National Instruments NI 9144 User Manual
USER GUIDE AND SPECIFICATIONS
NI 9144
Deterministic Ethernet Expansion Chassis for C Series Modules
Contents
Introduction.............................................................................................2
Safety Guidelines .................................................................................... 3
Safety Guidelines for Hazardous Locations .................................... 3
Special Conditions for Hazardous Locations Use
in Europe................................................................................ 4
Special Conditions for Marine Applications ................................... 4
Mounting the NI 9144 Chassis................................................................ 4
Mounting the NI 9144 Chassis on a Panel....................................... 6
Mounting the Chassis on a DIN Rail ...............................................8
Connecting the NI 9144 Chassis to a Network ....................................... 9
Understanding LED Indications.............................................................. 10
POWER LED...................................................................................10
FPGA LED—Open FPGA Mode Only ........................................... 10
RUN and ERR LEDs ....................................................................... 10
Resetting the NI 9144 Network Configuration ....................................... 12
Safe-State Outputs................................................................................... 12
Slave Timing Modes ............................................................................... 12
Updating your Firmware ......................................................................... 12
Using the NI 9144 with an EtherCAT Third-Party Master..................... 13
Using AoE/SDO .............................................................................. 13
Using CoE/SDO............................................................................... 13
Specifications .......................................................................................... 14
Network ...........................................................................................14
Power Requirements ........................................................................ 14
Physical Characteristics ................................................................... 14
Safety Voltages ................................................................................14
Hazardous Locations........................................................................ 15
Environmental..................................................................................15
Shock and Vibration ........................................................................16
Cabling............................................................................................. 16
Safety Standards .............................................................................. 17
Electromagnetic Compatibility.........................................................17
CE Compliance.................................................................................18
Online Product Certification.............................................................18
Environmental Management ............................................................18
Appendix A..............................................................................................19
Vendor Extensions to the Object Dictionary....................................19
Supported C Series Modules ............................................................20
C Series Modules with No Configurable Options.....................20
NI 9201/9221.............................................................................21
NI 9203......................................................................................24
NI 9205/9206.............................................................................28
NI 9211......................................................................................31
NI 9213......................................................................................32
NI 9215......................................................................................34
NI 9217......................................................................................35
NI 9219......................................................................................38
NI 9233......................................................................................49
NI 9234......................................................................................52
NI 9237......................................................................................55
NI 9229/9239.............................................................................58
NI 9263......................................................................................60
NI 9264......................................................................................61
NI 9265......................................................................................62
NI 9401......................................................................................63
NI 9403......................................................................................63
NI 9476......................................................................................64
Where to Go for Support .........................................................................65
Introduction
This document describes how to connect the NI 9144 chassis to a network,
how to use the NI 9144 chassis features, and contains the NI 9144 chassis
specifications. The NI 9144 is a slave device and requires a compliant
EtherCAT Master and network to function.
NI 9144 User Guide and Specifications 2 ni.com
1
INPUT
9-30 V
20 W MAX
NI 9144
POWER
FPGA
RUN
ERR
4
Ether
2
3
1LEDs
2IN Port
3OUT Port
4 Power Connector
Figure 1. NI 9144 Chassis
Safety Guidelines
Operate the NI 9144 chassis only as described 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.
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
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
II 3G and is suitable for use in Zone 2 hazardous locations, in ambient
temperatures of –40 ≤ Ta ≤ 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
certification
Register mark on the chassis.
and search for the LR certificate, or look for the Lloyd’s
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.
ni.com/
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.
NI 9144 User Guide and Specifications 4 ni.com
87.3 mm
(3.44 in.)
POWER
FPGA
RUN
ERR
INPUT
9-30 V
20 W MAX
Ether
NI 9144
Cabling Clearance
50.8 mm (2.00 in.)
29.0 mm
(1.14 in.)
286.4 mm
(11.28 in.)
3.2 mm
(0.13 in.)
Figure 2. NI 9144 Chassis, Bottom View with Dimensions
19.0 mm
165.1 mm
(6.5 in.)
(0.75 in.)
48.4 mm
(1.9 in.)
58.9 mm
(2.32 in.)
36.4 mm
(1.43 in.)
51.7 mm
(2.04 in.)
2.9 mm
(0.12 in.)
Figure 3. NI 9144 Chassis, Front View with Dimensions
© National Instruments Corporation 5 NI 9144 User Guide and Specifications
44.069 mm
(1.74 in.)
25.078 mm
(0.99 in.)
