Documentation

EtherCAT Async SDO Upload

Read data asynchronously from slave device represented by service data object

  • Library:
  • EtherCAT

Description

The EtherCAT Async SDO Upload block requests a CANopen dictionary entry from the specified EtherCAT® slave. It then immediately returns whatever value was returned from the device on an earlier call to the block.

Ports

Input

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When true, the block uploads data.

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

Parameters

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Specify the decimal index of the CANopen dictionary entry.

If you specify an invalid index, the block does not return an error or a timeout. The results are undefined.

Specify the decimal subindex of the CANopen dictionary entry.

If you specify an invalid subindex, the block does not return an error or a timeout. The results are undefined.

From the list, select the data type of the CANopen dictionary entry.

If you select a data type that does not match the type of the entry, the block returns an error.

Specify the row and column dimension of the CANopen dictionary entry.

Enter a value of 1. EtherCAT blocks support only scalars and vectors.

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

From the list, select the name of the slave that contains the CANopen data dictionary variable.

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

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

Introduced in R2010b

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