EtherCAT PDO Receive

Receive data from subordinate device represented by process data object

Since R2020b

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Libraries:
Simulink Real-Time / EtherCAT

Description

The EtherCAT PDO Receive block receives data from the EtherCAT^® subordinate device.

The block parameter dialog box has two sections, parameters and signal information. When you specify an EtherCAT network and device variable name:

• The EtherCAT PDO Receive block mask is updated with the selected signal name.

• The signal information in the block parameter dialog box is updated to reflect the device variable.

Note

If an error occurs while the software parses the configuration file specified in the EtherCAT Init block, this block displays an error message.

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

D — Data received from subordinate device

[double]

Vector of data received from the EtherCAT subordinate device.

Parameters

Network Device Index — EtherCAT network identifier

0 (default) | 0-15

To associate a block with an EtherCAT network, copy 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

Signal name — EtherCAT device variable name

character vector

From the list, select the EtherCAT device variable name.

The block parameter dialog box updates the read-only signal information to reflect the device variable that you selected.

For a mapping of EtherCAT configurator components to Simulink^® Real-Time™ blocks and block attributes, see EtherCAT Configurator Component Mapping.

For a mapping of Simulink data types to EtherCAT data types, see EtherCAT Data Types.

Programmatic Use

Block Parameter: sig_name

Signal Offset — Location in the process of signal data

integer

This parameter is read-only.

After the execution of the EtherCAT Init block, location in the process image from which the data is available.

Programmatic Use

Block Parameter: sig_offset

Signal Type — Data type for EtherCAT data

character vector

This parameter is read-only.

Simulink data type for the EtherCAT data.

Programmatic Use

Block Parameter: sig_type

Type Size (bits) — Size of EtherCAT data type

integer

This parameter is read-only.

Size in bits of the EtherCAT data type.

Programmatic Use

Block Parameter: type_size

Signal Dimension — Dimension of the signal

integer

This parameter is read-only.

The EtherCAT blocks support vectors and scalars (vectors of dimension 1).

Programmatic Use

Block Parameter: sig_dim

Sample Time — Rate at which this block is executed

numeric

This parameter is read-only.

This rate is the execution rate of the EtherCAT task, as specified in the ENI file.

Programmatic Use

Block Parameter: sample_time

Extended Capabilities

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

Version History

Introduced in R2020b