44.125 mm
(1.74 in.)
63.178 mm
(2.49 in.)
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.
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 × 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.
20.320 mm
(0.8 in.)
NI 9144 User Guide and Specifications 6 ni.com
9.525 mm
(0.38 in.)
15.491 mm
(0.61 in.)
NI 9144
Ether
INPUT
9-30 V
20 W MAX
Figure 5. Installing the Panel Mount Accessory on the NI 9144 Chassis
330.200 mm
311.150 mm
286.634 mm
(11.28 in.)
INPUT
9-30 V
20 W MAX
NI 9144
Ether
POWER
FPGA
RUN
ERR
(12.25 in.)
(13 in.)
31.750 mm
(1.25 in.)
63.500 mm
88.138 mm
(3.47 in.)
(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.
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 × 16 screws. National Instruments provides
these screws with the DIN rail mount kit.
Figure 7. Installing the DIN Rail Clip on the NI 9144 Chassis
2. Insert one edge of the DIN rail into the deeper opening of the DIN rail
clip, as shown in Figure 8.
1
2
3
1 DIN Rail Clip 2 DIN Rail Spring 3 DIN Rail
Figure 8. One Edge of the 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.
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
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
1
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.
www.ethercat.org, for
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 the NI-Industrial
Communications for EtherCAT driver on the target.
Caution To update your firmware on the NI 9144 chassis, refer to the Updating your
Firmware section of this user guide.
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.
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.
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 codes. Table 1 lists
the RUN and ERR LED indications.
POWER
FPGA
RUN
ERR
Table 1. RUN and ERR LED Indications
LED
Behavior
Off INIT (Initialize) Slave discovery and
Blinking PRE-OP
Single-Flash SAFE-OP
NI 9144 User Guide and Specifications 10 ni.com
Run Mode Description Error Mode Description
(Pre-Operational)
(Safe
Operational)
RUN LED ERR LED
No Error —
Initialization
Module detection,
configuration, and
synchronization
Inputs are
functional, outputs
drive constant safe
values
Invalid
Configuration
Unsolicited
State Change
Unsupported
Module, Bad
Device Profile,
Object Dictionary,
and configuration
Backplane or
Module
emergency
condition
Table 1. RUN and ERR LED Indications (Continued)
LED
Behavior
Run Mode Description Error Mode Description
Double-Flash — — Application
RUN LED ERR LED
Slave did not
Watchdog
Timeout
receive a
scheduled
EtherCAT
telegram
On Operational Inputs and Outputs
are functional
PDI (Process
Data Interface)
Watchdog
Slave failed to
transfer I/O data in
scheduled time
Timeout
Flickering Bootstrap Firmware Update Booting Error Corrupt firmware
or hardware error
Figure 10 shows the Run Mode transition.
INIT
PRE-OP
Bootstrap
SAFE-OP
Operational
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 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 performed via the File over EtherCAT (FoE)
download protocol. All NI firmware update files have a suffix of
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
.foe and
Using the NI 9144 with an EtherCAT Third-Party Master
All of the functionality of the NI C Series modules is available to
third-party masters using vendor extensions to the object dictionary. The
NI 9144 is a modular device, meaning each module plugged into the
backplane has its own object dictionary, and each module configuration
is done through this dictionary. If your master software supports AoE
services (ADS over EtherCAT), you can address the module directly. If
your master software does not support AoE services, you can still configure
your module using NI vendor extensions and CoE (CAN over EtherCAT).
Using AoE/SDO
The AoE protocol allows you to specify the destination port or address of
the SDO request. An address of 0 indicates the NI 9144 device, while
addresses 1 through 8 route the SDO request to the object dictionary of the
module in the addressed slot. If no module is inserted in the addressed slot,
the request fails. SDOInfo and SDO requests work with module object
dictionaries over AoE in a manner similar to the NI 9144 main object
dictionary.
Depending on the master software interface, you may be required to add
1,000 to the slot number to create a valid AoE address.
For more information, refer to your C Series Module documentation.
Using CoE/SDO
The CoE protocol does not have a destination port or address, so the
NI 9144 provides an object dictionary entry that allows addressing support.
Prior to sending an SDO or SDOInfo request, your application can write a
slot number of 1 through 8 to the object dictionary index 0x5FFF subindex
0. Once this address is written, all future SDO transactions are sent to the
object dictionary of the module in the addressed slot. If no module is
inserted in the addressed slot, the request fails.
