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EtherCAT Async SDO Upload

Read data asynchronously from slave device represented by service data object

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  • Library:

  • Simulink Real-Time / EtherCAT

  • EtherCAT Async SDO Upload block

Description

The EtherCAT Async SDO Upload block selects a CANopen register by Index value in the specified EtherCAT® slave and sends a read request. It then immediately returns whatever value was returned from the device on an earlier call to the block.

Ports

Input

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A value of 0 disables uploads. A constant value of 1 will send a new request each time the status returns to the idle state.

Output

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Returns data received from the EtherCAT slave device.

Status of asynchronous data transfer:

  • 0 — Mailbox transfer object idle, transfer not running

  • 1 — Mailbox transfer object running, transfer not complete

  • 2 — Transfer successfully executed

  • 3 — Error occurred during transfer request

If no error occurs, this port transmits 0. Otherwise, it transmits a nonzero value. For a list of error codes, see EtherCAT Error Codes.

Parameters

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Specify the hexadecimal (for example, 0x7) or decimal index of the CANopen register.

If you specify an invalid index, the block returns a 3 through the Status output and a nonzero value through the Error output.

Programmatic Use

Block Parameter: index

When the Access Mode is Complete Access, the SubIndex parameter is hidden, and the correct subindex is assumed in each case. The complete access protocol for CoE access to variables provides:

  • Access to all subindexes attached to a single index in the CoE dictionary for a single terminal device.

  • Read or write all subindexes in the time it would take to read or write a single one of them.

  • Simultaneously update all subindexes when a tuning parameter set is being written

  • Capture a simultaneous read of all subindexes

  • Allow use of EtherCAT devices that require complete access for configuration

Programmatic Use

Block Parameter: complete

Specify the hexadecimal (for example, 0x7) or decimal subindex of the CANopen register.

If you specify an invalid subindex, the block returns a nonzerio value through the Error output.

Programmatic Use

Block Parameter: subIndex

From the list, select the data type of the CANopen register.

If you select a data type that does not match the type of the entry, the block returns a nonzero value through the Error output.

Programmatic Use

Block Parameter: sig_type

Specify the row and column dimension of the CANopen register.

Enter the vector length as found in the CoE description for the slave in its manual.

Programmatic Use

Block Parameter: sig_dim

To associate a block with an EtherCAT network, enter the Device index value from the EtherCAT Init block representing that network into the Device index for the block.

Programmatic Use

Block Parameter: device_id

From the list, select the name of the device that contains the CANopen register.

The block populates this drop-down list with the contents of the configuration file.

Programmatic Use

Block Parameter: selected_slave

Enter the base sample time or a multiple of the base sample time. -1 means that the sample time is inherited.

Programmatic Use

Block Parameter: sample_time

Model Examples

EtherCAT Protocol with Beckhoff Analog IO Slave Devices EL3062 and EL4002

EtherCAT Protocol with Beckhoff Analog IO Slave Devices EL3062 and EL4002

Communicate with EtherCAT devices using the Beckhoff® analog I/O terminals EL3062 and EL4002.

Open Script
EtherCAT Protocol with Beckhoff Digital IO Slave Devices EL1004 and EL2004

EtherCAT Protocol with Beckhoff Digital IO Slave Devices EL1004 and EL2004

Communicate with EtherCAT devices using the Beckhoff digital I/O terminals EL1004 and EL2004.

Open Script
EtherCAT Protocol Sequenced Writing SoE Slave Configuration Variables

EtherCAT Protocol Sequenced Writing SoE Slave Configuration Variables

Use SoE blocks and a simple state machine to write configuration values to variables that can only be written before going to EtherCAT Op state.

Open Script
EtherCAT Protocol Sequenced Writing CoE Slave Configuration Variables

EtherCAT Protocol Sequenced Writing CoE Slave Configuration Variables

Use CoE blocks and a simple state machine to write configuration values to variables that can only be written before going to EtherCAT Op state.

Open Script
EtherCAT Protocol Detect Network Failure and Reset

EtherCAT Protocol Detect Network Failure and Reset

Use the EtherCAT Notifications block to detect a failure in the connected network and to restart the network when the failure is corrected.

Open Script
EtherCAT Protocol Motor Velocity Control with Accelnet Drive

EtherCAT Protocol Motor Velocity Control with Accelnet Drive

Control the velocity of a motor by using EtherCAT communication.

Open Script
EtherCAT Protocol Motor Position Control with Accelnet Drive

EtherCAT Protocol Motor Position Control with Accelnet Drive

Control the position of a motor by using EtherCAT communication.

Open Script
Generate ENI Files for EtherCAT Devices

Generate ENI Files for EtherCAT Devices

Generate EtherCAT network information (ENI) files to use in Simulink® Real-Time™ with EtherCAT devices.

Open Script

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced in R2020b

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See Also

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