USER GUIDE AND SPECIFICATIONS
Introduction............................................................................................. 2
Specifications.......................................................................................... 14
Safety Voltages................................................................................ 14
Hazardous Locations........................................................................ 15
Environmental.................................................................................. 15
Shock and Vibration ........................................................................ 16
Cabling............................................................................................. 16
Safety Standards .............................................................................. 17
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1
NI 9144
POWER
FPGA
RUN
ERR
Ether
2
4
INPUT
9-30V
20W MAX
3
1
2
LEDs
IN Port
3
4
OUT Port
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.
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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 ni.com/
certificationand search for the LR certificate, or look for the Lloyd’s
Register mark on the chassis.
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.
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.
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48.4 mm
(1.9 in.)
Cabling Clearance
50.8 mm (2.00 in.)
29.0 mm
(1.14 in.)
58.9 mm
(2.32 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
(0.75 in.)
165.1 mm
(6.5 in.)
NI 9144
POWER
FPGA
RUN
36.4 mm
(1.43 in.)
ERR
Ether
87.3 mm
(3.44 in.)
51.7 mm
(2.04 in.)
INPUT
9-30 V
20 W MAX
2.9 mm
(0.12 in.)
Figure 3. NI 9144 Chassis, Front View with Dimensions
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44.069 mm
(1.74 in.)
25.078 mm
(0.99 in.)
20.320 mm
(0.8 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.
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NI 9144
Ether
INPUT
9-30VMAX
20W
Figure 5. Installing the Panel Mount Accessory on the NI 9144 Chassis
330.200 mm
(13 in.)
311.150 mm
(12.25 in.)
9.525 mm
286.634 mm
(11.28 in.)
(0.38 in.)
15.491 mm
(0.61 in.)
NI 9144
POWER
FPGA
RUN
ERR
Ether
88.138 mm
(3.47 in.)
INPUT
9-30 V
20 W MAX
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.
Caution Remove any C Series I/O modules from the chassis before removing it from the
panel.
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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
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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
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
target1 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 the NI-Industrial
Communications for EtherCAT driver on the target.
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.
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Understanding LED Indications
Figure 9 shows the NI 9144 chassis LEDs.
POWER
FPGA
RUN
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 codes. Table 1 lists
the RUN and ERR LED indications.
Table 1. RUN and ERR LED Indications
RUN LED
Description
ERR LED
LED
Behavior
Run Mode
Error Mode
Description
Off
INIT (Initialize)
Slave discovery and
Initialization
No Error
—
Blinking
PRE-OP
Module detection,
Invalid
Unsupported
(Pre-Operational) configuration, and
synchronization
Configuration
Module, Bad
Device Profile,
Object Dictionary,
and configuration
Single-Flash
SAFE-OP
(Safe
Operational)
Inputs are
Unsolicited
State Change
Backplane or
Module
emergency
condition
functional, outputs
drive constant safe
values
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Table 1. RUN and ERR LED Indications (Continued)
RUN LED
ERR LED
LED
Behavior
Run Mode
Description
Error Mode
Description
Double-Flash
—
—
Application
Watchdog
Timeout
Slave did not
receive a
scheduled
EtherCAT
telegram
On
Operational
Inputs and Outputs
are functional
PDI (Process
DataInterface) transfer I/O data in
Slave failed to
Watchdog
Timeout
scheduled time
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
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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.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.
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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.
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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 mm2 (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 lb · in.)
Weight ....................................................906 g (32.7 oz)
Safety Voltages
Connect only voltages that are within these limits.
V terminal to C terminal.........................30 V max, Measurement
Category I
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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,
B, C, D, T4; Class I, Zone 2,
AEx nA IIC T4
Canada (C-UL)....................................... 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
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
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Shock and Vibration
To meet these specifications, you must panel mount the EtherCAT system
and affix ferrules to the ends of the power terminal wires.
Operating shock (IEC 60068-2-27) ........30 g, 11 ms half sine,
50 g, 3 ms half sine,
18 shocks at 6 orientations
Operating vibration,
random (IEC 60068-2-64) ......................5 grms, 10 to 500 Hz
Operating vibration,
sinusoidal (IEC 60068-2-6) ....................5 g, 10 to 500 Hz
Cabling
Table 2 shows the standard Ethernet cable wiring connections.
Table 2. Ethernet Cable Wiring Connections
Pin
1
Connector 1
white/orange
Connector 2
white/orange
2
orange
orange
3
white/green
blue
white/green
blue
4
5
white/blue
green
white/blue
green
6
7
white/brown
brown
white/brown
brown
8
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Connector 1
Connector 2
Pin 1
Pin 8
Pin 1
Pin 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:
•
•
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.
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Note For EMC compliance, operate this device with shielded cables.
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 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 recycling
center. For more information about WEEE recycling centers and National Instruments
WEEE initiatives, visit ni.com/environment/weee.htm.
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RoHS
ni.com/environment/rohs_china
(For information about China RoHS compliance, go to
.)
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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
1
ARR:U32
—
—
Timing Overrides: provides additional control over the
timing of the NI 9144
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
0
—
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
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.
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Table 3. Module Vendor Extensions (Continued)
Type R/W Description
C Series Module Vendor Extensions
Index
Sub
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
R/W Error acknowledgement (or status)
R/W • Refresh period
0x2003
0x2005
0
0
U32
U8
• Conversion format
0x2100
0x3002
0..N
0
ARR:
U32
R
R
Calibration data
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.
