National Instruments NI 9144 User manual

USER MANUAL
NI 9144
Deterministic Ethernet Expansion Chassis for C Series Modules
This document describes the features of the NI 9144 and contains information about mounting
and operating the device.
Ethernet Port
IN
Ethernet Port
OUT
NI 9144
Hardware
Data
C Series
Module
C Series
Module
FPGA
+
Contents
NI 9144 Features.......................................................................................................................2
POWER LED Indicators...................................................................................................2
FPGA LED........................................................................................................................3
RUN LED Indicators........................................................................................................ 3
ERR LED Indicators......................................................................................................... 4
Safe-State Outputs.............................................................................................................4
Slave Timing Modes......................................................................................................... 5
Mounting the Device.................................................................................................................5
Dimensions........................................................................................................................6
Mounting Requirements....................................................................................................6
Ambient Temperature........................................................................................................7
Mounting the Device Directly on a Flat Surface.............................................................. 7
Mounting the Device on a Panel....................................................................................... 9
Mounting the Device on a DIN Rail............................................................................... 10
Mounting the Device on a Rack......................................................................................12

Mounting the Device on a Desktop.................................................................................12
Upgrading from the NI 9144 to the NI 9145.................................................................. 14
Resetting the NI 9144 Network Configuration ...................................................................... 16
Updating Your Firmware ....................................................................................................... 17
How to Upgrade Your Firmware.....................................................................................17
Using the NI 9144 with an EtherCAT Third-Party Master..................................................... 17
Using AoE/SDO..............................................................................................................17
Using CoE/SDO .............................................................................................................18
Vendor Extensions to the Object Dictionary...........................................................................18
Worldwide Support and Services............................................................................................ 18
NI 9144 Features
The NI 9144 provides the following features.
Figure 1. NI 9144 Front Panel
4
3
2
1
6
8
7
5
1. POWER LED
2. FPGA LED
3. RUN LED
4. ERR LED
5. Power Connector
6. Ethernet LEDs
7. Out Port
8. In Port
POWER LED Indicators
The following table lists the POWER LED indicators.
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Table 1. POWER LED Indicators
LED Color LED Pattern Indication
Green Solid The NI 9144 is powered on and the connected power supply is
adequate.
— Off The NI 9144 is powered off.
FPGA LED
You can use the FPGA LED to help debug your application or easily retrieve application
status. Use the LabVIEW FPGA Module and NI-RIO software to define the FPGA LED to
meet the needs of your application
RUN LED Indicators
The following table lists the RUN LED indicators.
Table 2. RUN LED Indicators
LED Color LED Pattern Indication
Green Off The NI 9144 is in initialize (INIT) run mode. The
NI 9144 is initializing and discovering slaves.
Continuously blinks The NI 9144 is in pre-operational (PRE-OP) run mode.
The NI 9144 is detecting modules, configuring, and
synchronizing.
Blinks once and
pauses
The NI 9144 is in safe-operational (SAFE-OP) run
mode. The NI 9144 inputs are functional and outputs
drive constant safe values.
Solid The NI 9144 is in operational run mode. The NI 9144
inputs and outputs are functional.
Flickering The NI 9144 is in bootstrap run mode. The NI 9144 is
updating firmware.
Run Mode Transition
The following figure shows the Run Mode transition.
NI 9144 User Manual | © National Instruments | 3

Figure 2. EtherCAT Modes
Operational
INIT
Bootstrap
PRE-OP
SAFE-OP
LabVIEW
Active Mode
LabVIEW
Configuration
Mode
ERR LED Indicators
The following table lists the ERR (error) LED indicators.
Table 3. ERR LED Indicators
LED Color LED Pattern Indication
Red Off There is no error.
Continuously blinks There is an invalid configuration from an unsupported
module, bad device profile, object dictionary, or
configuration.
Blinks once and pauses There is an unsolicited change and the NI 9144 or
module is in an emergency condition.
Blinks twice and
pauses
There is an application watchdog timeout. The slave
did not receive a scheduled EtherCAT telegram.
Solid There is a Process Data Interface (PDI) watchdog
timeout. The slave failed to transfer I/O data in
scheduled time.
Flickering There is a booting error from corrupt firmware or a
hardware error.
Safe-State Outputs
The NI 9144 has an EtherCAT safe state that the device passes through when moving from
LabVIEW Active Mode to LabVIEW Configuration Mode. The NI 9144 passes through the
EtherCAT safe state during normal operation or in case of a serious error.
4| ni.com | NI 9144 User Manual

