigned Offset Signed Shunt Signed The calibration coefficients are used with the following equation to generate corrected data Nominal BinarY pata X LSB weigniX 1e 13 Offsetx le 7 The resultant calibrated reading is a ratio between the bridge input voltage and the excitation voltage termed V However typical quarter bridge
26. 3 x x3 a2 x x2 al x x a0 It is also possible to decode the raw data using only the offset and gain values For more information refer to the MI 9201 9221 section of this guide National Instruments Corporation 35 NI 9144 User Guide and Specifications NI 9207 The vendor configuration extensions for the NI 9207 are listed in Table 18 Table 18 NI 9207 Vendor Configuration Extensions Index Sub Type R W Description 0x2001 0 ARR U32 Scan List 17 1 R Channels to Convert lt 1 16 gt default 16 2 17 R W Channel Code 0x2002 0 U32 R W Conversion Speed Control 0 or 1 default 1 3 NI 9207 Conversion Speed Control The NI 9207 converts at two pre defined rates as controlled by the speed control field Note The conversion rate assumes that 16 channels are in the scan list Table 19 NI 9207 Conversion Speed Control Speed Control Meaning Conversion Rate 0 High Accuracy 62 5 ms channel 1 s total 1 High Speed NI 9207 Scan List The scan list is a simple list of channels to convert in order The NI 9207 has 16 total channels that can be measured Table 20 NI 9207 Scan List Format 1 92 ms channel 30 72 ms total NI 9144 User Guide and Specifications Index Sub Type Value 0x2001 0 ARR U32 17 1 16 2 0 3 1 17 15 36 ni com NI 9207 Calibration Data
27. 32 gt default 32 2 33 R W Configuration Command 0x2002 1 ARR U32 R Error Status 0x2005 0 U32 R W ADC Format 0x2100 0 ARR U32 Calibration 168 1 R ChO 60 V Offset 2 R Ch0 60 V Offset 3 R ChO 15 V Offset 42 R ChO Full Bridge 7 8m V V Gain 43 R Ch1 60 V Offset 0x2101 0 ARR U32 External Calibration 168 1 R ChO 60 V Offset NI 9219 ADC Format The NI 9219 converts at different rates and can specify different data formatting styles This is determined by both the ADC Format field and corresponding fields in the setup commands The format of the ADC Format field is shown in Table 43 Table 43 NI 9219 ADC Format Bits Field 31 24 Reserved 23 16 Conversion speed in multiples of 10 mS 15 8 Reserved 7 0 AI Data Formatting National Instruments Corporation 49 NI 9144 User Guide and Specifications Standard values for ADC format are e 0x0001000F High Speed e 0x000B000F Best 60 Hz rejection e 0x000D000F Best 50 Hz rejection e 0x0032000F High Resolution NI 9219 Error Status UN Caution Configuring all the channels in full bridge mode shorts the channels and results 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 condi
28. 3438 5 0x00032D38 21 0x00133538 6 0x00042E38 22 0x00143638 7 0x00052F38 23 0x00153738 8 0x0006283C 24 0x0016303C 9 0x0007293C 25 0x0017313C 10 0x00082A3C 26 0x0018323C 11 0x00092B3C 27 0x0019333C 12 0x000A2C3C 28 0x001A343C 13 0x000B2D3C 29 0x001B353C 14 0x000C2E3C 30 0x001C363C 15 0x000D2F3C 31 0x001D373C 16 0x000E3038 32 0x001E2838 17 0x000F3 138 33 0x001F2938 NI 9144 User Guide and Specifications 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 1 Convert the 32 bit hex values to 64 bit floating point format for use in the calibration formula Select the 32 bit gain value for a particular range Select the 32 bit offset value to be interpreted as a signed int for a particular range 34 ni com Use the above final coefficients and complete the following steps in the quadratic equation to convert raw 16 bit data into scaled volts a a0 f64 a0 x rangeGain rangeOffset b al f64 al x rangeGain c a2 f64 a2 x rangeGain d a3 f64 a3 x rangeGain Use the following formula with a3 a0 to obtain the scaled 16 bit value in volts where x signed un scaled 16 bit data read from device Scaled 16 bit signed data in volts a
29. A USER GUIDE AND SPECIFICATIONS NI 9144 Deterministic Ethernet Expansion Chassis for C Series Modules This user guide 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 NATIONAL NI 9144 WiNsTRUMENTS POWER O FPGA RUN O ERR Ea EthercAT IN ia i 2 LINK O 4 0 i H INPUT c HOi 930V ba w U 20WMAX lt 4 3 LINK H ACT OUT Ni ee SH 1 LEDs 3 OUT Port 2 IN Port 4 Power Connector Figure 1 NI 9144 Chassis 7 NATIONAL p INSTRUMENTS Contents Safety Guidelines ic ssccsscsccsaes tect aieeszes eiia r iea a E 2 Safety Guidelines for Hazardous Locations sseseereseesserereereeeeee 2 Special Conditions for Hazardous Locations Use in Europe 3 Electromagnetic Compatibility Guidelines 00 0 ect eeeeeeeeeeeeeeereeeees 3 Special Guidelines for Marine Applications 0 0 0 0 eee eeeeeeeeeeeeee 4 Mounting the NI 9144 Chassis 00 0 ce eecesessceeeeeseceeeeeeeseteeeeeeeseeeseeeees 4 Mounting the NI 9144 Chassis on a Panel o0 ee eeeeeeeeeseeeeeeeeeeee 6 Mounti
30. IEPE Enable 0 When set the corresponding channel s relays are switched to IEPE operation IEPE operations switches the AC DC relay to AC mode and enables the IEPE relay to send the current to the IEPE sensor 8 Ch0 AC DC AC DC 0 Controls the AC DC relay when IEPE is not selected If IEPE is enabled then these bits have no meaning as AC mode is always selected with an IEPE operation 7 Reserved 6 2 Clock Divisor 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 frequency Valid values for Clock Divisor are from 1 to 31 and the final divided clock must be between 100 KHz and 12 8 MHz 1 0 Clock Source 0b00 0 The OCLK pin is used as the oversample clock source 0b01 1 The 12 8 MHz internal clock is used as the clock source and this 12 8 MHz is driven onto the OCLK pin 0b10 2 The internal clock is used but not driven onto OCLK pin Currently this is the required clock setting Ob11 3 Reserved NI 9234 Example Data Rates The example data rates use a 12 8 MHz clock source Table 61 NI 9234 Example Data Rates Oversample Data Rate Clock Divisor Clock Source Rate Byte Clock Rate 50 000 kS s 00001 10 0x06 12 80 MHz 25 000 kS s 00010 10 Ox0A 6 40 MHz 16 667 kS s 00011 10 Ox0E 4 27 MHz 12 500 kS s 00100 10 0x12 3 20
31. MHz 10 000 kS s 00101 10 0x16 2 56 MHz 6 250 kS s 01000 10 0x22 1 60 MHz 5 000 kS s 01010 10 0x2A 1 28 MHz NI 9144 User Guide and Specifications 66 ni com NI 9234 Calibration Data The NI 9234 has four channels with a nominal range of 5 V Each channel has an associated AC or DC input mode an optional IEPE excitation an associated LSB weight which is how many volts there are per bit and an offset which is the volts per bit measured with the inputs grounded iy 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 so on should be interpreted as a signed value Table 62 NI 9234 Scan List Format Coefficient Representation Units LSB Weight Unsigned pV LSB Offset Signed nV Use the calibration coefficients with the following equation to generate corrected data Feoriecredl Frw V awl bits x ESB ven National Instruments Corporation 67 pV bit y x w Offset pV x 10 NI 9144 User Guide and Specifications NI 9235 The vendor configuration extensions for the NI 9235 are listed in Table 63 Table 63 NI 9235 Vendor Configuration Extensions Index Sub Type R W Description 0x2002 0 U32 R W Configure ADC default 0xCE00 0x2100 0 ARR U32 Calibration
