National Instruments Deterministic Ethernet Expansion Chassis NI 9144 User's Manual
Contents
1. 330 200 mm i lt 13 in gt z 311 150 mm pa 9 525mm _ BE 12 25 in ee 0 38 in ty 286 634 mm oe i 15 491mm_ eel Ei eo in Mes Nate A 1G eA aa aa EG ara RGA 5 Ly ARRE A EthereA T O oJ 88 138 mm ET 3 47 in 31 750 mm 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 National Instruments Corporation 7 NI 9144 User Guide and Specifications Mounting the Chassis on a 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 mount the chassis on a DIN rail 1 Fasten the DIN rail clip to the chassis using a number 2 Phillips screwdriver and two M4 x 16 screws National Instruments provides these screws with the DIN rail mount kit Ur 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 _ 3 1 DIN Rail Clip 2 DIN Rail Spring 3 DIN Rail Figure 8 One Edge of the2. Index Sub Type R W Description 0x2100 0 ARR U32 Calibration 168 1 R Ch0 60 V Offset 2 R Ch0 60 V Offset 3 R Ch0 15 V Offset 42 ChO Full Bridge 7 8m V V Gain 43 Ch1 60 V Offset 0x2101 0 ARR U32 Q External Calibration 168 1 R Ch0 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 33 Table 33 NI 9219 ADC Format Field Format Field 31 24 Reserved 23 16 Conversion speed in multiples of 10 mS Reserved AI Data Formatting Standard values for ADC Format are 0x0001000F High Speed 0x000B000F Best 60 Hz Rejection 0x000D000F Best 50 Hz Rejection 0x0032000F High Resolution National Instruments Corporation 39 NI 9144 User Guide and Specifications 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 achannel over current condition occurs on any of the channels of the NI 9219 such as configure channels in 4 wire resistance mode and do not connect a resistor to the channel the firmware sets a bit in the lower nibble indicating the presence of this condition LSB ch0 NI 9219 Calibration Data T
3. As a DSA module the NI 9234 does not synchronize to other modules and free runs at its own fixed rate NI 9234 Configure Module The NI 9234 has a variety of configuration fields available Configuration bits 15 8 control the channel mode while bits 7 0 set the conversion rate Table 47 NI 9234 Scan List Format NI 9144 User Guide and Specifications Bits Field 15 Ch3 IEPE 14 Ch3 AC DC 13 Ch2 IEPE 12 Ch2 AC DC 11 Ch1 IEPE 10 Chl AC DC 9 ChO IEPE 8 Ch0 AC DC 7 Reserved 52 ni com Table 47 NI 9234 Scan List Format Continued Bits Field 6 2 Clock Divisor 1 0 Clock Source Where IEPE Enable lt 3 0 gt 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 AC DC lt 3 0 gt 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 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 C
4. Index Sub Type Value Sub Value 0x2001 0 ARR U32 33 1 32 2 0x00002A38 18 0x00103238 3 0x00012B38 19 0x00113338 4 0x00022C38 20 0x00123438 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 0x000F3138 33 0x001F2938 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 2 Select the 32 bit gain value for a particular range NI 9144 User Guide and Specifications 30 ni com 3 Select the 32 bit offset value to be interpreted as a signed int for a particular range 4 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 rangeGain rangeOffset b al f64 al rangeGain c a2 f64 a2 rangeGain d a3 f64 a3 rangeGain 5 Use
5. Mounting the NI 9144 Chassis A NI 9144 User Guide and Specifications 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 Caution Your installation must meet the following requirements for space and cabling clearance Allow 25 4 mm 1 in on the top and the bottom of the chassis for air circulation 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 4 ni com mo Py ee O suing Cesrance 29o mm Ii a eee T E SE la lel la Ta oD Lo a a f a2 In W 286 4 mm n gt i 11 28 in i 3 2 mm Pt 0 13 in Figure 2 NI 9144 Chassis Bottom View with Dimensions 19 0 mm i 0 75in 7 A i 165 1 mm i A p 6 5 in TE i 36 4 mm Ether AT i i D 1 43 in 87 3 mm b k EEA E A 3 44 in FT be fe el el ele el elit 51 7 mm F
6. e 17 One auto zero channel always measured in a 78 mV range National Instruments Corporation 33 NI 9144 User Guide and Specifications Table 23 contains the default scan list Table 23 NI 9213 Scan List Format Index Sub Type Value 0x2001 0 ARR U32 19 1 18 2 0 3 1 18 16 19 17 NI 9213 Calibration Data Calibration data is set up by the driver during initialization the calibration conversion is performed on the module ADC NI 9215 Table 24 NI 9215 Vendor Configuration Extensions Index Sub Type R W Description 0x2100 0 ARR U32 Calibration 16 1 R ChO Offset 2 R ChO Gain 7 R Ch3 Offset 8 R Ch3 Gain 9 R External Calibration ChO Offset NI 9144 User Guide and Specifications 34 ni com 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 field subindex 1 3 5 and so on should be interpreted as a signed
7. 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 x Vaorrectedl V raw Hy BS LSB eel BE Te 7 Offsetlp ry 105 NI 9144 User Guide and Specifications 54 ni com NI 9237 Table 50 NI 9237 Vendor Configuration Extensions Index Sub Type R W Description 0x2002 0 U32 R W Configure Module default 0x00060000 0x2100 0 ARR U16 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 9237 does not 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 51 NI 9237 Scan List Format Bits Field 31 23 Reserved 22 18 Clock Divisor 17 16 Clock Source 15 12 Shunt Cal Enable lt ch3 ch0 gt 11 8 Half Bridge Enable lt ch3 ch0 gt 7 Reserved National Instruments Corporation 55 NI 9144 User Guide and Specifications Table 51 NI 9237 Scan List Format Continued Bits Field 6 4 Excitation 3 0 Offset Cal Enable lt ch3 ch0 gt Where Shunt Cal Enable lt 3 0 gt Controls the shunt calibration switch for each of the