After the module-specific SDOInfo and SDO requests are complete, the
application writes 0 to the module’s object dictionary index 0x5FFF
subindex 0 to return control to the NI 9144 main object dictionary.
For a list of all chassis and module object dictionary entries, refer to
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 ...................................100BaseTX Ethernet
Compatibility ..........................................EtherCAT
Communication rates..............................100 Mbps
Maximum cabling distance.....................100 m/segment
Power Requirements
Caution You must use a National Electric Code (NEC) UL Listed Class 2 power supply
with the NI 9144 chassis.
Recommended power supply..................48 W, 24 VDC
Power consumption ................................20 W maximum
Chassis input range.................................9 to 30 V
Physical Characteristics
If you need to clean the controller, wipe it with a dry towel.
Screw-terminal wiring ............................0.5 to 2.5 mm
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 lb · in.)
Weight ....................................................906 g (32.7 oz)
2
(24 to 12 AWG)
Safety Voltages
Connect only voltages that are within these limits.
V terminal to C terminal.........................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.
Caution Do not connect the system to signals or use for measurements within
Measurement Categories II, III, or IV.
Hazardous Locations
U.S. (UL)................................................ Class I, Division 2, Groups A,
Canada (C-UL)....................................... Class I, Division 2, Groups A,
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.
B, C, D, T4; Class I, Zone 2,
AEx nA IIC T4
B, C, D, T4; Class I, Zone 2,
Ex nA IIC T4
Operating temperature
(IEC 60068-2-1, IEC 60068-2-2)........... – 40 to 70 °C
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...................................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
© National Instruments Corporation 15 NI 9144 User Guide and Specifications
Shock and Vibration
Cabling
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) ......................5 g
Operating vibration,
sinusoidal (IEC 60068-2-6) ....................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
, 10 to 500 Hz
rms
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
C
onnector 1
C
onnector 2
Pin 1
Safety Standards
Pin 1 Pin 8 Pin 8
Figure 11. Ethernet Connector Pinout
This product meets the requirements of the following standards of safety
for electrical equipment for measurement, control, and laboratory use:
• IEC 61010-1, EN 61010-1
• UL 61010-1, CSA 61010-1
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:
• EN 61326 (IEC 61326): Class A emissions; Basic immunity
• EN 55011 (CISPR 11): Group 1, Class A emissions
• AS/NZS CISPR 11: Group 1, Class A emissions
• FCC 47 CFR Part 15B: Class A emissions
• ICES-001: Class A emissions
Note For the standards applied to assess the EMC performance of this product, refer to the
Online Product Certification section.
© National Instruments Corporation 17 NI 9144 User Guide and Specifications
Note For EMC compliance, operate this device with shielded cables.
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CE Compliance
This product meets the essential requirements of applicable European
Directives as follows:
• 2006/95/EC; Low-Voltage Directive (safety)
• 2004/108/EC; Electromagnetic Compatibility Directive (EMC)
Online Product Certification
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
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 NI and the
Environment Web page at
environmental regulations and directives with which NI complies, as well
as other environmental information not included in this document.
ni.com/environment. This page contains the
Waste Electrical and Electronic Equipment (WEEE)
EU Customers At the end of their life cycle, all products must be sent to a WEEE recycling
center. For more information about WEEE recycling centers and National Instruments
WEEE initiatives, visit
ni.com/environment/weee.htm.
RoHS
National Instruments
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National Instruments
(For information about China RoHS compliance, go to
NI 9144 User Guide and Specifications 18 ni.com
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ni.com/environment/rohs_china
ni.com/environment/rohs_china
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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.
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.
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
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.
0x5FFF 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 NI C Series Vendor ID (for NI C Series modules,
equals 0x1093)
0x2001 0..N ARR: R/W • Scan or command list
• Channel direction control
• Mode selection
0x2002 0 U32 R/W •Error status
• Unipolar/bipolar control
• Module configuration command
• Module conversion rate control
0x2003 0 U32 R/W Error acknowledgement (or status)
0x2005 0 U8 R/W • Refresh period
• Conversion format
0x2100 0..N ARR: R 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
…
0x47FF
0x4800
…
0x4FFF
— — R/W Safe data values that mirror the PDO data in
0x6000…0x67FF
— — R/W Safe control values that mirror the SDO data in
0x2000…0x27FF.
Supported C Series Modules
C Series Modules with No Configurable Options
The following lists the modules with no configurable options:
• NI 9411
• NI 9421
NI 9144 User Guide and Specifications 20 ni.com
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