32. N 61010 1 e UL61010 1 CSA 61010 1 i Note For UL and other safety certifications refer to the product label 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 laboratory use e EN 61326 1 IEC 61326 1 Class A emissions Basic immunity e EN 55011 CISPR 11 Group 1 Class A emissions e AS NZS CISPR 11 Group 1 Class A emissions e FCC 47 CFR Part 15B Class A emissions e ICES 001 Class A emissions UN Caution When operating this product use shielded cables and accessories 3 Note For EMC declarations and certifications refer to the Online Product Certification section CE Compliance C This product meets the essential requirements of applicable European Directives as follows e 2006 95 EC Low Voltage Directive safety e 2004 108 EC Electromagnetic Compatibility Directive EMC Online Product Certification To obtain product certifications and the Declaration of Conformity DoC for this product visit ni com certification search by model number or product line and click the appropriate link in the Certification column NI 9144 User Guide and Specifications 22 ni com Environmental Management NI is committed to designing and manufacturing products in an environmentally responsible manner NI recognizes that eliminating certain hazardous substances from our produc
33. R U32 a Calibration 48 1 R ChO Offset 2 R ChO Gain 3 R ChO Shunt 4 R Ch1 Offset 24 R Ch7 Shunt 25 R External Ch0 Offset The NI 9236 is a DSA module and as such it does not synchronize with other modules but free runs at its own fixed rate Configure ADC The NI 9236 like the other DSA modules can convert at various rates controlled by the fields in the ADC conversion command Table 68 NI 9236 Scan List Format Bits Field Description 15 10 Clock Divisor The clock source internal or external is divided by one half of this value and used as the converter s oversample clock Valid values are from 2 to 63 but the final divided clock must be between 502 kHz and 5 12 MHz This means that only values from 5 to 51 representing the divisors 2 5 to 25 5 are valid when using the 12 8 MHz internal clock source 9 8 Clock Source 0b00 0 The OCLK pin is used as the oversample clock source 0b01 1 The 12 8 MHz internal clock is used as the clock source and this 12 8 MHz is driven onto the OCLK pin 0b10 2 The internal clock is used but not driven onto OCLK pin Currently this is the required clock setting 0b11 3 Reserved 7 0 Shunt Cal Enable lt ch7 ch0 gt Controls the shunt calibration switch for each of the eight channels A logic 1 in any bit closes the switch for the respective channel while a logic 0 opens the switch National Instruments Corporation 7
34. acquisition timing OxSFFF U32 Slot address override To address CoE requests to a given module s object dictionary enter the module s slot number here Write a 0 here to cancel the slot address override NI 9144 User Guide and Specifications 24 ni com Table 3 Module Vendor Extensions Continued Vendor Extension Index Sub Type R W Description C Series 0x2000 0 U32 R NI C Series Vendor ID Module for NI C Series modules equals 0x1093 0x2001 0 N ARR R W e Scan or command list e Channel direction control e Mode selection 0x2002 0 U32 R W e Error status e Unipolar bipolar control e Module configuration command e Module conversion rate control 0x2003 0 U32 R W Error acknowledgement or status 0x2005 0 U8 R W e Refresh period e Conversion format 0x2100 0 N ARR R Calibration data 0x3002 0 U32 R Number of scans This index reports the number of conversions the module makes during the cycle If disable multiple scans is selected the number of scans is always 1 0x4000 R W Safe data values that mirror the PDO data in Iy 0x6000 0x67FF 0x47FF 0x4800 R W Safe control values that mirror the SDO data in ia 0x2000 0x27FF Ox4FFF National Instruments Corporation 25 NI 9144 User Guide and Specifications Supported C Series Modules This section features configurable options for the following supported C Series
35. ation coefficients are used with the following equation to generate corrected data Nominal Binarypatg X LSB yeign X 1e 13 Offsetx le 7 The resultant calibrated reading is a ratio between the bridge input voltage and the excitation voltage termed V However typical quarter bridge measurements are denominated in strain which require not only conversion in the strain equation but also the acquisition and use of an unstrained measurement Due to initial tolerances in all of the bridge elements but primarily of the gage itself the module reading is nonzero even when the gage is in an unstrained state If handled correctly this is not a source of inaccuracy because strain measurement is inherently a delta measurement Accordingly a fundamental element of strain measurement involves the capture of this unstrained measurement which is analogous to the cold junction measurement of a thermocouple measurement system The strain equation is strain e Aa Vp unst GF 1 ty 2 j Vist Ve osinst where V sad V unst are the strained and unstrained readings respectively from the module NI 9144 User Guide and Specifications 70 ni com NI 9236 The vendor configuration extensions for the NI 9236 are listed in Table 67 Table 67 NI 9236 Vendor Configuration Extensions Index Sub Type R W Description 0x2002 0 U32 R W Configure ADC default 0xCE00 0x2100 0 AR
36. cal for the 40 to 70 C operating temperature range unless otherwise noted For more information refer to the specific module specifications Network Network interface 0 0 eeeeeeeeee 100BaseTX Ethernet Compatibility 00 eee eeeeereeeeee EtherCAT Communication rates eee 100 Mbps Maximum cabling distance 100 m segment MTBF MI BB nran Hine kd 458 557 hours at 25 C 77 F Bellcore Issue 6 Note Contact NI for Bellcore MTBF specifications at other temperatures or for MIL HDBK 217F specifications Go to ni com certification and search by model number or product line for more information about MTBF and other product certifications Power Requirements UN Caution You must use a National Electric Code NEC UL Listed Class 2 power supply with the NI 9144 chassis Recommended power supplly 48 W 24 VDC Power CONSUMPTION 0 00 0 eee eeeeeeereeee 20 W maximum Chassis input range eee 9 to 30 V NI 9144 User Guide and Specifications 18 ni com Physical Characteristics If you need to clean the controller wipe it with a dry towel Screw terminal Wiring eeeeeeeeees 0 5 to 2 5 mm 24 to 12 AWG copper conductor wire with 10 mm 0 39 in of insulation stripped from the end Torque for screw terminals 0 0 0 0 0 5 to 0 6 N m 4 4 to 5 3 lb in Welg hierer oning neninn 906 g 32 7 oz Safety Voltages Connect only voltages that are within these limits V terminal to C terminal
37. ddresses one through eight 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 one through eight to the object dictionary index OxSFFF 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 OxSFFF 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 the Appendix of this user guide National Instruments Corporation 17 NI 9144 User Guide and Specifications Specifications The following specifications are typi
