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EtherCAT Get State

Get state of EtherCAT network

Library

Simulink® Real-Time™ Library for EtherCAT®

Description

The EtherCAT Get State block returns the state of the EtherCAT network.

StateValueDescription
INIT1Initialization – The system finds slave devices and initializes the communication controller.
PREOP2Preoperational — The system uses the communication controller to exchange system-specific initialization data. In this state, the network cannot transmit or receive signal data.
SAFEOP4Safe operational — The network is running and ready for full operation. The master sends input data to the slave device. The slave device output remains in a safe state.
OP8Operational — The network is in full operation. The master sends input data to the slave device. The slave device responds with output data.

Block Outputs

NameDescription

State

Reception from the EtherCAT network.

Block Parameters

Device index

A unique integer in the range 0 to 15 that identifies the Ethernet card for an EtherCAT network.

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.

The default value of Device index is 0.

Sample time

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

Introduced in R2010b

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