0x4FFF
Supported C Series Modules
C Series Modules with No Configurable Options
The following lists the modules with no configurable options:
•
•
NI 9411
NI 9421
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•
•
•
•
•
•
•
•
•
•
•
NI 9422
NI 9423
NI 9425
NI 9426
NI 9435
NI 9472
NI 9474
NI 9475
NI 9477
NI 9481
NI 9485
NI 9201/9221
Table 4. NI 9201/9221 Vendor Configuration Extensions
Index
Sub
0
Type
R/W
—
Description
0x2001
ARR:U32
Scan List = 9
Channels to Convert = 1..8, default = 8
1
R
2..9
0
R/W Channel Code
0x2002
0x2100
U32
R/W Fast Convert = 0/1, default = 1 (fast)
0
ARR:U32
—
R
Calibration = 32
Ch0 Offset
1
2
R
Ch0 Gain
…
15
16
17
…
—
R
—
Ch7 Offset
Ch7 Gain
R
R
External Calibration, Ch0 Offset
—
—
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NI 9201/9221 Scan List
The scan list channel codes consist of two bit fields in a 32-bit entry.
Table 5. NI 9201/9221 Scan List Format
Bits
31:24
23:16
15:8
7:0
Field
= 0
Data Offset[t]
= 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
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
0
Type
Value
0x2001
ARR:U32
9
8
1
2
0x00000004
0x00010008
0x00020010
0x00030020
0x00040040
0x00050080
0x00060001
0x00070002
3
4
5
6
7
8
9
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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.
Note LSB weight is referred to as Gain in the object dictionary.
The calibration data is stored in a U32 array, though each Offset field
(subindex 1, 3, 5, and so on) should be interpreted as a signed value.
Table 7. NI 9221/9201 Calibration Coefficients
Coefficient
LSB Weight
Offset
Representation
Unsigned
Units
nV/LSB
nV
Signed
Use the calibration coefficients with the following equation to generate
corrected data:
∗
⎧
⎫
⎬
⎭
⎧
⎫
⎬
⎭
nV
bits
V
nV
V
nV
–9
10–9
– Offset(nV) 10
⎛
⎝
⎞
⎠
⎛
⎝
⎞
⎠
⎛
⎝
⎞
⎠
∗
∗
---------
------
------
Vcorrected(Vraw) = Vraw(bits) LSB
⎨
⎨
weight
⎩
⎩
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NI 9203
Table 8. NI 9203 Vendor Configuration Extensions
Index
Sub
0
Type
R/W
—
Value
0x2001
ARR:U32
Scan List = 9
1
R
Channels to
Convert = 1..8,
default = 8
2..9
0
R/W
R/W
Channel Code
0x2002
0x2100
U32
Unipolar Channel
Mask
0
1
ARR:U32
—
R
Calibration = 36
Bipolar Offset
Ch0 Bipolar Gain
Ch1 Gain
2
R
3
R
...
9
—
R
—
Ch7 Gain
10
11
...
19
R
Unipolar Offset
Ch0 Unipolar Gain
—
R
—
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
31:24
23:16
15:4
Field
= 0
Data Offset[t]
= 0
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Table 9. NI 9203 Scan List Format (Continued)
Bits
3
Field
Bipolar = 0, Unipoloar = 1
Channel Code[t+2]
2:0
Bits 23..16 describe the data offset to store a conversion at time 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
0 = 0b000
1 = 0b001
2 = 0b010
3 = 0b011
4 = 0b100
5 = 0b101
6 = 0b110
7 = 0b111
Reversed Bits
0b000 = 0
0b100 = 4
0b010 = 2
0b110 = 6
0b001 = 1
0b101 = 5
0b011 = 3
0b111 = 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).
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Table 11 contains the default scan list.
Table 11. NI 9203 Scan List Format
Index
Sub
0
Type
Value
9
0x2001
ARR:U32
1
8
2
0x00000002
0x00010006
0x00020001
0x00030005
0x00040003
0x00050007
0x00060000
0x00070004
3
4
5
6
7
8
9
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.
Note LSB weight is referred to as Gain in the object dictionary.
The difference in offset from channel to channel is negligible.
The calibration data gives one offset and eight gains for each mode, a total
of 2 offsets and 16 gains in total. All channels in a given mode use the same
offset. The host can then take these constants and adjust the raw data into
calibrated data.
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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
LSB Weight
Offset
Representation
Unsigned
Units
pA/LSB
pA
Signed
Use the calibration coefficients with the following equation to generate
corrected data:
∗
Icorrected(Iraw
)
=
Iraw – Iexpected 0mA
LSBweight – Ioffset
pA/bit pA
pA
bits
Table 13. NI 9203 Calibration Equation Information
Term
Icorrected
Units
pA
Definition
Calibrated current
Iraw
bits
The raw code from the
NI 9203
Iexpected0mA
bits
Expected code at 0 mA.
0 bits for 0–20 mA range.