8. U8 R W 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 set in the NI 9144 the number of scans is always 1 0x4000 R W Safe data values that mirror the PDO data in 0x6000 0x67FF 0x47FF 0x4800 R W Safe control values that mirror the SDO data in 0x2000 0x27FF Ox4FFF Supported C Series Modules C Series Modules with No Configurable Options The following lists the modules with no configurable options e NI9411 e NI9421 NI 9144 User Guide and Specifications 20 ni com e NI9422 e NI9423 e NI9425 e NI9426 e NI9435 e NI9472 e NI9474 e NI9475 e NI9477 e NI9481 e NI9485 NI 9201 9221 Table 4 NI 9201 9221 Vendor Configuration Extensions Index Sub Type R W Description 0x2001 0 ARR U32 Scan List 9 1 R Channels to Convert 1 8 default 8 2 9 R W Channel Code 0x2002 0 U32 R W Fast Convert 0 1 default 1 fast 0x2100 0 ARR U32 Calibration 32 1 R ChO Offset 2 R ChO Gain 15 R Ch7 Offset 16 R Ch7 Gain 17 R External Calibration ChO Offset National Instruments Corporation 21 NI 9144 User Guide and Specifications NI 9201 9221 Scan List The scan list channel codes consist of two
9. codes consist of three bit fields in a 32 bit entry Table 28 NI 9217 Scan List Format Bits Field 31 16 Reserved 15 8 Data Offest t 7 0 Convert Code t 1 Bits 15 8 describe the data offset to store a conversion at time t and bits 7 0 describe the conversion control codes that take effect NI 9144 User Guide and Specifications 36 ni com one conversion in the future at time t 1 The conversion code is listed in Table 29 Table 29 NI 9217 Conversion Code Bits Field 7 3 Conversion rate 0b11111 31 High Accuracy 0b00010 2 High Speed 2 1 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 30 contains the default scan list Table 30 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 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 mA excitation current source per channel and the module range is 500 Q to 500 Q The resistance range specified in the manual is 0 to 400 Q This range is teste
10. 0 gt gt x amp configData shiftBool 0x01 amp crcShiftReg 0 ercShiftReg 2 if dataBool shiftBool crcShiftReg 0x8C crcShiftReg crcShiftReg lt lt 1 return crcShiftReg NI 9144 User Guide and Specifications 42 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 37 NI 9219 Scan List Format Bits Field 7 6 Channel Number 0 3 5 0 4 0 Configuration Type Where Table 38 NI 9219 Conversion Time Value Configuration Type Value 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 National Instruments Corporation 43 NI 9144 User Guide and Specifications NI 9219 Configuration Data Table 39 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
11. 0x01 Data Byte 0x46 CRC value Ox1F Mode Range Configuration Channel 0 0x01 Data Byte 0xC6 CRC value 0x04 Calibration Offset MSB Channel 0 0x7F 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 National Instruments Corporation 45 NI 9144 User Guide and Specifications Table 41 NI 9219 Configuration 1 Command Bytes Continued Command Byte Value Description 0x56 CRC value 0x08 Calibration Gain MSB Channel 0 0x6C Data Byte Ox1E 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 Ox5F Mode Range Configuration Channel 1 0x01 Data Byte OxE4 CRC value 0x44 Calibration Offset MSB Channel 1 0x7F 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 OxEO CRC value 0x48 Calibration Gain MSB Channel 1 0x6C Data Byte NI 9144 User Guide and Specifications 46 ni com Table 41 NI 9219 Configuration 1 Command Bytes Continued Command B
12. 2 Scan List 33 1 R Channels to Convert 1 32 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 gain 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 23 16 describe the data offset to store a conversion at time t and bits 15 0 describe a complex conversion control code that takes effect two conversions in the future at time t 2 On the NI 9205 9206 this conversion code is listed in Table 16 NI 9144 User Guide and Specifications 28 ni com Table 16 NI 9205 9206 Conversion Code Bits Field 15 13 001 Read AI 12 11 Bank 01 Channels 0 15 10 Channels 16 31 10 8 Channel LSB 0 7 7 6 00 Cal Pos Ref5V 5 4 00 NRSE 11 Cal Neg AI Gnd RSE or DIFF 3 2 Mode 10 Single End A Ch 0 7 16 23 11 Single End B Ch 8 15 24 31 1 0 00 10 V 0l 5 V 10 1V 11 200 mV National Instruments Corporation 29 NI 9144 User Guide and Specifications Table 17 contains the default scan list Table 17 NI 9205 9206 Scan List Format
13. 4 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 operational state down to the configuration state during normal operation or in case of a serious error the NI 9144 passes through this safe state The 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 There are two fundamental timing modes the NI 9144 can operate in free run and synchronized using the EtherCAT distributed clock through DC synchronized mode In free run mode the NI 9144 by default runs its conversion cycle as quickly 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 Updating your Firmware Firmware updates are perfo
14. 5 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 523545 National Instruments NI ni com and LabVIEW are trademarks of National Instruments Corporation Refer to the Terms of Use section on ni com 1legal for more information about National Instruments trademarks Other product and company names mentioned herein are 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 at ni com patents 2008 National Instruments Corporation All rights reserved 372498A 01 Oct08
