EtherCAT PDO Transmit

Send data to slave device represented by process data object

• Library:

• Simulink Real-Time / EtherCAT

Description

The EtherCAT PDO Transmit block transmits computed data to a particular variable in the EtherCAT^® slave 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 shows an error message.

Ports

Input

D — Data to transmit to slave device

[double]

Vector of data to transmit to the EtherCAT slave device.

Parameters

Device index — EtherCAT Ethernet card 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 property is read-only.

Location in the process image from which the data is available after the execution of the EtherCAT Init block.

Programmatic Use

Block Parameter: sig_offset

Signal Type — Data type for EtherCAT data

character vector

This property 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 property 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 property 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 property is read-only.

This rate is the execution rate of the EtherCAT task, as specified in the Beckhoff^® TwinCAT^® configurator.

Programmatic Use

Block Parameter: sample_time

Model Examples

EtherCAT® Communication with Beckhoff® Analog IO Slave Devices EL3062 and EL4002

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

Open Script

EtherCAT® Communication with Beckhoff® Digital IO Slave Devices EL1004 and EL2004

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

Open Script

EtherCAT® Communication - Motor Velocity Control with Accelnet™ Drive

Control the velocity of a motor using EtherCAT communication.

Open Script

EtherCAT® Communication - Motor Position Control with an Accelnet™ Drive and Beckhoff® Analog IO Devices

Control the position of a motor using EtherCAT communication.

Open Script