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EtherCAT

Real-time distributed control with EtherCAT® protocol

Ethernet for Control Automation (EtherCAT) is an open Ethernet network protocol for real-time distributed control. See www.ethercat.org .

To begin, configure the network by using an EtherCAT network configurator, and then load the configuration into the EtherCAT protocol blocks. The blocks connect to Intel® Ethernet boards that support the EtherCAT protocol and are compatible with PCI-standard bus architectures, such as PCI, PCI Express®, and PXI®.

Simulink® Real-Time™ supports the Beckhoff® TwinCAT® configurator and the Acontis EC-Engineer configurator.

The Beckhoff ET9000 configurator is no longer supported.

For detailed information about the configurators, see the manufacturer documentation ( www.beckhoff.com and www.acontis.com/eng ). For detailed information about EtherCAT boards, see the manufacturer documentation.

See Modeling EtherCAT Networks.

Functions

SimulinkRealTime.etherCAT.filterNotificationsDisplay EtherCAT notifications in human-readable format

Blocks

EtherCAT InitInitialize EtherCAT Master node with data in the EtherCAT Network Information (ENI) file
EtherCAT Get NotificationsCollect notifications from the EtherCAT bus
EtherCAT PDO ReceiveReceive data from slave device represented by process data object
EtherCAT PDO TransmitSend data to slave device represented by process data object
EtherCAT Sync SDO UploadRead data synchronously from slave device represented by service data object
EtherCAT Sync SDO DownloadTransmit data synchronously to slave device represented by service data object
EtherCAT Async SDO UploadRead data asynchronously from slave device represented by service data object
EtherCAT Async SDO DownloadTransmit data asynchronously to slave device represented by service data object
EtherCAT Sync SSC/SoE UploadRead data synchronously from slave device represented by service data object
EtherCAT Sync SSC/SoE DownloadTransmit data synchronously to slave device represented by service data object
EtherCAT Async SSC/SoE UploadRead data asynchronously from slave device represented by service data object
EtherCAT Async SSC/SoE DownloadTransmit data asynchronously to slave device represented by service data object
EtherCAT Get StateGet state of EtherCAT network
EtherCAT Set StateSet state of EtherCAT network

Topics

EtherCAT Protocol Models

Modeling EtherCAT Networks

Learn about Simulink Real-Time support for real-time distributed control with the EtherCAT protocol.

Reference

EtherCAT Distributed Clock Algorithm

Learn about the EtherCAT master shift and bus shift modes.

Fixed-Step Size Derivation

Determine the fixed step size for the EtherCAT model and the sample times for key blocks.

EtherCAT Protocol Mapping

Learn about the relationship between the third-party configurator capabilities and Simulink Real-Time capabilities.

EtherCAT Configurator Component Mapping

Learn about the relationship between the third-party configurator components and Simulink Real-Time blocks and block attributes.

EtherCAT Data Types

Learn about the relationship between EtherCAT data types and Simulink Real-Time data types.

EtherCAT Init Block DC Error Values

Learn about the EtherCAT distributed clock error values that the EtherCAT Init block returns.

EtherCAT Error Codes

The Error output for EtherCAT blocks returns an EtherCAT error code.

EtherCAT Init

Featured Examples