15. A USER GUIDE AND SPECIFICATIONS NI 9144 Deterministic Ethernet Expansion Chassis for C Series Modules Contents Tmt d Ct on iseit ai iE E E EER EAEE ONAR 2 Safety Guidelines srsraicseporiccee cise rs ne E EE 3 Safety Guidelines for Hazardous Locations ssesseeseeeerereereeeee 3 Special Conditions for Hazardous Locations Use AN PUTO PS ies se0ltdeestents e AE A A E E E teeta cs 4 Special Conditions for Marine Applications 0 0 0 0 eee eee 4 Mounting the NI 9144 Chassis eeeeecseesseeseeseeeeceeeeeeeseeeseeeeeeaeenees 4 Mounting the NI 9144 Chassis on a Panel 6 Mounting the Chassis on a DIN Rail oo eee eeeeeeeeeeeeteeeeees 8 Connecting the NI 9144 Chassis to a Network 0 0 eeeeeeeeeeeeseeeeeeees 9 Understanding LED Indications cece eeeeeseeseeeneeeeeeeeeeeeeeetaeeeeees 10 POWER LED eian unne oa aE E 10 FPGA LED Open FPGA Mode Only sssssssesseeeseeereerrereerersrrsrsee 10 RUN a d ERR LEDS senagia E she 10 Resetting the NI 9144 Network Configuration seseseessereseeseerereerereeeee 12 Safe State O PUTS siccis iesene ogi eire a E ER 12 Slave Timing Modes ccccsccceisscessecets cesscevivesssescospeusescedaneastnedeesenvenstansents 12 Updating your Firmware sc cccscccseesssessesccsceasesesessoeeeaesocsabessessaeebenpeseagentane 12 Using the NI 9144 with an EtherCAT Third Party Master 13 Using AOE SDO sinnena e sdessanasedvesdeenuniaesteps 13 Using CoE SDO vesusccsscesiccte sata na aa a E ties eadb
16. Best 50 Hz Rejection OxOF 2 Hz 1 96 Hz TC 500 ms 510 ms TC High Resolution 3 Note When any AI data channel is configured for Thermo Couple ADC conversion time increases by 10 ms for all channels Refer to Max Frequency in Table 39 for various ACD timing configurations The TC mode range configuration code is 0x0A Table 40 NI 9219 Mode and Range Type NI 9144 User Guide and Specifications Configuration Value Mode Range 0x00 Voltage 60 V 0x01 15 V 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 0x0A TC TC 0x0B RTD Pt1000 4w 0x0C Pt100 4w 0x0D Pt1000 3w 0x0E Pt100 3w 44 ni com Table 40 NI 9219 Mode and Range Type Continued Configuration Value Mode Range OxOF Quarter Bridge 350 Q 0x10 120 Q Ox11 Half Bridge 1 V V 0x13 Full Bridge 62 5 mV V 0x14 7 8 mV V CJC 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 ai0 ai3 for Voltage AI 15 Volt Range High Speed Mode 100 Hz Max Sample Rate Table 41 NI 9219 Configuration 1 Command Bytes Command Byte Value Description 0x01 ADC Mode Configuration Byte Channel 0
17. DIN Rail Inserted in a Clip NI 9144 User Guide and Specifications 8 ni com 3 Press down firmly on the chassis to compress the spring until the clip locks in place on the DIN rail UN Caution Remove any C Series I O modules from the chassis before removing the chassis from the DIN rail 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 target 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 and Automation Explorer MAX to install th
18. a Byte 0xB4 CRC value 0xC9 Calibration Gain Byte 2 Channel 3 0xD8 Data Byte 0x56 CRC value OxCA Calibration Gain LSB Channel 3 NI 9144 User Guide and Specifications 48 ni com Table 41 NI 9219 Configuration 1 Command Bytes Continued Command Byte Value Description 0x65 Data Byte 0xA0 CRC value NI 9233 As a DSA module the NI 9233 does not synchronize to other modules and free runs at its own fixed rate Table 42 NI 9233 Vendor Configuration Extensions Index Sub Type R W Description 0x2002 0 U32 R W Configure ADC default OxOA 0x2100 0 ARR U32 Calibration 16 1 R ChO Offset 2 R Ch0 Gain 3 R Ch1 Offset 8 Ch3 Gain 9 External ChO 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 43 NI 9233 Scan List Format Bits Field 7 Turbo Disable NI 9233 only 6 2 Clock Divisor 1 0 Clock Source 2 National Instruments Corporation 49 NI 9144 User Guide and Specifications Where Turbo Disable 0 The conversion rate is equal to the oversample clock rate 128 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 Clock Divisor The clock source
19. an 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 P Code Code e LSB reign Po 10 Offset nV 10 NI 9144 User Guide and Specifications 60 ni com NI 9264 Table 58 NI 9264 Vendor Configuration Extensions Index Sub Type R W Description 0x2100 1 ARR U32 Calibration 16 2 R ChO Gain 3 R Ch1 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 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 59 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 resins Cole Code LSB yeigh 7 10 Offset nV 10 National Instruments Corporation 61 NI 9144 User Guide and Specifications NI 9265 Ta
20. 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 23 16 describe the data offset to store a conversion at time t and bits 7 0 describe the conversion control code that takes effect two conversions in the future at time t 2 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 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 9144 User Guide and Specifications 22 ni com 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 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
21. ble 60 NI 9265 Vendor Configuration Extensions Index Sub Type R W Description 0x2002 1 ARR U32 R Error Status sent as 8 bit PDO 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 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 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 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 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 61 NI 9265 Scan List Format Coefficient Representation Units LSB Weight Unsigned pA LSB Offset Signed pA NI 9144 User Guide and Specifications ni com Use the calibration coefficients with the following equation to generate corrected data PAY o 492A 2 4 Ljesirea Code Code LSB eign pa 10 F 2 Offset pA 10 NI 9401 Table 62 NI 9401 Vendor Configuration E
