EtherCAT Async SDO Download

Transmit data asynchronously to slave device represented by service data object

  • Library:
  • Simulink Real-Time / EtherCAT

Description

The EtherCAT Async SDO Download block selects a CANopen register by Index value in the specified EtherCAT® slave and sends a write request. The block then immediately continues processing its input data.

Ports

Input

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Input data for writing to the EtherCAT slave device.

A value 0 disables downloads. A value greater than or equal to 1 enables the block to download data.

Output

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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

If no error occurs, this port transmits 0. Otherwise, it transmits a nonzero value. For list of error codes, see EtherCAT Error Codes.

Parameters

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Specify the hexadecimal (for example, 0x7) or decimal index of the CANopen register.

If you specify an invalid index, the block returns the value 3 through the Status output.

Programmatic Use

Block Parameter: index

Specify the hexadecimal (for example, 0x7) or decimal subindex of the CANopen register.

If you specify an invalid subindex, the block returns the value 3 through the Status output.

Programmatic Use

Block Parameter: subIndex

From the list, select the data type of the CANopen register.

If you select a data type that does not match the type of the entry, the block returns the value 3 through the Status output.

Programmatic Use

Block Parameter: sig_type

Specify the row and column dimension of the CANopen register.

Enter a value of 1. EtherCAT blocks support only scalars and vectors.

Programmatic Use

Block Parameter: sig_dim

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

From the list, select the name of the slave that contains the CANopen register.

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

Programmatic Use

Block Parameter: selected_slave

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

Introduced in R2010b