38. de Range Configuration Channel 0 0x01 Data Byte OxC6 CRC value 0x04 Calibration Offset MSB Channel 0 Ox7F Data Byte 0x54 CRC value 0x05 Calibration Offset Byte 2 Channel 0 OxFF Data Byte OxB6 CRC value 0x06 Calibration Offset LSB Channel 0 0x85 Data Byte 0x56 CRC value 0x08 Calibration Gain MSB Channel 0 0x6C Data Byte OxlE CRC value 0x09 Calibration Gain Byte 2 Channel 0 OxAA Data Byte Ox4E CRC value Ox0A Calibration Gain LSB Channel 0 0xC1 Data Byte 0x32 CRC value 0x41 ADC Mode Configuration Byte Channel 1 0x01 Data Byte 0x64 CRC value 0x5F Mode Range Configuration Channel 1 0x01 Data Byte OxE4 CRC value National Instruments Corporation 55 NI 9144 User Guide and Specifications Table 50 NI 9219 Configuration 1 Command Bytes Continued Command Byte Value Description 0x44 Calibration Offset MSB Channel 1 Ox7F Data Byte 0x76 CRC value 0x45 Calibration Offset Byte 2 Channel 1 OxFF Data Byte 0x94 CRC value 0x46 Calibration Offset LSB Channel 1 0x86 Data Byte OxE0O CRC value 0x48 Calibration Gain MSB Channel 1 0x6C Data Byte 0x3C CRC value 0x49 Calibration Gain Byte 2 Channel 1 0x76 Data Byte 0x50 CRC value Ox4A Calibration Gain LSB Channel 1 0x3C Data Byte OxF6 CRC value 0x81 ADC Mode Configuration Byte Channel 2 0x01 Data Byte OxCE CRC value Ox9F Mode
39. e Table 60 NI 9234 Scan List Format Bits Field Description 15 Ch3 IEPE IEPE Enable 3 When set the corresponding channel s relays are switched to IEPE operation IEPE operations switches the AC DC relay to AC mode and enables the IEPE relay to send the current to the IEPE sensor 14 Ch3 AC DC AC DC 3 Controls the AC DC relay when IEPE is not selected If IEPE is enabled then these bits have no meaning as AC mode is always selected with an IEPE operation 13 Ch2 IEPE IEPE Enable 2 When set the corresponding channel s relays are switched to IEPE operation IEPE operations switches the AC DC relay to AC mode and enables the IEPE relay to send the current to the IEPE sensor 12 Ch2 AC DC AC DC 2 Controls the AC DC relay when IEPE is not selected If IEPE is enabled then these bits have no meaning as AC mode is always selected with an IEPE operation 11 Ch1 IEPE IEPE Enable 1 When set the corresponding channel s relays are switched to IEPE operation IEPE operations switches the AC DC relay to AC mode and enables the IEPE relay to send the current to the IEPE sensor National Instruments Corporation 65 NI 9144 User Guide and Specifications Table 60 NI 9234 Scan List Format Continued Bits Field Description 10 Ch1 AC DC AC DC 1 Controls the AC DC relay when IEPE is not selected If IEPE is enabled then these bits have no meaning as AC mode is always selected with an IEPE operation 9 ChO IEPE
40. e the NI 9905 panel mount kit complete the following steps 1 Fasten the chassis to the panel mount kit using a number 2 Phillips screwdriver and two M4 x 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 Figure 5 Installing the Panel Mount Accessory on the NI 9144 Chassis NI 9144 User Guide and Specifications 6 ni com 330 200 mm ie 13 in gt 5 311 150 mm e x 12 25 in e i a38 in DA 286 634 a he i isa se ci 44 28 in ga Gein eo ee r 88 138 mm FT To ss a 3 47 in a Siz la GRE AA f ee eee 31 750mm 1 25 in 63 500 mm 2 5 in Figure 6 Dimensions of NI 9144 Chassis with Panel Mount Accessory Installed 2 Fasten the NI 9905 panel to the wall using the screwdriver and screws that are appropriate for the wall surface UN Caution Remove any C Series I O modules from the chassis before removing it from the panel Mounting the Chassis on a DIN Rail UN Caution Remove any C Series I O modules from the chassis before removing the chassis from the DIN rail Use the NI 9915 DIN rail mount kit if you want to mount the chassis on a DIN rail You need one clip for mounting the chassis on a standard 35 mm DIN rail Complete the following steps to mou
41. eees IP 40 Operating humidity IEC 60068 2 56 10 to 90 RH noncondensing Storage humidity IEC 60068 2 56 5 to 95 RH noncondensing Maximum altitude 2 000 m Pollution Degree IEC 60664 2 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 50 g 3 ms half sine 18 shocks at 6 orientations Operating vibration random IEC 60068 2 64 oe 5 Sms 10 to 500 Hz Operating vibration sinusoidal IEC 60068 2 6 5 g 10 to 500 Hz NI 9144 User Guide and Specifications 20 ni com Cabling Table 2 shows the standard Ethernet cable wiring connections Table 2 Ethernet Cable Wiring Connections Pin Connector 1 Connector 2 1 white orange white orange 2 orange orange 3 white green white green 4 blue blue 5 white blue white blue 6 green green 7 white brown white brown 8 brown brown Connector 1 Connector 2 Pin s hiilie ein 8 Pin ill lil4e Pin s Figure 16 Ethernet Connector Pinout National Instruments Corporation 21 NI 9144 User Guide and Specifications Safety This product meets the requirements of the following standards of safety for electrical equipment for measurement control and laboratory use e IEC 61010 1 E
42. eighteen total channels that can be measured e lt 0 15 gt sixteen thermocouple channels always measured in a 78 mV range e 12 one cold junction channel always measured in a 2 5 V range e 17 one auto zero channel always measured in a 78 mV range Table 29 contains the default scan list Table 29 NI 9213 Scan List Format Index Sub Type Value 0x2001 0 ARR U32 19 1 18 2 0 3 1 18 16 19 17 NI 9213 Calibration Data Calibration data is set up by the driver during initialization and the calibration conversion is performed on the module ADC itself so the third party user does not need to worry about the calibration tables NI 9144 User Guide and Specifications 42 ni com NI 9214 The vendor configuration extensions for the NI 9214 are listed in Table 30 Table 30 NI 9214 Vendor Configuration Extensions Index Sub Type R W Description 0x2001 0 ARR U32 Scan List 21 1 R Channels to Convert 1 20 default 20 2 21 R W Channel Code 0x2002 0 U32 R W Conversion Speed Control Open Thermocouple Detection 0x2003 0 U32 R Common Mode Range Error Detection Status also as 8 bit PDO Conversion Speed Control Open Thermocouple Detection 0x2002 The NI 9214 can convert at two pre defined rates as controlled by the speed control field Note that the conversion rate assumes that 20 channels are in the scan lis
43. field subindex 1 3 5 and so on should be interpreted as a signed value Table 35 NI 9215 Calibration Coefficients Coefficient Representation Units LSB Weight Unsigned nV LSB Offset Signed nV Use the calibration coefficients with the following equation to generate corrected data nV cavwecteas Vaw V aw bits x fese al x 10 Offset n V x 10 its National Instruments Corporation 45 NI 9144 User Guide and Specifications NI 9217 The vendor configuration extensions for the NI 9217 are listed in Table 36 Table 36 NI 9217 Vendor Configuration Extensions 3 Index Sub Type R W Description 0x2001 0 ARR U32 Scan List 5 1 R Channels to Convert lt 1 4 gt default 4 2 3 R W Channel Code 0x2002 0 U32 R W Conversion Speed Control 2 or 31 default 31 0x2100 0 ARR U32 Calibration 16 1 R ChO Offset 2 R ChO Gain 3 R Chl Offset 8 R Ch3 Gain 9 R External ChO Offset NI 9217 Conversion Speed Control The NI 9217 converts at two pre defined rates as controlled by the speed control field Note The conversion rate assumes that 4 channels are in the scan list Table 37 NI 9217 Conversion Speed Control NI 9144 User Guide and Specifications Speed Control Meaning Conversion Rate 31 Ox1F High Accuracy 200 ms channel 800 ms total 2 0x02 Hig
