EtherCAT Sync SDO Upload

Read data synchronously from slave device represented by service data object

  • Library:
  • Simulink Real-Time / EtherCAT

Description

The EtherCAT Sync SDO Upload block selects a CANopen register by Index value in the specified EtherCAT® slave and sends a read request. The block then waits until it receives a response or until the timeout period is over.

The response to an operation takes several ticks of the main task sample time. Assign the synchronous blocks a sample time slower than the main task sample time.

Ports

Output

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Returns data received from the EtherCAT slave device.

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 a nonzero value through the Error 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 a nonzero value through the Error 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 a nonzero value through the Error 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

Enter the number of milliseconds to wait for a response from the EtherCAT slave.

Programmatic Use

Block Parameter: timeout

Introduced in R2010b