There is a good example that shows this in LabVIEW. Please go to Help
» Find Examples
, then select Browse
(according to Task) » Hardware Input and Output » CAN » NI-XNET » CompactRIO
and open the NI-XNET CAN CompactRIO.lvproj
example. Notice that if you right-click the cRIO-9116 chassis (not the controller) and go to Properties » Chassis Configuration » Programming Mode
, it is set to LabVIEW FPGA Interface.
However, if you open the FPGA and RT VIs you will see that the FPGA VI is actually empty and that the CAN communication is implemented on the RT VI using the NI-XNET API. You will also see that the modules are not within the FPGA in the project but within the chassis (same hierarchical level than the FPGA). The example includes a How to use this example.txt
file with instructions in case you have not explored it already.