22. 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 different results Each channel has an associated LSB weight which is the number of volts per bit and an offset 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 45 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 Calibrated_Data Binary_Data x LSB_Weight Offset National Instruments Corporation 51 NI 9144 User Guide and Specifications NI 9234 Table 46 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 Ch3 Gain 9 External ChO Offset
23. cription 0x2001 0 ARR U32 Scan List 19 1 R Channels to Convert 1 18 default 18 2 19 R W Channel Code 0x2002 1 ARR U32 R W Conversion Speed Control 2 or 15 default 2 0x2003 0 U32 R Common Mode Range Error Detection Status also as 8 bit PDO NI 9144 User Guide and Specifications 32 ni com NI 9213 Conversion Speed Control The NI 9213 converts at two pre defined rates as controlled by the speed control field 3 Note The conversion rate assumes that 18 channels are in the scan list Table 21 NI 9213 Conversion Speed Control Speed Control Meaning Conversion 2 0x02 High Accuracy 55 ms channel 99 s total 15 0x0F High Speed 740 us channel 13 32 ms total NI 9213 Common Mode Error Status The error status field is shown in Table 22 Table 22 NI 9213 Error Status Field Bits Field 31 8 Reserved 7 OT Error 1 Open thermocouple was detected on the last channel that was acquired 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 NI 9213 Sean List The scan list contains channels to convert in order The NI 9213 has eighteen measurable channels e 0 15 Sixteen thermocouple channels always measured in a 78 mV range e 16 One cold junction channel always measured in a 2 5 V range
24. d and covers the temperature range of 200 C 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 Q per bit and an offset which is the number of Q per bit measured when the inputs are grounded National Instruments Corporation 37 NI 9144 User Guide and Specifications 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 31 NI 9217 Calibration Coefficients Coefficient Representation Units LSB Weight Unsigned pQ LSB Offset Signed uQ Use the calibration coefficients with the following equation to generate correct data Rcorrectea Rraw Ryu BS LSB end BE w Z offsetu oo 5 R bits data returned by the NI 9217 in bits Rcorrectea Calibrated resistance reading NI 9219 Table 32 NI 9219 Vendor Configuration Extensions Index Sub Type R W Description 0x2001 0 ARR U32 Command List 33 1 R Command Count 1 32 default 32 2 33 R W Configuration Command 0x2002 1 ARR U32 R Error Status 0x2005 0 U32 R W ADC Format NI 9144 User Guide and Specifications 38 ni com Table 32 NI 9219 Vendor Configuration Extensions Continued
25. e 34 IND G21 a oasis uk eae ical hes ave Ma iee chalet Ate 35 INU O21 s anea e dats at oech tanteges doves cette telid EEN 38 INT 9233 eotiest eget vue ate ote ai Madea Rese REN I tats 49 NEOA eim aera EE AE E sce evevaeg Megvecess AREE 52 IA ES 22S r AE ieee E east eielg ieatiiv seria 55 NT9229 923 9 no enren n E E E sabes RR 58 INT 9263 A E Sele E 60 INT 92 G4 osu cdocth Jeadses EA E E A E A R 61 NI92 65 arna a R Ea A A E O AA 62 INT 94 OD enorus s p EE EA E 63 NILIJUA hatha Wot 63 INU94 1G NET A ss Mvecets sta dveines peduveceds E 64 Where to Go for Support siccare oen i a 65 Introduction This document describes how to connect the NI 9144 chassis to a network how to use the NI 9144 chassis features and contains the NI 9144 chassis specifications The NI 9144 is a slave device and requires a compliant EtherCAT Master and network to function NI 9144 User Guide and Specifications 2 ni com lt 7 NATIONAL NI 9144 INSTRUMENTS co EtherG A VeS IN a P HO LINK gt 0 i iM INPUT CHG oav UU Ie el 2owMax lt 4 G LINK ACT OUT 1 LEDs 3 OUT Port 2 IN Port 4 Power Connector Figure 1 NI 9144 Chassis Safety Guidelines Operate the NI 9144 chassis only as describ
26. e NI Industrial Communications for EtherCAT driver on the target UN Caution To update your firmware on the NI 9144 chassis refer to the Updating your Firmware section of this user guide UN 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 If you need to build your own cable refer to the Cabling section for more information about Ethernet cable wiring connections ay Note If you are not using a LabVIEW Real Time target as the master controller consult your product documentation about networking connections 1 Supported LabVIEW targets include the NI cRIO 9074 and PXI RT with the NI PXI 8231 Ethernet interface National Instruments Corporation 9 NI 9144 User Guide and Specifications Understanding LED Indications Figure 9 shows the NI 9144 chassis LEDs POWER O FPGA O RUN OJ ERR Figure 9 NI 9144 Chassis LEDs POWER LED The POWER LED is lit while the NI 9144 chassis is powered on This LED indicates that the power supply connected to the chassis is adequate FPGA LED Open FPGA Mode Only This LED is for Open FPGA mode only This mode is currently not activated 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 error cod
