First of all you should use the IndCom Board for this kind of question.
Second the 9144 can be used in two ways, as a static configured slave with a fixed set of modules plugged in or as a MDP (Modular device profile) slave with a modular concept and dynamic module detection.
Third the 9144 saves the module PDO configuration and mapping within the Object dictionary in memory after bootup, so if your Master supports it it could be uploaded.
Or the master could use a static or MDP XML file configuration to get the PDO configuration offline.
You can create a static XML file for just one 9144 in the same network by using the Tool download from here.
Or you could use the attached MDP configuration files if you have more then one 9144 chassis in the same network and your Master supports MDP.
And yes. The slave has a firmware that can be updated by any master in bootstrap mode by using FoE. I have attached the latest firmware as well.
Let me know how it goes.
DirkW