Well it appears the confusion is probably from the fact that most cRIO controllers simply do not support DAQmx. They only support either FPGA access or scan engine access to the IO modules.
However the 904x and 905x controllers have also DAQmx support build in which should make them able to also operate similar to a cDAQ system. But you need to configure the controller for one of these 3 operating modes.
https://www.ni.com/en/shop/compactrio/what-are-compactrio-controllers/what-is-compactrio-with-ni-daq...
I never have worked with a 904x or 905x controller until now.
Rolf Kalbermatter
My Blog 
DEMO, Electronic and Mechanical Support department, room 36.LB00.390