EtherCAT Async SSC/SoE Download
Transmit data asynchronously to slave device represented by service data object
Simulink Real-Time / EtherCAT
The EtherCAT Async SSC/SoE Download block provides asynchronous SERCOS interface (SErial Real time COmmunication Specification) over EtherCAT® (SoE) download. The block selects an IDN in the specified slave and sends a download (write) request. After sending the request, the block immediately continues processing its input data.
Data — Data to write to slave device
Input data for writing to the EtherCAT slave device. The data signal has the type specified in Data Type and vector dimension given by Dimension.
Enable — Enables block to download data
The Enable input is level sensitive and the block remains enabled while the input is non-zero. To send a value just once, you can enable the block with a single sample time pulse. There is a lag of approximately three cycles after the pulse for the data to send.
0 disables downloads. A value greater than or equal to
1 enables the block to download data.
Status — Status of data transfer
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
Error — Report an EtherCAT network error
0 | integer
If no error occurs, this port transmits
0. Otherwise, it transmits a
nonzero value. For list of error codes, see EtherCAT Error Codes.
IDN — Identification Number
The documentation for your EtherCAT device specifies the IDN
values. You can select the IDN as a character vector that
represents a 16-bit integer (according to IEC 61800 -7 -204), such as
First field (bit 15):
Sfor Standard data,
Pfor product-specific data
Second field (bit 14 - 12):
0..7for parameter set
Third field (bit 11 - 0):
0..4095for data-block number
Drive Number — Index number of the drive
Specify the decimal index of the drive.
SoE blocks apply to only motor controllers. A single slave can support one or more drive or motor channels. The drive number is the zero-based index of the drive or motor channel on this slave at which this block is aimed. In SoE terminology, the drive is the logic that sends control signals to the motor. Typically, this logic is a small processor inside the slave.
Data Type — Data type of the IDN
double (default) |
To identify the data type for the IDN, refer to the slave documentation for the description of the IDN and the data type it uses. From the list, select the data type of the IDN.
If you select a data type that does not match the type of the entry, the block returns
a nonzero value through the
Dimension — Dimension of data for this IDN
Specify the row dimension of data for this IDN.
To identify the dimension of data (vector size) for the IDN, refer to the slave documentation for the description of the IDN and the number of data type values (the dimension) it uses. Enter the vector length as found in the SoE description for the slave in its manual.
Device Name — Name of device that contains the IDN
From the list, select the name of the device that contains the IDN.
The block populates this drop-down list with the contents of the configuration file.
Timeout — Time to wait for response from slave
Enter the maximum number of milliseconds to wait for a response from the EtherCAT slave.
C/C++ Code Generation
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Introduced in R2020b