In the EtherCAT safe state, output modules are set to pre-defined safe values. By default, zero
is the safe value in the output module channel configuration. You can change the safe values
by writing to the appropriate object dictionary entries for your output module.
Slave Timing Modes
The NI 9144 operates in free-run mode or synchronized mode using the EtherCAT distributed
clock (DC).
By default, free-run mode runs the conversion cycle at the rate of the slowest module. You can
slow the free-run mode conversion cycle down by writing a minimum cycle time in
nanoseconds to index 0x3001.1 of the NI 9144.
In synchronized mode, each conversion cycle begins with a signal from the EtherCAT master/
scan engine. The NI 9144 procedures an error if the external cycle time is too fast for a
module. NI Indcom for EtherCAT only supports synchronized mode.
Mounting the Device
To obtain the maximum allowable ambient temperature of 70 °C, you must mount the NI 9144
horizontally on a flat, metallic, vertical surface such as a panel or wall. You can mount the
NI 9144 directly to the surface or use the NI Panel Mounting Kit. The following figure shows
the NI 9144 mounted horizontally.
Figure 3. NI 9144 Horizontal Mounting
1
1. Up
You can also mount the NI 9144 in other orientations, on a nonmetallic surface, on a 35-mm
DIN rail, on a desktop, or in a rack. Mounting the NI 9144 in these or other configurations can
reduce the maximum allowable ambient temperature and can affect the typical accuracy of
modules in the NI 9144. For more information about typical accuracy specifications for
C Series modules and temperature deratings caused by different mounting configurations, visit
ni.com/info and enter the Info Code criotypical.
Caution Make sure that no C Series modules are in the NI 9144 before mounting
it.
NI 9144 User Manual | © National Instruments | 5

Tip Before using any of these mounting methods, record the serial number from
the back of the NI 9144 so that you can identify the NI 9144 in MAX. You will be
unable to read the serial number after you mount the NI 9144.
Dimensions
The following figures show the front and side dimensions of the NI 9144. For detailed
dimensional drawings and 3D models, visit ni.com/dimensions and search for the module
number.
Figure 4. NI 9144 Front Dimensions
286.4 mm
(11.28 in.)
3.1 mm
(0.12 in.)
88.1 mm
(3.47 in.)
Figure 5. NI 9144 Side Dimensions
44.1 mm
(1.74 in.)
20.4 mm
(0.80 in.)
63.1 mm
(2.48 in.)
44.0 mm
(1.73 in.)
25.0 mm
(0.98 in.)
Mounting Requirements
Your installation must meet the following requirements for cooling and cabling clearance.
Allow 25.4 mm (1.00 in.) on the top and the bottom of the NI 9144 for air circulation, as
shown in the following figure.
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Figure 6. NI 9144 Cooling Dimensions
25.4 mm (1.00 in.)
Cooling Dimensions
25.4 mm (1.00 in.)
Cooling Dimensions
Allow the appropriate space in front of C Series modules for cabling clearance, as shown in
the following figure. The different connector types on C Series modules require different
cabling clearances. For a complete list of cabling clearances for C Series modules, visit
ni.com/info and enter the Info Code crioconn.
Figure 7. NI 9144 Cabling Clearance
Cabling
Clearance
29.0 mm
(1.14 in.)
Ambient Temperature
Measure the ambient temperature at each side of the NI 9144, 63.5 mm (2.50 in.) from the side
and 25.4 mm (1.00 in.) forward from the rear of the NI 9144, as shown in the following figure.
Figure 8. NI 9144 Ambient Temperature Location
25.4 mm
(1.00 in.)
25.4 mm
(1.00 in.)
63.5 mm
(2.50 in.)
63.5 mm
(2.50 in.)
11
1. Location for measuring the ambient temperature
Mounting the Device Directly on a Flat Surface
For environments with high shock and vibration, NI recommends mounting the NI 9144
directly on a flat, rigid surface using the mounting holes in the NI 9144.
NI 9144 User Manual | © National Instruments | 7