44. gister certification for a product visit ni com certification and search for the LR certificate or look for the Lloyd s Register mark on the product label UN Caution In order to meet the EMC requirements for marine applications install the product in a shielded enclosure with shielded and or filtered power and input output ports In addition take precautions when designing selecting and installing measurement probes and cables to ensure that the desired EMC performance is attained Mounting the NI 9144 Chassis You can mount the chassis in any orientation on a 35 mm DIN rail or on a panel Use the DIN rail mounting method if you already have a DIN rail configuration or if you need to be able to quickly remove the chassis Use the panel mount method for high shock and vibration applications UN Caution Your installation must meet the following requirements for space and cabling clearance e Allow 25 4 mm 1 in on the top and the bottom of the chassis for air circulation e Allow 50 8 mm 2 in in front of C Series I O modules for cabling clearance for common connectors such as the 10 terminal detachable screw terminal connector as shown in Figure 2 eee eee eee eidele renee ierann inei 48 4 mm Cabling Clearance 29 0 mm 4 1 9 in O 50 8 mm 2 00 in 1 14 in Y 2 ce A ANE A ld le ld lal ld lo oo v i 2 32 in 286 4 mm
45. h Speed 2 5 ms channel 10 ms total 46 ni com NI 9217 Scan List The scan list channel codes consist of three bit fields in a 32 bit entry Table 38 NI 9217 Conversion Code Bits Field 31 16 Reserved 15 8 Data Offset t 70 Convert Code t 1 Bits lt 15 8 gt describe the data offset to store a conversion at time t and bits lt 7 0 gt describe the conversion control codes that take effect one conversion in the future at time t 2 The conversion code is listed in Table 39 Table 39 NI 9217 Conversion Code Bits Field Ted Conversion rate 0b11111 31 High Accuracy 0b00010 2 High Speed PARI i Channel number 0 Reserved 3 Note The conversion rate for every channel must match the value of the conversion speed control in 0x2002 For example the scan list entry 0x00000001FC indicates this scan stores at address 1 and the next conversion is channel 2 at high accuracy Table 40 contains the default scan list Table 40 NI 9217 Scan List Format Index Sub Type Value 0x2001 0 ARR U32 5 1 4 2 0x0000 OxF8 0x02 3 0x0100 OxF8 0x04 4 0x0200 OxF8 0x06 5 0x0300 OxF8 0x00 National Instruments Corporation 47 NI 9144 User Guide and Specifications NI 9217 Calibration Data The NI 9217 has four RTD channels that can measure 100 Q RTD in 3 wire and 4 wire mode There is a 1 mA excitation current
46. ich is the number of volts per bit and an offset which is the number of volts per bit measured when the inputs are grounded B 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 so on should be interpreted as a signed value Table 80 NI 9265 Scan List Format Coefficient Representation Units LSB Weight Unsigned pA LSB Offset Signed pA Use the calibration coefficients with the following equation to generate corrected data aotsa A r omeo A Liesirea Code Code x LSB ycign E x 10 ey Offset pA x 10 pA NI 9144 User Guide and Specifications 80 ni com NI 9269 The vendor configuration extensions for the NI 9269 are listed in Table 81 Table 81 NI 9269 Vendor Configuration Extensions Index Sub Type R W Description 0x2100 0 ARR U32 Calibration 16 1 R ChO Offset 2 R ChO Gain 3 R Chl Offset 8 R Ch3 Gain 9 R External ChO Offset NI 9269 Calibration Data The NI 9269 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 3 Note LSB weight is referred to as Gain in the object dictionary The calibration data is stored in a U32 array though
47. ide and Specifications NI 9478 The vendor configuration extensions for the NI 9478 are listed in Table 89 Table 89 NI 9478 Vendor Configuration Extensions Index Sub Type R W Description 0x2001 0 U32 R W Current Limit Select 0x2002 1 U32 R Error Status A sent as 16 bit PDO 2 U32 R Error Status B sent as 16 bit PDO 0x2003 1 U32 R Error Overtemp sent as 8 bit PDO 0x2004 1 U8 R W Limit A 2 U8 R W Limit B 0x2005 0 U8 R W Refresh Period Current Limits and Selection Each of the 15 channels has 2 bits represented in index 0x2001 Current Limit Select with channel 0 controlled by bits 0 and 1 NI 9478 Direction Control Table 90 NI 9478 Scan List Format Bits Field 31 30 0 Limit A 1 Limit B 29 28 2 No Limit 3 no charge 1 0 The current limits are set in index 0x2002 sub indices1 Limit A and 2 Limit 2 The current limits are 8 bit unsigned integers in increments of 20 mA 1 20 mA 2 40 mA and so on Error Status and Overtemp The two error status fields each hold 16 bits of data one bit per channel with bit 0 for channel 0 The error status bits in 0x2002 1 are for Limit A reporting Bits 0x2002 2 are for Limit B reporting Errors are reported for at least one cycle and are automatically cleared by the module when appropriate NI 9144 User Guide and Specifications 84 ni com The Error Overtemperature field has seven b
48. its to ignore and one bit bit 0 that when set indicates that the module in an over temperature condition Bits Field TA Reserved 0 Overtemp Refresh Period This is the period over which output values that may have experienced an over current condition are re enabled An eight byte value in 10 us is listed in the following table Value Description 0 Infinity no refresh 1 Invalid value 23 255 20 to 2 550 us refresh period NI 951x Refer to the NI 951x C Series Modules Object Dictionary available from ni com manuals for NI 951x C Series drive interface module object dictionary entries C Series Modules with No Configurable Options The supported C Series modules with no configurable options are as follows e NI9375 e NI9411 e NI9421 e NI9422 e NI9423 e NI9425 e NI9426 e NI9435 e NI9472 e NI9474 e NI9475 e NI9477 e NI9481 e NI9485 National Instruments Corporation 85 NI 9144 User Guide and Specifications Where to Go for Support The National Instruments Web site is your complete resource for technical support At ni com support you have access to everything from troubleshooting and application development self help resources to email and phone assistance from NI Application Engineers National Instruments corporate headquarters is located at 11500 North Mopac Expressway Austin Texas 78759 3504 National Instruments also has offices located around the w
