EtherCAT Get State

Get state of EtherCAT network

• Library:

• Simulink Real-Time / EtherCAT

• 

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Description

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

Ports

Output

State — State received from the EtherCAT network

1 | 2 | 4 | 8

State	Value	Description
INIT	1	Initialization — The system finds slave devices and initializes the communication controller.
PREOP	2	Preoperational — The system uses the communication controller to exchange system-specific initialization data. In this state, the network cannot transmit or receive signal data.
SAFEOP	4	Safe 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.
OP	8	Operational — The network is in full operation. The master sends input data to the slave device. The slave device responds with output data.

Parameters

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

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.