EtherCAT Set State

Set state of EtherCAT network

  • Library:
  • Simulink Real-Time / EtherCAT

Description

The EtherCAT Set State block sets the state of the EtherCAT® network to the value passed in through the New State port.

Ports

Input

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StateValueDescription
INIT1Initialization – The system finds slave devices and initializes the communication controller.
PREOP2Preoperational — The system uses the communication controller to exchange system-specific initialization data. In this state, the network cannot transmit or receive signal data.
SAFEOP4Safe operational — The network is running and ready for full operation. The master sends input data to the slave device. The slave device output remains in a safe state.
OP8Operational — The network is in full operation. The master sends input data to the slave device. The slave device responds with output data.

Output

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This port transmits the value of the previous setting of the New State port.

If no error occurs, this port transmits 0. Otherwise, it transmits a nonzero value.

Parameters

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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

Enter the number of seconds to wait for the EtherCAT network state to transition.

Set the timeout to 0 to return immediately. If you specify a nonzero Timeout value, in the Configuration Parameters Solver pane, set the Fixed-step size parameter to a value larger than the Timeout value.

Programmatic Use

Block Parameter: timeout

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