EtherCAT Async SDO Download

Transmit data asynchronously to slave device represented by service data object

• Library:

• Simulink Real-Time / EtherCAT

• 

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Description

The EtherCAT Async SDO Download block selects a CANopen register by Index value in the specified EtherCAT^® slave and sends a write request. The block then immediately continues processing its input data.

Ports

Input

Data — Data to write to slave device

numeric

Input data for writing to the EtherCAT slave device.

Enable — Enables block to download data

int32

A value of 0 disables downloads. A value greater than or equal to 1 enables the block to download data.

Output

Status — Status of data transfer

0 | 1 | 2 | 3

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 a list of error codes, see EtherCAT Error Codes.

Parameters

Index — Index of CANopen register

integer

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

Subindex — Subindex of CANopen register

integer

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

Data Type — Data type of CANopen register

double (default) | single | int8 | uint8 | int16 | uint16 | int32 | uint32 | boolean

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

Dimension — Dimension of CANopen register

1 (default)

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

Device index — EtherCAT network identifier

0 (default) | 0-11

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

Slave Name — Name of slave that contains CANopen register

character vector

From the list, select the name of the slave 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

Sample time — Sample time of block

-1 (default) | numeric

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

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

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.

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.

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.

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.

EtherCAT® Protocol Motor Velocity Control with Accelnet™ Drive

Control the velocity of a motor by using EtherCAT communication.

EtherCAT® Protocol Motor Position Control with Accelnet™ Drive

Control the position of a motor by using EtherCAT communication.

Generate ENI Files for EtherCAT® Devices

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