27. e see Ry z RA BH BA see 2 04 in val i 4 2 9 mm i 0 12 in 2 A Figure 3 NI 9144 Chassis Front View with Dimensions National Instruments Corporation 5 NI 9144 User Guide and Specifications r E 44 069 mm ra m a 1 74 in 25 078mm TO 0 99 in gt a 20 320 mm S 0 8 in 44 125 mm i i i 1 74 in me 63 178 mm E 2 49 in 7 Figure 4 NI 9144 Chassis Side View with Dimensions The following sections contain mounting method instructions Before using any of these mounting methods 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 Mounting the NI 9144 Chassis on a Panel Use the NI 9905 panel mount kit to mount the NI 9144 chassis on a flat surface To use the NI 9905 panel mount kit 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 NI 9144 User Guide and Specifications 6 ni com Figure 5 Installing the Panel Mount Accessory on the NI 9144 Chassis
28. eats 13 Specifications s iriric soninig aee aras a o ENEE ENE 14 NEtWOTK acronimi carie E E AT E sehweediy 14 Power Reguirem niS icsse a ENE ERR 14 Physical Characteristics sssssriisricroriseceisssiisvenresinissirivinisvenreviss 14 Safety Volta gessi rair esie ar E E aetenss 14 Hazardous Locations iae i A 15 Environmental serseri caissa ia 15 Shock and Vibration 0 ee esessseseeeceseesnsesetsoessecssesserseeesseracereeens 16 Ca DUN Se srecna a E a EE E E vee i antes 16 Safety Standards icv sc ceceesscessestavdovawasedvsccesseceessvavaectaasteasseesseuteeeeneee 17 7 NATIONAL p INSTRUMENTS Electromagnetic Compatibility cece eeeceseeseeeseeneeeseeseenes 17 CE Compliance seren sd n ees Av ars tens E ea een verevs eg seer ets 18 Online Product Certification eee ce eeeesecseeeeeseeeseeeenseeeenees 18 Environmental Management cece eeeeseseeceecseeeseeseeeeeesenseeaes 18 Appendix A cists a sockg a eae eens ei iiie an ees aide 19 Vendor Extensions to the Object Dictionary eee 19 Supported C Series Modules 00 0 eee ecceseeeeeseeseceeeeeeseeeseeeeeesees 20 C Series Modules with No Configurable Options 0 20 NI920 1 9201 oe sites sate ias Piva eute ata tite alee 21 INTO 203 AAEE EE st Gusvets ta E AEE 24 NI 92035 9206 stein ia ee ai iar 28 IND OD Ve oe nna Sues Seutd sate E cpelecss Rectan evs E E 31 INU O21 3B E E aera asses ee aah ina ae 32 INT 92 15 nnrir Rasgersndt a e a ees eaaeves dos
29. ed in this user guide Safety Guidelines for Hazardous Locations The NI 9144 chassis is 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 National Instruments Corporation 3 NI 9144 User Guide and Specifications A 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 H 3G and is suitable for use in Zone 2 hazardous locations in ambient temperatures of 40 lt Ta lt 70 C Special Conditions for Marine Applications Some chassis are Lloyd s Register LR Type Approved for marine applications To verify Lloyd s Register certification visit ni com certification and search for the LR certificate or look for the Lloyd s Register mark on the chassis
30. er to the Online Product Certification section National Instruments Corporation 17 NI 9144 User Guide and Specifications 3 CE Compliance C Note For EMC compliance operate this device with shielded cables 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 3 Note Refer to the product Declaration of Conformity DoC for additional regulatory compliance information To obtain product certifications and the DoC for this product visit ni com certification search by model number or product line and click the appropriate link in the Certification column Environmental Management Dt National Instruments is committed to designing and manufacturing products in an environmentally responsible manner NI recognizes that eliminating certain hazardous substances from our products is beneficial not only to the environment but also to NI customers For additional environmental information refer to the NMI 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 their life cycle all products must be sent to a WEEE rec
31. es 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 Initialize Slave discovery and No Error 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 functional outputs State Change Module Operational drive constant safe emergency values condition 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 EtherCAT telegram Flickering Operational Bootstrap Inputs and Outputs are functional Firmware Update PDI Process Data Interface Watchdog Timeout Booting Error Slave failed to transfer I O data in scheduled time Corrupt firmware or hardware error Figure 10 shows the Run Mode transition Operational INIT a C PRE OP Bootstrap A SAFE OP y National Instruments Corporation Figure 10 EtherCAT Modes NI 914
32. es II III or IV Hazardous Locations WES CUE e E Class I Division 2 Groups A B C D T4 Class I Zone 2 AEx nA IIC T4 Canada C UL ccccccccccecesseceeeessneeeees Class I Division 2 Groups A B C D T4 Class I Zone 2 Ex nA IIC T4 Europe DEMKO Ex nA IIC T4 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 3 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 eee eeeeeeeeeees IP 40 Operating humidity TEC 60068 2 56 cecccceeeseeesteeeesteeeees 10 to 90 RH noncondensing Storage humidity TEC 60068 2 56 0 eeccceeeeseeesteeeeseeeeees 5 to 95 RH noncondensing Maximum altitude cccccccecceeeeeeees 2 000 m Pollution Degree IEC 60664 2 National Instruments Corporation 15 NI 9144 User Guide and Specifications 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 Operating vibration random IEC 60068 2 64 Operating vibration sinusoidal IEC 60068 2 6 Cabling 30 g 11