What to Use
• NI 9144
• Screwdriver, Phillips #2
• M4 or number 8 screw (x2), user-provided, longer than 13.2 mm (0.52 in.) to pass all the
way through the NI 9144
What to Do
Complete the following steps to mount the NI 9144 directly on a flat surface.
3
2
1
1. Prepare the surface for mounting the NI 9144 using the Surface Mounting Dimensions.
2. Align the NI 9144 on the surface.
3. Fasten the NI 9144 to the surface using the M4 or number 8 screws appropriate for the
surface. Tighten the screws to a maximum torque of 1.3 N · m (11.5 lb · in.).
Surface Mounting Dimensions
The following figure shows the surface mounting dimensions for the NI 9144.
8| ni.com | NI 9144 User Manual

Figure 9. NI 9144 Surface Mounting Dimensions
36.4 mm
(1.43 in.)
51.7 mm
(2.04 in.)
19.0 mm
(0.75 in.)
165.1 mm
(6.5 in.)
Mounting the Device on a Panel
You can use the NI panel mounting kit to mount the NI 9144 on a panel.
What to Use
• NI 9144
• Screwdriver, Phillips #2
• NI panel mounting kit, 779558-01
– Panel mounting plate
– M4 × 17 panhead screw (x2)
What to Do
Complete the following steps to mount the NI 9144 on a panel.
2
1
1. Align the NI 9144 and the panel mounting plate.
NI 9144 User Manual | © National Instruments | 9

2. Fasten the panel mounting plate to the NI 9144 using the screwdriver and M4 × 17
panhead screws. NI provides these screws with the panel mounting kit. Tighten the
screws to a maximum torque of 1.3 N · m (11.5 lb · in.).
Note You must use the screws provided with the NI panel mounting kit
because they are the correct depth and thread for the panel mounting plate.
3. Fasten the panel mounting plate to the surface using the screwdriver and screws that are
appropriate for the surface. The maximum screw size is M5 or number 10.
Panel Mounting Dimensions
The following figure shows the panel mounting dimensions for the NI 9144.
Figure 10. NI 9144 Panel Mounting Dimensions
63.5 mm
(2.50 in.)
31.8 mm
(1.25 in.)
88.1 mm
(3.47 in.)
330.2 mm
(13.00 in.)
311.2 mm
(12.25 in.)
286.4 mm
(11.28 in.)
9.5 mm
(0.38 in.)
15.5 mm
(0.61 in.)
Mounting the Device on a DIN Rail
You can use the NI DIN rail mounting kit to mount the NI 9144 on a standard 35-mm DIN
rail.
What to Use
• NI 9144
• Screwdriver, Phillips #2
• NI DIN rail mounting kit, 779018-01
– DIN rail clip
– M4 × 17 panhead screw (x2)
What to Do
Complete the following steps to mount the NI 9144 on a DIN rail.
10 | ni.com | NI 9144 User Manual

2
1
1. Align the NI 9144 and the DIN rail clip.
2. Fasten the DIN rail kit to the NI 9144 using the screwdriver and M4 × 17 panhead
screws. NI provides these screws with the DIN rail mounting kit. Tighten the screws to a
maximum torque of 1.3 N · m (11.5 lb · in.).
Note You must use the screws provided with the NI DIN rail mounting kit
because they are the correct depth and thread for the DIN rail clip.
Clipping the Device on a DIN Rail
Complete the following steps to clip the NI 9144 on a DIN rail.
1
2
1. Insert one edge of the DIN rail into the deeper opening of the DIN rail clip.
2. Press down firmly to compress the spring until the clip locks in place on the DIN rail.
Caution Ensure that no C Series modules are in the NI 9144 before removing it
from the DIN rail.
NI 9144 User Manual | © National Instruments | 11