32768 bits for 20 mA
range
LSBweight
Ioffset
pA/bit
pA
Number of pA in one bit
Offset at 0 mA
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NI 9205/9206
Table 14. NI 9205/9206 Vendor Configuration Extensions
Index
Sub
0
Type
R/W
Description
0x2001
ARR:U32
Scan List = 33
Channels to Convert = 1..32, default = 32
1
R
2..33
0
R/W Channel Code
0x2100
ARR:U32
—
R
Calibration = 24
Coeff 3
1
2
R
Coeff 2
3
R
Coeff 1
4
R
Coeff 0
5
R
10 V offset
10 V gain
5 V offset
6
R
7
R
...
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
31:24
23:16
15:0
Field
= 0
Data Offset[t]
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.
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Table 16. NI 9205/9206 Conversion Code
Bits
Field
15:13
12:11
001 = Read AI
Bank:
01 = Channels 0..15
10 = Channels 16..31
10:8
7:6
Channel LSB = 0..7
00 = Cal Pos Ref5V
00 = NRSE
5:4
11 = Cal Neg AI Gnd RSE or DIFF
Mode:
3:2
1:0
10 = Single–End A
(Ch. 0..7, 16..23)
11 = Single–End B
(Ch. 8..15, 24..31)
00 = 10 V
01 = 5 V
10 = 1 V
11 = 200 mV
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Table 17 contains the default scan list.
Table 17. NI 9205/9206 Scan List Format
Index
Sub
0
Type
Value
Sub
—
—
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
Value
0x2001
ARR:U32
33
—
1
32
—
2
0x00002A38
0x00012B38
0x00022C38
0x00032D38
0x00042E38
0x00052F38
0x0006283C
0x0007293C
0x00082A3C
0x00092B3C
0x000A2C3C
0x000B2D3C
0x000C2E3C
0x000D2F3C
0x000E3038
0x000F3138
0x00103238
0x00113338
0x00123438
0x00133538
0x00143638
0x00153738
0x0016303C
0x0017313C
0x0018323C
0x0019333C
0x001A343C
0x001B353C
0x001C363C
0x001D373C
0x001E2838
0x001F2938
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
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.
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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. a1 = f64(a1) * rangeGain
c. a2 = f64(a2) * rangeGain
d. a3 = f64(a3) * rangeGain
5. Use 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*x3 + a2*x2 + a1*x + a0
It is also possible to decode the raw data using only the offset and gain
values. For more information, refer to the NI 9201/9221 section of this
guide.
NI 9211
Table 18. NI 9211 Vendor Configuration Extensions
Index
Sub
0
Type
R/W
—
Description
0x2001
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:
•
•
•
0..3: Four input channels (always measured in a 80 mV range)
4: One cold junction channel (always measured in a 2.5 V range)
5: One auto zero channel (always measured in a 80 mV range)
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Table 19 contains the default scan list.
Table 19. NI 9211 Scan List Format
Index
Sub
0
Type
Value
0x2001
ARR:U32
7
6
1
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
—
Description
0x2001
0
1
ARR:U32
Scan List = 19
R
Channels to Convert = 1..18, default = 18
Channel Code
2..19
1
R/W
R/W
R
0x2002
0x2003
ARR:U32
U32
Conversion Speed Control = 2 or 15, default = 2
0
Common Mode Range Error Detection Status
(also as 8-bit PDO)
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NI 9213 Conversion Speed Control
The NI 9213 converts at two pre-defined rates, as controlled by the speed
control field.
Note The conversion rate assumes that 18 channels are in the scan list.
Table 21. NI 9213 Conversion Speed Control
Speed Control
2 (0x02)
Meaning
High-Accuracy
High-Speed
Conversion
55 ms/channel (.99 s total)
740 μs/channel (13.32 ms total)
15 (0x0F)
NI 9213 Common Mode Error/Status
The error/status field is shown in Table 22.
Table 22. NI 9213 Error Status Field
Field
Bits
31:8
7
Reserved
OT Error:
1= Open thermocouple was detected on the
last channel that was acquired
6
5
CMV Error:
1= Common mode voltage error was
detected on the last channel that was
acquired
GO Status: status of the gain override enable
bit
4
Reserved
3:0
Currently configured ADC data rate
NI 9213 Scan List
The scan list contains channels to convert, in order. The NI 9213 has
eighteen measurable channels:
•
0..15: Sixteen thermocouple channels (always measured in a 78 mV
range)
•
•
16: One cold junction channel (always measured in a 2.5 V range)
17: One auto zero channel (always measured in a 78 mV range)
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Table 23 contains the default scan list.
Table 23. NI 9213 Scan List Format
Index
Sub
0
Type
Value
19
18
0
0x2001
ARR:U32
1
2
3
1
...
18
19
...
16
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
0x2100
Sub
0
Type
R/W
—
R
Description
Calibration = 16
ARR:U32
1
Ch0 Offset
Ch0 Gain
2
R
...
7
...
...
R
Ch3 Offset
Ch3 Gain
8
R
9
R
External Calibration,
Ch0 Offset
...
...
...
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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 value.