33. extensions Table 3 Module Vendor Extensions Index Sub Type R W Description NI 9144 Vendor Extension 0x3001 0 ARR U32 Timing Overrides provides additional control over the timing of the NI 9144 1 R W 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 2 R W 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 acquisition timing OxSFFF 0 U32 R W Slot address override To address CoE requests to a given module s object dictionary write the module s slot number here Write a 0 here to cancel the slot address override National Instruments Corporation 19 NI 9144 User Guide and Specifications Table 3 Module Vendor Extensions Continued Index Sub Type R W Description C Series Module Vendor Extensions 0x2000 0 U32 R NIC Series Vendor ID for NI C Series modules equals 0x1093 0x2001 0 N ARR R W Scan or command list e Channel direction control e Mode selection 0x2002 0 U32 R W 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
34. 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 the following equation to generate corrected data Veorrected Vraw Hu BS LSB ee EE i 10 2 ofen nso E National Instruments Corporation 23 NI 9144 User Guide and Specifications NI 9203 Table 8 NI 9203 Vendor Configuration Extensions NI 9144 User Guide and Specifications Index Sub Type R W Value 0x2001 0 ARR U32 Scan List 9 1 R Channels to Convert 1 8 default 8 2 9 R W Channel Code 0x2002 0 U32 R W Unipolar Channel Mask 0x2100 0 ARR U32 Calibration 36 1 R Bipolar Offset 2 R ChO Bipolar Gain 3 R Ch1 Gain 9 R Ch7 Gain 10 R Unipolar Offset 11 R ChO 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 24 ni com Table 9 NI 9203 Scan List Format Continued Bits Field 3 Bipolar 0 Unipoloar 1 2 0 Channel Code t 2 Bits 23 16 describe the data offset to store a conversion at t
35. four channels A logic 1 in any bit closes the switch for the respective channel while a logic 0 opens the switch Half Bridge Enable lt 3 0 gt Controls the half bridge completion option for each channel Enabling half bridge completion for a channel disconnects the negative signal input pin from the rest of the circuit and uses an internal voltage equal to the midpoint of the excitation voltage as the negative input to the rest of the circuit A logic 1 in any bit enables half bridge completion for the respective channel while a logic 0 disables it Excitation Sets the excitation voltage setting All channels share the same excitation voltage 0b000 0 2 5V 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 Ob1 xx 4 7 External Excitation NI 9144 User Guide and Specifications 56 ni com Offset Cal Enable lt 3 0 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 w
36. he NI 9144 main object dictionary Depending on the master software interface you may be required to add 1 000 to the slot number to create a valid AoE address For more information refer to your C Series Module documentation Using CoE SDO The CoE protocol does not have a destination port or address so the NI 9144 provides an object dictionary entry that allows addressing support Prior to sending an SDO or SDOInfo request your application can write a slot number of 1 through 8 to the object dictionary index 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 Appendix A National Instruments Corporation 13 NI 9144 User Guide and Specifications Specifications The following specifications are typical for the 40 to 70 C operating temperature range unless otherwise noted For more information refer to the specific module specifications Network Network interface s es 100BaseTX Ethernet Compatibility 00 cece eeeeereereeee EtherCAT Communication rates eee 100 Mbps Maximum cabli
37. he 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 ay 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 Table 34 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 T 4 Wire Resistance 10 KQ 8 1 KQ 9 2 Wire Resistance 10 KQ 10 1 KQ 11 Thermocouple n a 12 4 Wire RTD Pt1000 13 Pt100 NI 9144 User Guide and Specifications 40 ni com Table 34 NI 9219 Channel Calibration Continued Entry Number Mode Range 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 35 NI 9219 Calibration Data Coefficient Representation LSB Weight Unsigned Offset Signed The NI 9219 returns calibrated 24 bit padded to 32 bits AI data for all modes and ranges To convert raw data into eng
38. hile a logic O disables it 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 NI 9237 Example Data Rates Example data rates use a 12 8 MHz clock source Table 52 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 Ox0A 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 6 250 kS s 01000 10 0x22 1 60 MHz 5 000 kS s 01010 10 0x2A 1 28 MHz 3 333 kS s 01111 10 Ox3E 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 57 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 numbe
39. ich 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 55 NI 9229 9239 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 x V corrected Vraw Hy bHS LSB aen PE 10 E Offset p yy 10 National Instruments Corporation 59 NI 9144 User Guide and Specifications NI 9263 Table 56 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 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 57 NI 9263 Sc
40. ime t and bits 3 0 describe the conversion control code that will take effect two conversions in the future at time t 2 On the NI 9203 bit 3 determines whether the result is bipolar signed or unipolar unsigned and bits 2 0 are 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 Ob011 3 7 0b111 Ob111 7 So for example the scan list entry 0x00010006 indicates that this scan gets stored at address 1 and the conversion two is a bipolar channel 3 3 reversed 6 National Instruments Corporation 25 NI 9144 User Guide and Specifications Table 11 contains the default scan list Table 11 NI 9203 Scan List Format 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 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 dic