49. lp Properties Figure 12 Switch to Configuration 4 Right click the NI 9144 that requires a firmware change and select Online Device State as shown in Figure 13 8 Project Explorer test vproj cle File Edit Yiew Project Operate Tools Window Help oSua xooxv ella Re fe Project test lvproj My Computer S Dependencies Build Specifications amp cRIO 9074 ECAT 10 0 58 11 eS EtherCAT Master 00 80 2F 10 d0 5b aE Utilities Online Device State Multiple Variable Editor a Build Spe _ Expand All Collapse All Remove From Project Rename Help Properties Figure 13 Online Device State NI 9144 User Guide and Specifications 14 ni com 5 Change the online state by clicking the Init button and then clicking the Bootstrap button as shown in Figure 14 Categor EtherCAT Parameters Operational Bootstrap E See a f JE Explain Error Clear Error Utility Note To download firmware put the NI Scan Engine into Configuration mode and switch the device to Bootstrap state Download Firmware Figure 14 Clicking Bootstrap National Instruments Corporation 15 NI 9144 User Guide and Specifications 6 Click the Download Firmware button Navigate to Program Files National Instruments NI IndCom for EtherCAT and select the file with a foe extension such as NI
50. modules e NI 9201 9221 e NI 9203 e NI 9205 9206 e NI9207 e NI9208 e NI92I1 e NI9213 e NI9214 e NI9215 e NI9217 e NI9219 e NI9225 e NI 9227 e NI 9229 9239 NE9233 e NI 9234 NI9235 e NI 9236 NI 9237 e NI 9263 e NI 9264 e NI 9265 e NI 9269 e NI 9401 e NI 9402 e NI 9403 e NI 9476 e NI 9478 NI9S5Ix Refer to the C Series Modules with No Configurable Options section for all other supported C Series modules NI 9144 User Guide and Specifications 26 ni com NI 9201 9221 The vendor configuration extensions for the NI 9201 9221 are listed in Table 4 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 lt 1 8 gt default 8 2 9 R W Channel Code 0x2002 0 U32 R W Fast Convert 0 1 default 1 fast 0x2100 0 ARR U32 Calibration 32 1 R Ch0 Offset 2 R Ch0 Gain 15 R Ch7 Offset 16 R Ch7 Gain 17 R External Calibration Ch0 Offset NI 9201 9221 Scan List The scan list channel codes consist of two bit fields in a 32 bit entry Table 5 NI 9201 9221 Scan List Format Bits Field 31 24 0 23 16 Data Offset t 15 8 0 7 0 Convert Flag t 2 Bits lt 23 16 gt describe the data offset to store a conversion at time t and bits lt 7 0 gt describe the conversion con
51. n 7 R 5 V offset 13 R User calibration Coeff 3 NI 9205 9206 Scan List The scan list channel codes consist of eight bit fields in a 32 bit entry Table 15 Scan List Format Bits Field 31 24 0 23 16 Data Offset t 15 0 Conversion Code t 2 Bits lt 23 16 gt describe the data offset to store a conversion at time f and bits lt 15 0 gt describe a complex conversion control code that takes effect two conversions in the future at time t 2 On the NI 9205 9206 this conversion code is listed in Table 16 NI 9144 User Guide and Specifications 32 ni com Table 16 NI 9205 9206 Conversion Code Bits Field 15 13 001 Read AI 12 11 Bank 01 Channels lt 0 15 gt 10 Channels lt 16 31 gt 10 8 Channel LSB lt 0 7 gt 7 6 00 Cal Pos Ref5V 5 4 00 NRSE 11 Cal Neg AI GND RSE or DIFF 322 Mode 10 Single End A Ch lt 0 7 gt lt 16 23 gt 11 Single End B Ch lt 8 15 gt lt 24 31 gt 1 0 00 10 V 01 45V 10 1V 11 200 mV Table 17 contains the default scan list National Instruments Corporation 33 NI 9144 User Guide and Specifications Table 17 NI 9205 9206 Scan List Format Index Sub Type Value Sub Value 0x2001 0 ARR U32 33 1 32 2 0x00002A38 18 0x00103238 3 0x00012B38 19 0x00113338 4 0x00022C38 20 0x0012
52. nal 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 A logic 1 in any bit enables half bridge completion for the respective channel while a logic 0 disables it 7 Reserved 6 4 Excitation Sets the excitation voltage setting All channels share the same excitation voltage 0b000 0 2 5 V The OCLK pin is used as the oversample clock source 0b001 1 3 3 V The 12 8 MHz internal clock is used as the clock source and this 12 8 MHz is driven onto the OCLK pin 0b010 2 5 0 V The internal clock is used but not driven onto OCLK pin Currently this is the required clock setting 0b011 3 10 0 V Reserved Ob1xx 4 7 External Excitation 3 0 Offset Cal Enable lt ch3 ch0 gt Controls the offset calibration mode Offset calibration mode disconnects both signal input pins and forces the channel inputs to zero volts enabling measurement of the channel s offset voltage A logic 1 in any bit enables offset calibration for the respective channel while a logic 0 disables it NI 9237 Example Data Rates Example data rates use a 12 8 MHz clock source Table 73 NI 9237 Example Data Rates Oversample Data Rate Clock Divisor Clock Source Rate Byte Clock Rate 50 000 kS s 00001 10 0x06 12 80 MHz 25 000 kS s 00010 10 0x0A 6 40 MHz 16 667 kS s 00011 10 Ox0E 4 27 MHz 12 500 kS s 00100 10 0x12 3 20 MHz 10 000 kS s 00101 10 0x16 2 56 MHz
53. ng the Chassis on a DIN Rail eee ee eee eeeeeeeneeeaeeneeees 7 Connecting the NI 9144 Chassis to a Network eee eeeseeeeeeeeeeeees 9 Understanding LED Indications o oo eee ceeeeeeeeseteeeseeeeeaeeaeees 10 POWER LED neesenca a E EA aR 10 FPGA LED Open FPGA Mode Only sseeseesseeeeeeeseererrererrererere 10 RUN nd ERR UB DS iis ssccsssssctacssspesssvsecesseras deasstnapedvestapaieiaaseensteceass 10 Resetting the NI 9144 Network Configuration eeeeeeeeeereeeees 12 Sale State Outputs s epicii aeaee aE a aap ee ERNES 12 Slave Timing Modes s ccsc ssetesscessseaeseewstectistpesevdasstenisetereeadeoserisueri eaves 12 Updating Your Firmware ii cciscsescceisesseeesesseseceesndensssenstisce tisndesovessceaetenee 12 How to Upgrade Your Firmware cece seeeseeseseeeeneeseeeseeaee 13 Using the NI 9144 with an EtherCAT Third Party Master 16 Using A0E SDO rinii E E CREEEREN 17 Using CoE SDO kencen ai ea E 17 SPCCuUICAUWLONS sis iniiis alas eles Mead EEEE ENERET 18 Appendiks eera ee E Ee A EE En 24 Vendor Extensions to the Object Dictionary eee 24 Supported C Series Modules 20 0 eee eeeeceseeseeeeeeeceeeeeeseeesseeeeseees 26 C Series Modules with No Configurable Options 0 85 Where to Go for SUPpOrt eee eee eeeeseceeeeeeceeeaeeaeeeeetaeseeeeaeteneeaeeeeees 86 Safety Guidelines Operate the NI 9144 chassis only as described in this user guide Safety Guidelines for Hazardous Locations The NI 9144 chassis i
54. nt the chassis on a DIN rail 1 Fasten the DIN rail clip to the chassis using a number 2 Phillips screwdriver and two M4 x 16 screws National Instruments provides these screws with the DIN rail mount kit National Instruments Corporation 7 NI 9144 User Guide and Specifications Figure 7 Installing the DIN Rail Clip on the NI 9144 Chassis 2 Insert one edge of the DIN rail into the deeper opening of the DIN rail clip as shown in Figure 8 a lt lt 1 DIN Rail Clip 2 DIN Rail Spring 3 DIN Rail Figure 8 One Edge of the DIN Rail Inserted in a Clip 3 Press down firmly on the chassis to compress the spring until the clip locks in place on the DIN rail NI 9144 User Guide and Specifications 8 ni com Connecting the NI 9144 Chassis to a Network NI recommends that you install a private network segment for your deterministic Ethernet expansion devices Slave devices cause network flooding on a standard network Non EtherCAT frames jeopardize the system performance and determinism on an EtherCAT network Refer to the EtherCAT Technology Group Web site at www ethercat org for more information The following devices are required to connect the NI 9144 chassis to a network successfully a host computer a supported LabVIEW Real Time target with the NI Industrial Communications for EtherCAT software driver installed on it and an NI 9144 slave device To have your LabVIEW ta