Mounting the Device on a Rack
You can use the following rack mount kits to mount the NI 9144 and other DIN rail-mountable
equipment on a standard 482.6 mm (19 in.) rack.
• NI Sliding Rack-Mounting Kit, 779102-01
• NI Rack-Mounting Kit, 781989-01
Note You must use the NI DIN rail mounting kit, 779018-01, in addition to a rack-
mounting kit.
Mounting the Device on a Desktop
You can use the NI desktop mounting kit to mount the NI 9144 on a desktop.
What to Use
• NI 9144
• Screwdriver, Phillips #1
• Screwdriver, Phillips #2
• NI desktop mounting kit, 779473-01
– Desktop mounting brackets (x2)
– Adapter bracket
– M3 × 14 flathead screw (x2)
What to Do
Complete the following steps to mount the NI 9144 on a desktop.
12 | ni.com | NI 9144 User Manual

1
3
3
4
4
2
1. Use the Phillips #1 screwdriver to remove the two screws from the back of the NI 9144.
2. Use the screwdriver and the M3 × 14 flathead screws to attach the adapter bracket to the
NI 9144. NI provides these screws with the desktop mounting kit.
Note You must use the screws provided with the NI desktop mounting kit
because they are the correct depth and thread for the NI 9144.
3. Align the brackets with the mounting holes on the ends of the NI 9144.
4. Use the Phillips #2 screwdriver to tighten the captive screws on the end of the brackets.
Desktop Mounting Dimensions
The following figures show the desktop mounting dimensions for the NI 9144.
NI 9144 User Manual | © National Instruments | 13

Figure 11. NI 9144 Desktop Mounting Front Dimensions
39.1 mm
(1.54 in.)
22.5 mm
(0.89 in.)
17.2 mm
(0.68 in.)
Figure 12. NI 9144 Desktop Mounting Side Dimensions
127.0 mm
(5.00 in.)
130.0 mm
(5.12 in.)
Upgrading from the NI 9144 to the NI 9145
You can use the NI 9144 to NI 9145 adapter panel mounting kit (NI part number 785984-01)
to mount the NI 9145 to an existing NI 9144 panel mounting plate. Contact NI for information
about ordering a NI 9144 to NI 9145 adapter panel mounting kit.
Mounting the NI 9145 Using the Adapter Kit
What to Use
• NI 9145
• #2 Phillips screwdriver
• Two (2x) M4 or number 8 flathead screw, 10 mm (0.39 in.) minimum length, user-
provided
• NI 9144 to NI 9145 adapter mounting plate kit, 785984-01
– Adapter mounting plate
– Three (3x) M4 x 23 mm screws
14 | ni.com | NI 9144 User Manual

What to Do
1. Remove the NI 9144 from the NI 9144 panel mounting plate.
2. Align the adapter mounting plate with the holes in the NI 9144 panel mounting plate.
3. Fasten the adapter mounting plate to the NI 9144 panel mounting plate using the M4 or
number 8 flathead screws.
Figure 13. Attaching the Adapter Mounting Plate to the NI 9144 Panel Mounting Plate
4. Align the NI 9145 chassis to the adapter mounting plate and fasten it using the
M4 x 23 mm screws.
Note You must use the screws included in the kit because they are the correct
depth and thread for the chassis and the adapter mounting plate. Tighten the
screws to a maximum torque of 1.3 N · m (11.5 lb · in.).
NI 9144 User Manual | © National Instruments | 15

Figure 14. Attaching the NI 9145 to the Adapter Mounting Plate
NI 9144 to NI 9145 Adapter Mounting Plate Dimensions
88.06 mm
(3.467 in.)
272.80 mm (10.740 in.)
Resetting the NI 9144 Network Configuration
To reset the NI 9144 network configuration, disconnect and reconnect the network cables on
the NI 9144 chassis.
16 | ni.com | NI 9144 User Manual