Table 25. NI 9215 Calibration Coefficients
Coefficient
LSB Weight
Offset
Representation
Unsigned
Units
nV/LSB
nV
Signed
Use the calibration coefficients with the following equation to generate
corrected data:
∗
⎧
⎫
⎬
⎭
⎫
⎬
⎭
nV
bits
V
nV
V
nV
–9
10–9
– Offset(nV) 10
⎛
⎝
⎞
⎠
⎛
⎝
⎞
⎠
⎛
⎝
⎞
⎠
∗
∗
---------
------
------
Vcorrected(Vraw) = Vraw(bits) LSB
⎨
weight
⎩
NI 9217
Table 26. NI 9217 Vendor Configuration Extensions
Index
Sub
0
Type
R/W
—
Description
0x2001
ARR:U32
Scan List = 5
1
R
Channels to Convert = 1..4,
default = 4
2..5
0
R/W
R/W
Channel Code
0x2002
U32
Conversion Speed Control = 2 or 31,
default = 31
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Table 26. NI 9217 Vendor Configuration Extensions (Continued)
Index
Sub
0
Type
R/W
—
R
Description
Calibration = 16
0x2100
ARR:U32
1
Ch0 Offset
Ch0 Gain
Ch1 Offset
2
R
3
R
...
8
...
...
R
Ch3 Gain
9
R
External Ch0 Offset
...
...
...
NI 9217 Conversion Speed Control
The NI 9217 converts at two pre-defined rates, as controlled by the speed
control field.
Note The conversion rate assumes that 4 channels are in the scan list.
Table 27. NI 9217 Conversion Speed Control
Speed Control
Meaning
High-Accuracy
Conversion Rate
31 (0x1F)
2 (0x02)
200 ms/channel (800 ms total)
2.5 ms/channel (10 ms total)
High-Speed
NI 9217 Scan List
The scan list channel codes consist of three bit fields in a 32-bit entry.
Table 28. NI 9217 Scan List Format
Bits
31:16
15:8
7:0
Field
Reserved
Data Offest[t]
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
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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
0
Channel number
Reserved
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
0
Type
Value
5
0x2001
ARR:U32
1
4
2
0x0000 | 0xF8 | 0x02
0x0100 | 0xF8 | 0x04
0x0200 | 0xF8 | 0x06
0x0300 | 0xF8 | 0x00
3
4
5
NI 9217 Calibration Data
The NI 9217 has four RTD channels that can measure 100 Ω RTD in 3-wire
and 4-wire mode. There is a 1 mA excitation current source per channel and
the module range is –500 Ω to 500 Ω. The resistance range specified in the
manual is 0 to 400 Ω. This range is tested and covers the temperature range
of –200 ºC to 850 ºC for the standard platinum RTD. The channel does not
read negative resistance.
Each channel has an associated LSB weight, which is the number of
Ω per bit, and an offset, which is the number of Ω per bit measured when
the inputs are grounded.
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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
LSB Weight
Offset
Representation
Unsigned
Units
pΩ/LSB
μΩ
Signed
Use the calibration coefficients with the following equation to generate
correct data:
∗
⎧
⎫
⎬
⎭
pΩ
Ω
Ω
–6
10–12
– Offset(μΩ) 10
⎛
⎝
⎞
⎠
⎛
⎝
⎞
⎠
⎛
⎝
⎞
⎠
∗
∗
---------
-------
-------
Rcorrected(Rraw) = Rraw(bits) LSB
⎨
weight
bits
pΩ
μΩ
⎩
Rraw(bits) = data returned by the NI 9217 in bits
Rcorrected = calibrated resistance reading
NI 9219
Table 32. NI 9219 Vendor Configuration Extensions
Index
Sub
Type
R/W
—
Description
Command List = 33
0x2001
0
1
ARR:U32
R
Command Count = 1..32, default = 32
Configuration Command
Error Status
2..33
1
R/W
R
0x2002
0x2005
ARR:U32
U32
0
R/W
ADC Format
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Table 32. NI 9219 Vendor Configuration Extensions (Continued)
Index
Sub
0
Type
R/W
—
R
Description
Calibration = 168
0x2100
ARR:U32
1
Ch0 60 V Offset
Ch0 60 V Offset
Ch0 15 V Offset
2
R
3
R
...
42
43
...
0
...
...
R
Ch0 Full Bridge 7.8m V–V Gain
R
Ch1 60 V Offset
...
...
External Calibration = 168
Ch0 60 V Offset
...
0x2101
...
ARR:U32
Q
1
—
...
R
...
...
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
Bits
31:24
23:16
15:8
7:0
Field
Reserved
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
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NI 9219 Error Status
Caution Configuring all the channels in full-bridge mode shorts the channels and results
in the firmware setting all the bits in the lower nibble.
When a channel over-current condition occurs on any of the channels of the
NI 9219 (such as, configure channels in 4-wire resistance mode and do not
connect a resistor to the channel), the firmware sets a bit in the lower nibble
indicating the presence of this condition (LSB = ch0).
NI 9219 Calibration Data
The NI 9219 has four channels which each have 21 different operating
modes and ranges. Each channel has an associated LSB weight, which is
the number of volts per bit, and an offset, which is the number of volts per
bit measured when the inputs are grounded.
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
60 V
1
2
Voltage
Current
15 V
3
4 V
4
1 V
5
125 mV
25 mA
10 kΩ
1 kΩ
6
7
4-Wire Resistance
8
9
2-Wire Resistance
10 kΩ
1 kΩ
10
11
12
13
Thermocouple
4-Wire RTD
n/a
Pt1000
Pt100
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Table 34. NI 9219 Channel Calibration (Continued)
Entry
Number
Mode
3-Wire RTD
Range
14
15
16
17
18
19
20
21
Pt1000
Pt100
Quarter-Bridge
350 Ω
120 Ω
Half-Bridge
Reserved
500 mV/V
—
Full-Bridge
62.5 mV/V
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
LSB Weight
Offset
Representation
Unsigned
Signed
The NI 9219 returns calibrated 24-bit (padded to 32-bits) AI data for all
modes and ranges.