41. ineering units use the following formula y m x b e b offset based on range of the device such as 60 for 60 Volts Voltage Measurement Range e m Gain Full Range 2 4 such as 120 22 for 60 Volts Voltage Measurement Range National Instruments Corporation 41 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 Byte each configuration command is followed by a data Byte and then by a CRC value which is 1 Byte Hence 3 Bytes 8 Commands 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 0x 12345678 is represented in memory as the series of bytes 0x78 0x56 0x34 0x12 The command word format is shown in Table 36 Table 36 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 crcShiftReg 0 crcShiftReg 2 if dataBool shiftBool crcShiftReg 0x8C for x 0 x lt 8 x dataBool 0x8
42. internal or external is divided by this value and used as the converters oversample clock Valid values are from 2 to 31 but the final divided clock must be between 512 kHz and 6 4 MHz This means that only values from 2 to 25 are valid when using the 12 8 MHz internal clock source 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 Table 44 NI 9233 Calibration Data Turbo Clock Clock Configure Oversample Data Rate Disable Divisor Source 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 NI 9144 User Guide and Specifications 50 ni com Table 44 NI 9233 Calibration Data Continued Turbo Clock Clock Configure Oversample Data Rate Disable Divisor Source ADC Clock Rate 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 OxD2 640 kHz 2 000 kS s 1 11001 10 OxE6 512 kHz NI 9233 Calibration Data The NI 9233 has four input
43. lock Source 0b00 0 The OCLK pin is used as the oversample clock source Ob01 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 53 NI 9144 User Guide and Specifications NI 9234 Example Data Rates The example data rates use a 12 8 MHz clock source Table 48 NI 9234 Example Data Rates Clock Clock Rate Oversample Data Rate Divisor Source 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 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 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 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 49 NI 9234 Scan
44. m 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 world 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 91 640 008
45. ms half sine 50 g 3 ms half sine 18 shocks at 6 orientations 5 Z ms 10 to 500 Hz 5 g 10 to 500 Hz 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 NI 9144 User Guide and Specifications 16 ni com Connector 1 Connector 2 Pin P iii ein 8 Pin 1 N e rin 8 Figure 11 Ethernet Connector Pinout Safety Standards This product meets the requirements of the following standards of safety for electrical equipment for measurement control and laboratory use e IEC 61010 1 EN 61010 1 e UL61010 1 CSA 61010 1 3 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 IEC 61326 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 ay Note For the standards applied to assess the EMC performance of this product ref
46. ng distance 100 m segment 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 0 0 eee eee eee 20 W maximum Chassis input range eee ee 9 to 30 V Physical Characteristics If you need to clean the controller wipe it with a dry towel Screw terminal Wiring eceeeeeeeeeeee 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 5 to 0 6 N m 4 4 to 5 3 Ib in Weight esien a nas 906 g 32 7 oz Safety Voltages Connect only voltages that are within these limits V terminal to C terminal 000 30 V max Measurement Category I NI 9144 User Guide and Specifications 14 ni com 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 Categori
47. r 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 U16 array though each Offset field subindex 1 3 5 and so on should be interpreted as a signed value Table 53 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 Vin Ha B18 LSB naa Pr 10 5 7 Offset p y 10 P NI 9229 9239 Table 54 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 Chl Offset 8 R Ch3 Gain 9 R External ChO Offset NI 9144 User Guide and Specifications 58 ni com 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 NJ 9233 Configure ADC section of this document 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 wh
48. rmed via the File over EtherCAT FoE download protocol All NI firmware update files have a suffix of foe 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 NI 9144 User Guide and Specifications 12 ni com Using the NI 9144 with an EtherCAT Third Party Master All of the functionality of the NI C Series modules is available to third party masters using vendor extensions to the object dictionary The NI 9144 is a modular device meaning each module plugged into the backplane has its own object dictionary and each module configuration is done through this dictionary If your master software supports AoE services ADS over EtherCAT you can address the module directly If your master software does not support AoE services you can still configure your module using NI vendor extensions and CoE CAN over EtherCAT Using AoE SDO The AoE protocol allows you to specify the destination port or address of the SDO request An address of 0 indicates the NI 9144 device while addresses 1 through 8 route the SDO request to the object dictionary of the module in the addressed slot If no module is inserted in the addressed slot the request fails SDOInfo and SDO requests work with module object dictionaries over AoE in a manner similar to t