Updating Your Firmware
Firmware updates are performed by way of the File over EtherCAT (FoE) download protocol.
All NI factory firmware update files have a .foe extension and have internal identification
information that guides the NI 9144 during the update. Refer to your specific master software
documentation for the procedure of sending FoE downloads.
The NI 9144 firmware update does not use the filename or password information.
You may also use this utility to download custom FPGA projects with a .lvbitx extension.
How to Upgrade Your Firmware
To upgrade your firmware to a new version or reset your device to the factory state, complete
the following steps:
1. Discover your real-time target and NI 9144 chassis.
2. Right-click the RT target and select Deploy All.
3. After a successful deployment, change the controller to Configuration Mode. Right-click
the RT target and select Utilities»Scan Engine Mode»Switch to Configuration.
4. Right-click the NI 9144 that requires a firmware change and select Online Device State.
5. Change the online state by clicking the Init button and then clicking the Bootstrap
button. The LED beside the Bootstrap button lights up.
6. Click the Download Firmware button. Navigate to Program Files\National
Instruments\NI-IndCom for EtherCAT and select the file with a .foe extension
or a custom FPGA project with a .lvbitx extension.
Do not disconnect the device or interrupt firmware while it is downloading.
Using the NI 9144 with an EtherCAT Third-Party
Master
When using a third-party master, you can access all of the functionality of the C Series
modules using vendor extensions to the object dictionary. Each module installed in the
NI 9144 has its own object dictionary that you can use to configure the module.
If your master software supports ADS over EtherCAT (AoE) services, 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 CAN over EtherCAT (CoE).
Using AoE/SDO
AoE protocol allows you to specify the destination port or address of the SDO request. An
address of 0 indicates the NI 9144. Addresses 1 through 8 route the SDO request to the object
dictionary of the module in the addressed slot. If no module is installed in the addressed slot,
NI 9144 User Manual | © National Instruments | 17

the request fails. SDOInfo and SDO requests work with module object dictionaries over AoE
similar to the NI 9144 main object dictionary.
Tip Depending on the master software interface, you may be required to add 1,000
to the slot number to create a valid AoE address.
Using CoE/SDO
CoE protocol does not have a destination port or address. When using CoE protocol, the
NI 9144 provides an object dictionary entry that allows addressing support. Prior to sending an
SDOInfo or SDO request, the application writes an address of 1 through 8 to the object
dictionary index 0x5FFF, subindex 0. Once the address is written, SDO transactions are sent to
the object dictionary of the module in the addressed slot. If no module is installed in the
addressed slot, the request fails.
After the module-specific SDOInfo and SDO requests are complete, the application writes 0 to
the module object dictionary index 0x5FFF, subindex 0 to return control to the NI 9144 main
object dictionary.
Vendor Extensions to the Object Dictionary
Most object dictionary entries are defined by the EtherCAT and CANOpen specifications for
modular slave devices. The NI 9144 and the C Series modules have vendor extensions to those
specifications.
Note Visit ni.com/manuals to access the NI 951x C Series modules object
dictionary.
Note Most object dictionary entries are set to usable defaults during the transition
from INIT to PRE-OP of the NI 9144. NI recommends writing down the object
dictionary default values, in case you need to revert to them, before you begin to
overwrite them with new values prior to the transition to SAFE-OP.
Refer to the EtherCAT® Expansion Chassis Vendor Configurations Guide on ni.com/manuals
for the list of vendor extensions.
Worldwide Support and Services
The NI website 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.
Visit ni.com/services for information about the services NI offers.
Visit ni.com/register to register your NI product. Product registration facilitates technical
support and ensures that you receive important information updates from NI.
18 | ni.com | NI 9144 User Manual

NI corporate headquarters is located at 11500 North Mopac Expressway, Austin, Texas,
78759-3504. NI also has offices located around the world. For support in the United States,
create your service request at ni.com/support or dial 1 866 ASK MYNI (275 6964). For
support outside the United States, visit the Worldwide Offices section of ni.com/niglobal to
access the branch office websites, which provide up-to-date contact information.
NI 9144 User Manual | © National Instruments | 19

Information is subject to change without notice. Refer to the NI Trademarks and Logo Guidelines at ni.com/trademarks for
information on NI trademarks. Other product and company names mentioned herein are trademarks or trade names of their
respective companies. For patents covering NI products/technology, refer to the appropriate location: Help»Patents in your
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information about end-user license agreements (EULAs) and third-party legal notices in the readme file for your NI product. Refer
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to obtain relevant HTS codes, ECCNs, and other import/export data. NI MAKES NO EXPRESS OR IMPLIED WARRANTIES AS
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372498B-03 November 7, 2018