EtherCAT Get Notifications

Collect notifications from the EtherCAT bus

Since R2020b

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Libraries:
Simulink Real-Time / EtherCAT

Description

The EtherCAT Get Notifications block collects notifications from the EtherCAT^® stack and presents them to the output as a 21-element vector of int32. At each time step, the block outputs what it has accumulated and clears itself for the next time step.

The vector contains the number of notifications in element 1, followed by up to 20 notification codes. The maximum number of notifications is 20. If the bus presents more than 20 notifications to the output, the block discards the newest notifications and presents the first 20 that were received.

Examples

EtherCAT Protocol with Beckhoff Analog IO Subordinate Devices EL3062 and EL4002

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

• Open Script

EtherCAT Protocol with Beckhoff Digital IO Subordinate Devices EL1004 and EL2004

Communicate with EtherCAT devices using the Beckhoff digital I/O terminals EL1004 and EL2004.

• Open Script

EtherCAT Protocol Sequenced Writing SoE Subordinate Device 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.

• Open Script

EtherCAT Protocol Sequenced Writing CoE Subordinate Device 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.

• Open Script

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.

• Open Script

EtherCAT Protocol Motor Velocity Control with Accelnet Drive

Control the velocity of a motor by using EtherCAT communication.

• Open Script

EtherCAT Protocol Motor Position Control with Accelnet Drive

Control the position of a motor by using EtherCAT communication.

• Open Script

Generate ENI Files for EtherCAT Devices

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

• Open Script

Ports

Output

Values — Self-descriptive 21-element vector containing EtherCAT notification codes

[Length 20 * Notification]

• Length (0 – 20) — the number of notifications in the vector.

• Notification — a composite of a notification type and a specific value. The types are:

• • EC_NOTIFY_GENERIC [0x00000000 (0)] — Represents state changes, such as:0x00000001 (1) — EtherCAT operational state change.

  • EC_NOTIFY_ERROR [0x00010000 (65536)] — Represents error states, such as 0x00010001 (65537):cyclic command: working counter error. Some describe changes in error state.

  • EC_NOTIFY_SCANBUS [0x00030000 (3*65536)] — Represents ScanBus error states, such as 0x00030002 (196610):ScanBus mismatch.

  • EC_NOTIFY_HOTCONNECT [0x00040000 (4*65536)] — Represents hot connect states, such as 0x00040005 (262149):Subordinate device disappears.

To print the valid notification values and descriptions, call slrealtime.EtherCAT.filterNotifications without an argument.

Data Types: int32

Parameters

Network Device Index — EtherCAT network identifier

0 (default) | 0-11

To associate a block with an EtherCAT network, enter the Network Device Index value from the EtherCAT Init block representing that network into the Network 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. Use the EtherCAT task sample time.

Programmatic Use

Block Parameter: sample_time

Tips

To collect notifications:

1. Add the EtherCAT Get Notifications block to your model.

2. Connect the EtherCAT Get Notifications block to a File Log block.

3. Use exported data log data from signal data displayed in the Simulation Data Inspector. See example Get Time and Data Log from EtherCAT Get Notifications Block for the slrealtime.EtherCAT.filterNotifications function.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced in R2020b