55. on Extensions Index Sub Type R W Description 0x2100 0 ARR U32 Scan List 16 1 R Channels to Convert lt 1 18 gt default 18 2 19 R W Channel Code 0x2100 0 U32 R W Channel Speed Control 2 or 15 default 2 0x2003 U32 R Common Mode Range Error Detection Status also as 8 bit PDO 3 NI 9213 Conversion Speed Control The NI 9213 can convert at two pre defined rates as controlled by the speed control field Note The conversion rate assumes that 18 channels are in the scan list Table 27 NI 9213 Conversion Speed Control Speed Control Meaning Conversion Rate 2 0x02 High Accuracy 55 ms channel 99 s total 15 0x0F High Speed 740 us channel 12 32 ms total NI 9213 Common Mode Error Status The error status field is defined as listed in Table 28 Table 28 NI 9213 Conversion Code Bits Field 31 8 Reserved 7 OT Error 1 Open thermocouple detected on the last channel acquired 6 CMV Error 1 Common mode voltage error detected on the last channel acquired 5 GO Status status of the gain override enable bit National Instruments Corporation 41 NI 9144 User Guide and Specifications Table 28 NI 9213 Conversion Code Continued Bits Field 4 Reserved 3 0 Currently configured ADC data rate NI 9213 Scan List The scan list is a simple list of channels to convert in order The NI 9213 has
56. orld to help address your support needs For telephone support in the United States create your service request at ni com support and follow the calling instructions or dial 512 795 8248 For telephone support outside the United States contact your local branch office Australia 1800 300 800 Austria 43 662 457990 0 Belgium 32 0 2 757 0020 Brazil 55 11 3262 3599 Canada 800 433 3488 China 86 21 5050 9800 Czech Republic 420 224 235 774 Denmark 45 45 76 26 00 Finland 358 0 9 725 72511 France 01 57 66 24 24 Germany 49 89 7413130 India 91 80 41190000 Israel 972 3 6393737 Italy 39 02 41309277 Japan 0120 527196 Korea 82 02 3451 3400 Lebanon 961 0 1 33 28 28 Malaysia 1800 887710 Mexico 01 800 010 0793 Netherlands 31 0 348 433 466 New Zealand 0800 553 322 Norway 47 0 66 90 76 60 Poland 48 22 328 90 10 Portugal 351 210 311 210 Russia 7 495 783 6851 Singapore 1800 226 5886 Slovenia 386 3 425 42 00 South Africa 27 0 11 805 8197 Spain 34 91 640 0085 Sweden 46 0 8 587 895 00 Switzerland 41 56 2005151 Taiwan 886 02 2377 2222 Thailand 662 278 6777 Turkey 90 212 279 3031 United Kingdom 44 0 1635 52354 LabVIEW National Instruments NI ni com the National Instruments corporate logo and the Eagle logo are trademarks of National Instruments Corporation Refer to the Trademark Information at ni com trademarks for other National Instruments trademarks Other product and company names mentioned herein are
57. pecifications Understanding LED Indications Figure 9 shows the NI 9144 chassis LEDs a O FPG O RUN ERR Figure 9 NI 9144 Chassis LEDs POWER LED The POWER LED is lit when 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 You can program this LED using LabVIEW FPGA RUN and ERR LEDs The RUN LED is green and indicates that the NI 9144 is in an operational state The ERR error LED is red and indicates an error Table 1 lists the RUN and ERR LED indications Table 1 RUN and ERR LED Indications RUN LED ERR LED LED Behavior Run Mode Description Error Mode Description Off INIT Slave discovery No Error Initialize and initialization Blinking PRE OP Module detection Invalid Unsupported Pre Operational configuration and Configuration module bad synchronization device profile object dictionary and configuration Single Flash SAFE OP Inputs are Unsolicited Backplane or Safe Operational functional outputs State Change module emergency drive constant safe condition values NI 9144 User Guide and Specifications 10 ni com Table 1 RUN and ERR LED Indications Continued RUN LED ERR LED LED Behavior Run Mode Description Error Mode Description Double Flash Application Slave did not Watchdog receive a Timeout scheduled Ethe
58. rCAT telegram On Operational Inputs and outputs PDI Process Slave failed to are functional Data Interface transfer I O data in Watchdog scheduled time Timeout Flickering Bootstrap Firmware update Booting Error Corrupt firmware or hardware error Figure 10 shows the Run Mode transition INIT A LabVIEW Configuration Mode PRE OP A Bootstrap A A SAFE OP y i v LabVIEW Operational Active Mode Figure 10 EtherCAT Modes National Instruments Corporation 11 NI 9144 User Guide and Specifications 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 LabVIEW Active Mode to the LabVIEW Configuration Mode during normal operation or in case of a serious error the NI 9144 passes through this EtherCAT safe state The EtherCAT safe state forces the data of output modules to pre defined safe values which are set by default to output zero volts for the default channel configuration It is possible to change the safe values as needed by writing to the appropriate object dictionary entries for your output module Slave Timing Modes The NI 9144 can operate in two fundamental timing modes free run and synchronized
59. re the channel number reversed Table 10 NI 9203 Channels Reversed Bits Channel Reversed Bits 0 0b000 0b000 0 1 0b001 0b100 4 2 0b010 0b010 2 3 0b011 0b110 6 4 0b100 0b001 1 5 0b101 0b101 5 6 0b110 0b011 3 7 0b111 Ob111 7 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 Table 11 contains the default scan list Table 11 NI 9203 Scan List Format NI 9144 User Guide and Specifications Index Sub Type Value 0x2001 0 ARR U32 9 1 8 2 0x00000002 3 0x00010006 4 0x00020001 5 0x00030005 6 0x00040003 7 0x00050007 8 0x00060000 9 0x00070004 30 ni com 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 3 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 eight gains for each mode a total of 2 offsets and 16 gains in total All channels in a given mode use the same offset The host can then take
60. rget establish a connection with the NI 9144 chassis connect 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 slave devices on the same segment Once the connection is established install the NI Industrial Communications for EtherCAT software on the host computer and then use Measurement amp Automation Explorer MAX to install the NI Industrial Communications for EtherCAT driver on the target Your NI 9144 comes pre programmed to use the RIO Scan engine If you want to program the FPGA with your own custom logic use LabVIEW FPGA Caution To update your firmware on the NI 9144 chassis refer to the Updating Your Firmware section of this user guide gt amp Caution 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 To build your own cable refer to the Cabling section for more information about Ethernet cable wiring connections 3 Note If you are not using a LabVIEW Real Time target as the master controller consult your product documentation about networking connections 1 For supported LabVIEW targets refer to ni com info and enter ecatmaster National Instruments Corporation 9 NI 9144 User Guide and S