To convert raw data into engineering units use the following formula:
y = m*x + b
•
•
b = offset based on range of the device (such as, –60 for 60 Volts
Voltage Measurement Range)
m = Gain (Full-Range/ (224)): (such as, 120/(224) for 60 Volts Voltage
Measurement Range)
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NI 9219 Configuration Commands
There are eight configuration commands for the NI 9219.
Eight configuration commands must be sent for each of the four channels.
This is true even if you are only using a subset of the four channels. Each
of the eight configuration commands is 1 Byte, each configuration
command is followed by a data Byte, and then by a CRC value, which is
1 Byte. Hence, 3 Bytes * 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
0x12345678 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
31:24
23:16
15:8
7:0
Field
Reserved
CRC
Configuration Data
Configuration Command
NI 9219 CRC Calculation
U8 crcShiftReg = 0;
for ( x = 0 ; x < 8 ; ++x )
{
dataBool = ((0x80>>x) & configCommand) != 0;
shiftBool = (0x01 & crcShiftReg) != 0;
crcShiftReg /= 2;
if (dataBool != shiftBool)
crcShiftReg ^= 0x8C;
}
for ( x = 0 ; x < 8 ; ++x )
{
dataBool = ((0x80>>x) & configData) != 0;
shiftBool = (0x01 & crcShiftReg) != 0;
crcShiftReg /= 2;
if (dataBool != shiftBool)
crcShiftReg ^= 0x8C;
}
crcShiftReg = crcShiftReg << 1;
return crcShiftReg;
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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.
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
7:6
5
Field
Channel Number, 0..3
= 0
4:0
Configuration Type
Where:
Table 38. NI 9219 Conversion Time Value
Configuration Type Value
Conversion Time
0x1F
0x01
0x06
0x05
0x04
0x0A
0x09
0x08
Mode & Range
Calibration Offset 2 (LSB)
Calibration Offset 1
Calibration Offset 0 (MSB)
Calibration Gain 2 (LSB)
Calibration Gain 1
Calibration Gain 0 (MSB)
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NI 9219 Configuration Data
Table 39. NI 9219 Type Conversion Time
Configuration Value
Max Frequency
Conversion Time
Description
High Speed
0x01
0x08
0x09
0x0F
100 Hz/50 Hz (TC)
10 ms/20 ms (TC)
9.09 Hz/8.33 Hz (TC) 110 ms/120 ms (TC)
7.69 Hz/7.14 Hz (TC) 130 ms/140 ms (TC)
Best 60 Hz Rejection
Best 50 Hz Rejection
High Resolution
2 Hz/1.96 Hz (TC)
500 ms/510 ms (TC)
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
Configuration
Value
(0x00)
(0x01)
(0x02)
(0x03)
(0x04)
(0x05)
(0x06)
(0x07)
(0x08)
(0x09)
(0x0A)
(0x0B)
(0x0C)
(0x0D)
(0x0E)
Mode
Voltage
Range
60 V
15 V
3.75 V
1 V
.125 V
25 mA
10K 4w
1K 4w
10K 2w
1K 2w
TC
Current
Resistance
TC
RTD
Pt1000 4w
Pt100 4w
Pt1000 3w
Pt100 3w
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Table 40. NI 9219 Mode and Range Type (Continued)
Configuration
Value
(0x0F)
(0x10)
(0x11)
(0x13)
(0x14)
(0x17)
Mode
Range
Quarter-Bridge
350 Ω
120 Ω
Half-Bridge
Full-Bridge
1 V/V
62.5 mV/V
7.8 mV/V
CJC range
CJC
NI 9219 Example Command Words Sequence
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
ADC Mode Configuration Byte – Channel 0
Data Byte
0x01
0x01
0x46
0x1F
0x01
0xC6
0x04
0x7F
0x54
0x05
0xFF
0xB6
0x06
0x85
CRC value
Mode/Range Configuration – Channel 0
Data Byte
CRC value
Calibration Offset MSB – Channel 0
Data Byte
CRC value
Calibration Offset Byte 2 – Channel 0
Data Byte
CRC value
Calibration Offset LSB – Channel 0
Data Byte
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Table 41. NI 9219 Configuration 1: Command Bytes (Continued)
Command Byte Value Description
0x56
0x08
0x6C
0x1E
0x09
0xAA
0x4E
0x0A
0xC1
0x32
0x41
0x01
0x64
0x5F
0x01
0xE4
0x44
0x7F
0x76
0x45
0xFF
0x94
0x46
0x86
0xE0
0x48
0x6C
CRC value
Calibration Gain MSB – Channel 0
Data Byte
CRC value
Calibration Gain Byte 2 – Channel 0
Data Byte
CRC value
Calibration Gain LSB – Channel 0
Data Byte
CRC value
ADC Mode Configuration Byte – Channel 1
Data Byte
CRC value
Mode/Range Configuration – Channel 1
Data Byte
CRC value
Calibration Offset MSB – Channel 1
Data Byte
CRC value
Calibration Offset Byte 2 – Channel 1
Data Byte
CRC value
Calibration Offset LSB – Channel 1
Data Byte
CRC value
Calibration Gain MSB – Channel 1
Data Byte
