EtherCAT Async SSC/SoE 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 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.

Ports

Input

Data — Data to write to slave device

numeric

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

int32

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.

A value 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 list of error codes, see EtherCAT Error Codes.

Parameters

IDN — Identification Number

character vector

Identify parameters.

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 S-0-0150 or P-0-0150 with:

• First field (bit 15): S for Standard data, P for product-specific data

• Second field (bit 14 - 12): 0..7 for parameter set

• Third field (bit 11 - 0): 0..4095 for data-block number

Programmatic Use

Block Parameter: idn

Drive Number — Index number of the drive

integer

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.

Programmatic Use

Block Parameter: drive

Data Type — Data type of the IDN

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

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 Error output.

Programmatic Use

Block Parameter: sig_type

Dimension — Dimension of data for this IDN

1 (default)

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.

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 the IDN

character vector

From the list, select the name of the slave that contains the IDN.

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

Programmatic Use

Block Parameter: slave_name

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 sample time is inherited.

Programmatic Use

Block Parameter: sample_time

Timeout — Time to wait for response from slave

numeric

Enter the maximum number of milliseconds to wait for a response from the EtherCAT slave.

Programmatic Use

Block Parameter: timeout

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.