49. the following formula with a3 a0 to obtain the scaled 16 bit value in Volts x signed un scaled 16 bit data read from device Scaled 16 bit signed data in Volts a3 x a2 x al x a0 It is also possible to decode the raw data using only the offset and gain values For more information refer to the NJ 9201 9221 section of this guide NI 9211 Table 18 NI 9211 Vendor Configuration Extensions Index Sub Type R W Description 0x2001 0 ARR U32 Scan List 7 1 R Channels to Convert 1 6 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 0 3 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 National Instruments Corporation 31 NI 9144 User Guide and Specifications Table 19 contains the default scan list Table 19 NI 9211 Scan List Format Index Sub Type Value 0x2001 0 ARR U32 T 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 9213 Table 20 NI 9213 Vendor Configuration Extensions Index Sub Type R W Des
50. tionary 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 these constants and adjust the raw data into calibrated data NI 9144 User Guide and Specifications 26 ni com The calibration data is stored in a U32 array though each offset field 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 Teorrectea raw llai l onecie ma LSB yeight E Toffer n pA bits pA bit pA Table 13 NI 9203 Calibration Equation Information Term Units Definition I EAE pA Calibrated current Law bits The raw code from the NI 9203 Texpected0mA 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 27 NI 9144 User Guide and Specifications NI 9205 9206 Table 14 NI 9205 9206 Vendor Configuration Extensions Index Sub Type R W Description 0x2001 0 ARR U3
51. value Table 25 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 x Voorrected Vaw Hu BUS LSB een EE 10 x Offset n y 10 NI 9217 Table 26 NI 9217 Vendor Configuration Extensions Index Sub Type R W Description 0x2001 0 ARR U32 Scan List 5 1 R Channels to Convert 1 4 default 4 2 5 R W Channel Code 0x2002 0 U32 R W Conversion Speed Control 2 or 31 default 31 National Instruments Corporation 35 NI 9144 User Guide and Specifications Table 26 NI 9217 Vendor Configuration Extensions Continued 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 9217 Conversion Speed Control The NI 9217 converts at two pre defined rates as controlled by the speed control field ay Note The conversion rate assumes that 4 channels are in the scan list Table 27 NI 9217 Conversion Speed Control Speed Control Meaning Conversion Rate 31 Ox1F High Accuracy 200 ms channel 800 ms total 2 0x02 High Speed 2 5 ms channel 10 ms total NI 9217 Scan List The scan list channel
52. xtensions Index Sub Type R W Description 0x2001 0 U32 R W Nibble direction control default 0 NI 9401 Direction Control Table 63 NI 9401 Scan List Format Bits Field 1 0 data bits 3 0 as input 1 data bits 7 4 as output 0 0 data bits 3 0 as input 1 data bits 7 4 as output 3 Note Both the input and output bytes are transmitted in the PDO regardless of the direction control only the relevant bits are connected to the I O pins NI 9403 Table 64 NI 9403 Vendor Configuration Extension Index Sub Type R W Description 0x2001 0 U32 R W I O direction control default 0 National Instruments Corporation 63 NI 9144 User Guide and Specifications 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 ys 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 Table 65 NI 9476 Vendor Configuration Extensions Index Sub Type R W Description 0x2002 0 U32 R Error Status sent as 8 bit PDO 0x2003 0 U32 W Error Acknowledge 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 NI 9144 User Guide and Specifications 64 ni co
53. ycling center For more information about WEEE recycling centers and National Instruments WEEE initiatives visit ni com environment weee htm BFS ons Risa SEE ChE ROHS RAHAA National Instruments 444 E e TR PP a LE EIT gt ROHS XF National Instruments FE ROHS AAR XK ni com environment rohs_china For information about China RoHS compliance go to ni com environment rohs_china NI 9144 User Guide and Specifications 18 ni com Appendix A Vendor Extensions to the Object Dictionary Most object dictionary entries are defined by the relevant 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 ay Note Most object dictionary entries are set to usable defaults during the NI 9144 s transition from INIT to PREOP 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 SAFEOP 3 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
54. yte Value Description Ox3C CRC value 0x49 Calibration Gain Byte 2 Channel 1 0x76 Data Byte 0x50 CRC value 0x4A 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 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 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 National Instruments Corporation 47 NI 9144 User Guide and Specifications Table 41 NI 9219 Configuration 1 Command Bytes Continued Command Byte Value Description OxF4 CRC value Ox8A Calibration Gain LSB Channel 2 0x90 Data Byte Ox5E CRC value 0xC1 ADC Mode Configuration Byte Channel 3 0x01 Data Byte OxEC CRC value OxDF Mode Range Configuration Channel 3 0x01 Data Byte 0x6C CRC value 0xC4 Calibration Offset MSB Channel 3 0x7F 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 Dat
Download Pdf Manuals
Related Search