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Table 41. NI 9219 Configuration 1: Command Bytes (Continued)
Command Byte Value Description
0x3C
0x49
0x76
0x50
0x4A
0x3C
0xF6
0x81
0x01
0xCE
0x9F
0x01
0x4E
0x84
0x7F
0xDC
0x85
0xFF
0x3E
0x86
0xC8
0xC2
0x88
0x6C
0x96
0x89
0xB0
CRC value
Calibration Gain Byte 2 – Channel 1
Data Byte
CRC value
Calibration Gain LSB – Channel 1
Data Byte
CRC value
ADC Mode Configuration Byte – Channel 2
Data Byte
CRC value
Mode/Range Configuration – Channel 2
Data Byte
CRC value
Calibration Offset MSB – Channel 2
Data Byte
CRC value
Calibration Offset Byte 2 – Channel 2
Data Byte
CRC value
Calibration Offset LSB – Channel 2
Data Byte
CRC value
Calibration Gain MSB – Channel 2
Data Byte
CRC value
Calibration Gain Byte 2 – Channel 2
Data Byte
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Table 41. NI 9219 Configuration 1: Command Bytes (Continued)
Command Byte Value Description
0xF4
0x8A
0x90
0x5E
0xC1
0x01
0xEC
0xDF
0x01
0x6C
0xC4
0x7F
0xFE
0xC5
0xFF
0x1C
0xC6
0xD3
0xCA
0xC8
0x6C
0xB4
0xC9
0xD8
0x56
0xCA
CRC value
Calibration Gain LSB – Channel 2
Data Byte
CRC value
ADC Mode Configuration Byte – Channel 3
Data Byte
CRC value
Mode/Range Configuration – Channel 3
Data Byte
CRC value
Calibration Offset MSB – Channel 3
Data Byte
CRC value
Calibration Offset Byte 2 – Channel 3
Data Byte
CRC value
Calibration Offset LSB – Channel 3
Data Byte
CRC value
Calibration Gain MSB – Channel 3
Data Byte
CRC value
Calibration Gain Byte 2 – Channel 3
Data Byte
CRC value
Calibration Gain LSB – Channel 3
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Table 41. NI 9219 Configuration 1: Command Bytes (Continued)
Command Byte Value Description
0x65
Data Byte
CRC value
0xA0
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 = 0x0A
0x2100
0
1
ARR:U32
—
R
R
R
...
R
R
Calibration = 16
Ch0 Offset
Ch0 Gain
Ch1 Offset
...
2
3
...
8
Ch3 Gain
9
External Ch0
Offset
...
...
...
NI 9233 Configure ADC
The NI 9233 (and NI 9229/9239) converts at various rates, controlled by
the field in the ADC conversion command.
Table 43. NI 9233 Scan List Format
Bits
7
Field
Turbo Disable (NI 9233 only)
Clock Divisor
6:2
1:0
Clock Source = 2
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Where:
Turbo Disable
0
1
The conversion rate is equal to the
oversample clock rate/128.
Set to 0 for conversion rates > 25 kS/s.
The conversion rate is equal to the
oversample clock rate/256.
Set to 1 for conversion rates < 25 kS/s.
Clock Divisor
The clock source (internal or external) is divided by this value and used
as the converters’ oversample clock. Valid values are from 2 to 31, but
the final divided clock must be between 512 kHz and 6.4 MHz. This
means that only values from 2 to 25 are valid when using the 12.8 MHz
internal clock source.
Clock Source
0b00 = 0
0b01 = 1
The OCLKpin is used as the
oversample clock source.
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 OCLKpin. Currently,
this is the required clock setting.
0b11 = 3
Reserved.
Table 44. NI 9233 Calibration Data
Turbo
Disable
Clock
Divisor
Clock
Source
Configure
ADC
Oversample
Clock Rate
Data Rate
50.000 kS/s
25.000 kS/s
12.500 kS/s
0
1
1
00010
00010
00100
10
10
10
0x0A
0x8A
0x92
6.40 MHz
6.40 MHz
3.20 MHz
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Table 44. NI 9233 Calibration Data (Continued)
Turbo
Disable
Clock
Divisor
Clock
Source
Configure
ADC
Oversample
Clock Rate
Data Rate
10.000 kS/s
6.250 kS/s
5.000 kS/s
3.333 kS/s
3.125 kS/s
2.500 kS/s
2.000 kS/s
1
1
1
1
1
1
1
00101
01000
01010
01111
10000
10100
11001
10
10
10
10
10
10
10
0x96
0xA2
0xAA
0xBE
0xC2
0xD2
0xE6
2.56 MHz
1.60 MHz
1.28 MHz
853 kHz
800 kHz
640 kHz
512 kHz
NI 9233 Calibration Data
The NI 9233 has four input channels with a fixed gain. The inputs are
AC-coupled so calibration is done with a sine wave rather than with DC
signals. The specification derivations are based on calibration at 250 Hz,
acquired at 25 kS/s. The AC response (flatness) changes with both input
frequency and sample rate; therefore, calibrating at different signal
frequencies or at different sample rates gives different results.