61. s suitable for use in Class I Division 2 Groups A B C D T4 hazardous 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 explosive environment Not following these guidelines may result in serious injury or death UN Caution Do not disconnect the power supply wires and connectors from the chassis unless power has been switched off NI 9144 User Guide and Specifications 2 ni com A Caution Substitution of components may impair suitability for Class I Division 2 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 07 ATEX 0626664X Each chassis is marked E II 3G and is suitable for use in Zone 2 hazardous locations in ambient temperatures of 40 lt Ta lt 70 C Electromagnetic Compatibility Guidelines This product was tested and complies with the regulatory requirements and limits for electromagnetic compatibility EMC as stated in the product specifications These requirements and limits are designed to provide reasonable protection against harmful interference when the product is operated in its intended operational electromagnetic environment There is no g
62. t The NI 9214 can also enable disable open thermocouple detection Table 31 NI 9214 Conversion Speed Control Open Thermocouple Detection Bits Field 31 5 Reserved 4 Open Thermocouple Detection 0x10 Enable 0x00 Disable 3 0 Conversion Speed Control 0x02 High Accuracy 52 ms channel 1 04 s total Ox0F High Speed 735 us channel 14 7 ms total Common Mode Error Status 0x2003 The error status field is defined as shown in Table 32 Table 32 NI 9214 Error Status Field Bits Field 31 8 Reserved 7 OT Error 1 Open thermocouple was detected on the last channel that was acquired National Instruments Corporation 43 NI 9144 User Guide and Specifications Table 32 NI 9214 Error Status Field Continued Bits Field 6 CMV Error 1 Common mode voltage error was detected on the last channel that was acquired 5 GO Status Status of the gain override enable bit 4 Reserved 3 0 Currently configured ADC data rate Scan List The scan list is a simple list of channels to convert in order The NI 9214 has 20 total channels that can be measured e 0 15 16 thermocouple channels always measured in a 78 mV range e 16 One auto zero channel always measured in a 78 mV range e 17 Cold junction channel 0 always measured in a 2 5 V range e 18 Cold junction channel 1 always measured in a 2 5 V range e 19 Cold junction channel 2 always measured
63. t EtherCAT and CANOpen specification for modular slave devices Both the NI 9144 device and the C Series modules have vendor extensions to the standard These extensions are described here 3 Note Most object dictionary entries are set to usable defaults during the NI 9144 s transition from INIT to PRE OP NI recommends writing down the object dictionary default values in case you need to revert to them before you begin to overwrite them with new values prior to the transition to SAFE OP i Note The following lists the most common C Series module vendor extensions Each module has its own extensions which may vary from the 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 Table 3 lists common module vendor extensions Table 3 Module Vendor Extensions Vendor Extension Index Sub Type Description NI 9144 0x3001 ARR U32 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 Disables multiple scans Setting the field to 1 disables multiple scan ability Even when a module has enough time during the cycle to acquire more than one set of data only one acquisition occurs This is useful when analyzing the module
64. t Signed 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 y mxx b where b Offset based on range of the device such as 60 for 60 V Voltage Measurement Range m Gain Full Range 2 such as 120 27 for 60 V Voltage Measurement Range National Instruments Corporation 51 NI 9144 User Guide and Specifications 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 Hence 3 Bytes x 8 commands x 4 channels 96 command bytes held in 32 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 format is shown in Table 46 Table 46 NI 9219 Command Word Format Bits Field 31 24 Reserved 23 16 CRC 15 8 Configuration Data 7 0 Configuration Command NI 9219 CRC Calculation U8 crcShiftReg 0 for x 0 x lt 8 x dataBool 0x80 gt gt x amp configCommand 0 shiftBool 0x01 amp
65. t 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 so on should be interpreted as a signed value Table 78 NI 9264 Scan List Format Coefficient Representation Units LSB Weight Unsigned pV LSB Offset Signed nV Use the calibration coefficients with the following equation to generate corrected data V revines Cotde Codex LSB veien 2 x 10 Offset nV x 10 NI 9144 User Guide and Specifications 78 ni com NI 9265 The vendor configuration extensions for the NI 9265 are listed in Table 79 Table 79 NI 9265 Vendor Configuration Extensions Index Sub Type R W Description 0x2002 0 U32 R Error Status sent as 8 bit PDO 0x2100 0 ARR U32 Calibration 16 1 R Ch0 Offset 2 R ChO Gain 3 R Ch1 Offset 8 R Ch3 Gain 9 R External ChO Offset 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 On the cycle after the error is reported it is internally automatically acknowledged National Instruments Corporation 79 NI 9144 User Guide and Specifications NI 9265 Calibration Data The NI 9265 has four channels with a nominal range of 0 to 20 675 mA Each channel has an associated LSB weight wh
66. t results Each channel has an associated LSB weight which is the number of volts per bit and an offset 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 so on should be interpreted as a signed value Table 58 NI 9233 Scan List Format Coefficient Representation Units Default Value LSB Weight Unsigned pV LSB 0x0009D292 643 73 nV bit Offset Signed nV 0x00000000 0 nV Use the calibration coefficients with the following equation to generate corrected data NI 9144 User Guide and Specifications Calibrated_Data Binary_Data x LSB_Weight Offset 64 ni com NI 9234 The vendo r configuration extensions for the NI 9234 are listed in Table 59 Table 59 NI 9234 Vendor Configuration Extensions Index Sub Type R W Description 0x2002 0 U32 R W Configure Module default 0x06 0x2100 0 ARR U32 Calibration 16 1 R ChO Offset 2 R ChO Gain 3 R ChO Offset 8 R Ch3 Gain 9 R External ChO Offset 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 lt 15 8 gt control the channel mode while bits lt 7 0 gt set the conversion rat