Each channel has an associated LSB weight, which is the number of volts
per bit, and an offset.
Note LSB weight is referred to as Gain in the object dictionary.
The calibration data is stored in a U32 array, though each Offset field
(subindex 1, 3, 5, and so on) should be interpreted as a signed value.
Table 45. NI 9233 Scan List Format
Coefficient
LSB Weight
Representation
Units
Default Value
0x0009D292
Unsigned
pV/LSB
(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 × LSB_Weight – Offset
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NI 9234
Table 46. NI 9234 Vendor Configuration Extensions
Index
0x2002
0x2100
Sub
0
Type
U32
R/W
R/W
—
R
Description
Configure Module, default = 0x06
0
ARR:U32
Calibration = 16
Ch0 Offset
Ch0 Gain
Ch0 Offset
...
1
2
R
3
R
...
8
...
R
Ch3 Gain
External Ch0 Offset
...
9
R
...
...
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
Bits
15
14
13
12
11
10
9
Field
Ch3 IEPE
Ch3 AC/~DC
Ch2 IEPE
Ch2 AC/~DC
Ch1 IEPE
Ch1 AC/~DC
Ch0 IEPE
8
Ch0 AC/~DC
Reserved
7
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Table 47. NI 9234 Scan List Format (Continued)
Bits
6:2
1:0
Field
Clock Divisor
Clock Source
Where:
IEPE Enable <3:0>
When set, the corresponding channel’s relays are switched to IEPE operation. IEPE operations
switches the AC/DC relay to AC mode and enables the IEPE relay to send the current to the IEPE
sensor.
AC/~DC <3:0>
Controls the AC/DC relay when IEPE is not selected. If IEPE is enabled, then these bits have no
meaning as AC mode is always selected with an IEPE operation.
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.
Clock Source
0b00 = 0
0b01 = 1
The OCLKpin is used as the oversample clock source.
The 12.8 MHz internal clock is used as the clock source and this 12.8 MHz
is driven onto the OCLKpin.
0b10 = 2
0b11 = 3
The internal clock is used but not driven onto OCLKpin. Currently, this is
the required clock setting.
Reserved.
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NI 9234 Example Data Rates
The example data rates use a 12.8 MHz clock source.
Table 48. NI 9234 Example Data Rates
Clock
Divisor
Clock
Source
Rate
Byte
Oversample
Clock Rate
Data Rate
50.000 kS/s
25.000 kS/s
16.667 kS/s
12.500 kS/s
10.000 kS/s
6.250 kS/s
5.000 kS/s
00001
00010
00011
00100
00101
01000
01010
10
10
10
10
10
10
10
0x06
0x0A
0x0E
0x12
0x16
0x22
0x2A
12.80 MHz
6.40 MHz
4.27 MHz
3.20 MHz
2.56 MHz
1.60 MHz
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.
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 List Format
Coefficient
LSB Weight
Offset
Representation
Unsigned
Units
pV/LSB
nV
Signed
Use the calibration coefficients with the following equation to generate
corrected data:
∗
⎧
⎫
⎬
⎭
⎫
⎬
⎭
pV
bits
V
pV
V
nV
–9
10–12
– Offset(pV) 10
⎛
⎝
⎞
⎠
⎛
⎝
⎞
⎠
⎛
⎝
⎞
⎠
∗
∗
---------
------
------
Vcorrected(Vraw) = Vraw(bits) LSB
⎨
weight
⎩
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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
1
ARR:U16
Calibration = 16
Ch0 Offset
Ch0 Gain
Ch1 Offset
...
R
R
R
...
R
R
2
3
...
8
Ch3 Gain
9
External Ch0
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
31:23
22:18
17:16
15:12
11:8
7
Field
Reserved
Clock Divisor
Clock Source
Shunt Cal Enable <ch3..ch0>
Half Bridge Enable <ch3..ch0>
Reserved
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Table 51. NI 9237 Scan List Format (Continued)
Bits
6:4
3:0
Field
Excitation
Offset Cal Enable <ch3..ch0>
Where:
Shunt Cal Enable <3..0>
Controls the shunt calibration switch for each of the four channels. A logic 1 in any bit closes the
switch for the respective channel, while a logic 0 opens the switch.
Half Bridge Enable <3..0>
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
2.5 V
The OCLKpin 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 OCLKpin.
0b010 = 2
5.0 V
The internal clock is used but
not driven onto OCLKpin.
Currently, this is the required
clock setting.
0b011 = 3
10.0 V
Reserved.
—
0b1xx = 4..7
External Excitation
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Offset Cal Enable <3..0>
Controls the offset calibration mode. Offset calibration mode disconnects both signal input pins and
forces the channel inputs to zero volts, enabling measurement of the channel’s offset voltage. A
logic 1 in any bit enables offset calibration for the respective channel, while a logic 0 disables it.