67. tion LSB ch0 Errors are automatically internally acknowledged on the cycle after the error is reported 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 offset which is the number of volts per bit measured when the inputs are grounded 3 Note LSB weight is referred to as Gain in the object dictionary The operating modes and ranges in the order they are defined in the calibration table for each channel are listed in Table 44 Table 44 NI 9219 Channel Calibration Entry Number Mode Range 1 Voltage 60 V 2 15 V 3 4 V 4 V 5 125 mV 6 Current 25 mA 7 4 Wire Resistance 10 kQ 8 1 kQ NI 9144 User Guide and Specifications 50 ni com Table 44 NI 9219 Channel Calibration Continued Entry Number Mode Range 9 2 Wire Resistance 10 KQ 10 1kQ 11 Thermocouple 12 4 Wire RTD Pt1000 13 Pt100 14 3 Wire RTD Pt1000 15 Pt100 16 Quarter Bridge 350 Q 17 120 Q 18 Half Bridge 500 mV V 19 Reserved 20 Full Bridge 62 5 mV V 21 7 8 mV V The calibration data is stored in a U32 array though each offset field should be interpreted as a signed value Table 45 NI 9219 Calibration Data Coefficient Representation LSB Weight Unsigned Offse
68. trademarks or trade names of their respective companies For patents covering National Instruments products technology refer to the appropriate location Help Patents in your software the patents txt file on your media or the National Instruments Patent Notice atni com patents 2008 2010 National Instruments Corporation All rights reserved 372498E 01 Jul10
69. trol code that takes effect two conversions in the future at time f 2 On the NI 9201 9221 this conversion code is a 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 the future is channel 3 bit 3 set 8 National Instruments Corporation 27 NI 9144 User Guide and Specifications Table 6 contains the default scan list Table 6 NI 9201 9221 Default Scan List Index Sub Type Value 0x2001 0 ARR U32 9 1 8 2 0x00000004 3 0x00010008 4 0x00020010 5 0x00030020 6 0x00040040 7 0x00050080 8 0x00060001 9 0x00070002 NI 9201 9221 Calibration Data The NI 9201 9221 modules have eight channels with a nominal range of 10 53 V and 62 5 V respectively 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 ys 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 so on should be interpreted as a signed value Table 7 NI 9221 9201 Calibration Coefficients Coefficient Representation Units LSB Weight Unsigned nV LSB Offset Signed nV Use the calibration coefficients with
70. ts is beneficial to the environment and to NI customers For additional environmental information refer to the NIJ and the Environment 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 Waste Electrical and Electronic Equipment WEEE EU Customers At the end of the product life cycle all products must be sent to a WEEE recycling center For more information about WEEE recycling centers National Instruments WEEE initiatives and compliance with WEEE Directive 2002 96 EC on Waste and Electronic Equipment visit ni com environment weee Dx ETA mis Rib SEE CFE RoHS QL PHA National instruments Ap Ee TAS EL PLB ELE EE ROHS XF National Instruments HE RoHS FAH iWtae ni com environment rohs_china For information about China RoHS compliance go to ni com environment rohs_china National Instruments Corporation 23 NI 9144 User Guide and Specifications Appendix Refer to the Supported C Series Modules section for a list of supported C Series modules 3 Note Refer to the NI 951x C Series Modules Object Dictionary available from ni com manuals for NI 951x C Series drive interface module object dictionary entries Vendor Extensions to the Object Dictionary Most object dictionary entries are defined by the relevan
71. uarantee that interference will not occur in a particular installation To minimize the potential for the product to cause interference to radio and television reception or to experience unacceptable performance degradation install and use this product in strict accordance with the instructions in the product documentation The following statements contain important information needed before installing and using this product Caution This product is intended for use in industrial locations As a result this product may cause interference if used in residential areas Such use must be avoided unless the user takes special measures to reduce electromagnetic emissions to prevent interference to the reception of radio and television broadcasts Caution This product may become more sensitive to electromagnetic disturbances in the operational environment when test leads are attached or when connected to a test object Caution Emissions that exceed the regulatory requirements may occur when this product is connected to a test object Caution Changes or modifications not expressly approved by National Instruments could void the user s authority to operate the hardware under the local regulatory rules gt PP p National Instruments Corporation 3 NI 9144 User Guide and Specifications Special Guidelines for Marine Applications Some products are Lloyd s Register LR Type Approved for marine shipboard applications To verify Lloyd s Re
72. user guide 60 ni com NI 9229 9239 The vendor configuration extensions for the NI 9229 9239 are listed in Table 53 Table 53 NI 9229 9239 Vendor Configuration Extensions Index Sub Type R W Description 0x2002 0 U32 R W Configure ADC default 0x06 0x2100 0 ARR U32 Calibration 16 1 R ChO Offset 2 R ChO Gain 3 R Ch1 Offset 8 R Ch3 Gain 9 R External ChO Offset As a DSA module the NI 9229 9239 does not synchronize to other modules and free runs at its own fixed rate For more information refer to the NI 9233 Configure ADC section of this user guide 3 Note The NI 9229 9239 does not have the Turbo Bit configuration byte NI 9229 9239 Calibration Data The NI 9229 9239 have four channels with nominal ranges of 10 V and 60 V respectively 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 3 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 so on should be interpreted as a signed value Table 54 NI 9229 9239 Scan List Format Coefficient Representation Units LSB Weight Unsigned pV LSB Offset Signed nV National Instruments Corporation 61 NI 9144 User Guide and Specifications
73. xCA Calibration Gain LSB Channel 3 0x65 Data Byte 0xA0 CRC value NI 9144 User Guide and Specifications 58 ni com NI 9225 The vendor configuration extensions for the NI 9225 are listed in Table 51 Table 51 NI 9225 Vendor Configuration Extensions Index Sub Type R W Description 0x2002 0 U32 R W Configure ADC default 0x0A 0x2100 0 ARR U32 Calibration 12 1 ChO Offset 2 R ChO Gain 3 R Chl Offset 6 R Ch2 Gain 7 External ChO Offset National Instruments Corporation As a DSA module the NI 9225 does not synchronize to other modules and free runs at its own fixed rate For more information refer to the NI 9233 Configure ADC section of this user guide 59 NI 9144 User Guide and Specifications NI 9227 The vendor configuration extensions for the NI 9227 are listed in Table 52 Table 52 NI 9227 Vendor Configuration Extensions Index Sub Type R W Description 0x2002 0 U32 R W Configure ADC default 0x0A 0x2100 0 ARR U32 Calibration 16 1 R ChO Offset 2 R ChO Gain 3 R Chl Offset 8 R Ch3 Gain 9 R External ChO Offset NI 9144 User Guide and Specifications As a DSA module the NI 9227 does not synchronize to other modules and free runs at its own fixed rate For more information refer to the NJ 9233 Configure ADC section of this

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