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
50.000 kS/s
25.000 kS/s
16.667 kS/s
12.500 kS/s
10.000 kS/s
6.250 kS/s
5.000 kS/s
3.333 kS/s
2.500 kS/s
2.000 kS/s
Clock Divisor
00001
Clock Source
Rate Byte
0x06
Clock Rate
12.80 MHz
6.40 MHz
4.27 MHz
3.20 MHz
2.56 MHz
1.60 MHz
1.28 MHz
853.3 KHz
640.0 KHz
512.0 KHz
10
10
10
10
10
10
10
10
10
10
00010
0x0A
0x0E
0x12
00011
00100
00101
0x16
01000
0x22
01010
0x2A
0x3E
0x52
01111
10100
11001
0x66
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NI 9237 Calibration Data
The NI 9237 has four channels. Each channel has an associated LSB
weight, which is the number of volts per bit, and an offset, which is the
number of volts per bit measured when the inputs are grounded.
Note LSB weight is referred to as Gain in the object dictionary.
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
LSB Weight
Offset
Representation
Unsigned
Units
pV/LSB
nV
Signed
Use the calibration coefficients with the following equation to generate
corrected data:
∗
⎧
⎫
⎬
⎭
⎫
⎬
⎭
pV
bits
V
pV
V
nV
–8
10–13
– Offset(pV) 10
⎛
⎝
⎞
⎠
⎛
⎝
⎞
⎠
⎛
⎝
⎞
⎠
∗
∗
---------
------
------
Vcorrected(Vraw) = Vraw(bits) LSB
⎨
weight
⎩
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
1
ARR:U32
Calibration = 16
Ch0 Offset
Ch0 Gain
R
R
R
...
R
R
2
3
Ch1 Offset
...
8
Ch3 Gain
9
External Ch0
Offset
...
...
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As a DSA module, the NI 9229/9239 does not synchronize to other
modules and free-runs at its own fixed rate.
For more information, refer to the NI 9233 Configure ADC section of this
document.
Note The NI 9229/9239 does not have the Turbo Bit configuration byte.
NI 9229/9239 Calibration Data
The NI 9229/9239 have four channels with nominal ranges of 10 V and
60 V respectively. Each channel has an associated LSB weight, which is
the number of volts per bit, and an offset, which is the number of volts per
bit measured when the inputs are grounded.
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
LSB Weight
Offset
Representation
Unsigned
Units
pV/LSB
nV
Signed
Use the calibration coefficients with the following equation to generate
corrected data:
∗
⎧
⎫
⎬
⎭
⎫
⎬
⎭
pV
bits
V
pV
V
nV
–9
10–12
– Offset(pV) 10
⎛
⎝
⎞
⎠
⎛
⎝
⎞
⎠
⎛
⎝
⎞
⎠
∗
∗
---------
------
------
Vcorrected(Vraw) = Vraw(bits) LSB
⎨
weight
⎩
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NI 9263
Table 56. NI 9263 Vendor Configuration Extensions
Index
Sub
0
Type
R/W
—
R
Description
Calibration = 16
Ch0 Offset
0x2100
ARR:U32
1
2
R
Ch0 Gain
3
R
Ch1 Offset
...
8
...
R
Ch3 Gain
9
R
External Ch0
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.
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 Scan List Format
Coefficient
LSB Weight
Offset
Representation
Unsigned
Units
nV/LSB
nV
Signed
Use the calibration coefficients with the following equation to generate
corrected data:
nV
bits
V
nV
V
nV
–9
–9
⎛
⎝
⎞
⎠
⎛
⎝
⎞
⎠
⎛
⎝
⎞
⎠
---------
------
------
Vdesired(Code) = Code • LSBweight
• 10
+ Offset(nV) • 10
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NI 9264
Table 58. NI 9264 Vendor Configuration Extensions
Index
Sub
1
Type
R/W
—
R
Description
Calibration = 16
Ch0 Gain
Ch1 Offset
...
0x2100
ARR:U32
2
3
R
...
8
...
R
Ch3 Gain
9
R
External Ch0
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.
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
LSB Weight
Offset
Representation
Unsigned
Units
pV/LSB
nV
Signed
Use the calibration coefficients with the following equation to generate
corrected data:
nV
bits
V
nV
V
nV
–9
–9
⎛
⎝
⎞
⎠
⎛
⎝
⎞
⎠
⎛
⎝
⎞
⎠
---------
------
------
Vdesired(Code) = Code • LSBweight
• 10
+ Offset(nV) • 10
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NI 9265
Table 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
1
ARR:U32
—
R
Calibration = 16
Ch0 Offset
Ch0 Gain
2
R
3
R
Ch1 Offset
...
8
—
R
Ch3 Gain
9
R
External Ch0
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.
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
LSB Weight
Offset
Representation
Unsigned
Units
pA/LSB
pA
Signed
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Use the calibration coefficients with the following equation to generate
corrected data:
pA
bits
A
pA
A
pA
–12
–12
⎛
⎝
⎞
⎠
⎛
⎝
⎞
⎠
⎛
⎝
⎞
⎠
---------
------
------
Idesired(Code) = Code • LSBweight
• 10
+ Offset(pA) • 10
NI 9401
Table 62. NI 9401 Vendor Configuration Extensions
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
Field
Bits
1
0: data bits 3:0 as input
1: data bits 7:4 as output
0: data bits 3:0 as input
1: data bits 7:4 as output
0
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
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NI 9403 Direction Control
The direction control field has one bit for each I/O pin, with bit 0 matching
channel 0, and so forth. 0 in the direction control indicates that I/O is an
input; 1 indicates an output.
Note Both the input and output data is transmitted in the PDO regardless of the direction
control; only the relevant bits are connected to the I/O pins.
NI 9476
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.
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