EtherCAT Sync SSC/SoE Upload

Read data synchronously from subordinate device represented by service data object

Since R2020b

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Libraries:
Simulink Real-Time / EtherCAT

Description

The EtherCAT Sync SSC/SoE Upload block provides synchronous SERCOS interface (SErial Real time COmmunication Specification) over EtherCAT^® (SoE) upload. The block selects an IDN in the specified subordinate device and sends an upload (read) request. The block then waits until it receives a response to the request or until the timeout period expires.

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.

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

Data — Data received from subordinate device

numeric

Returns data received from the EtherCAT subordinate device. The data signal has the type specified in Data Type and a vector dimension given by Dimension.

Error — Report an EtherCAT network error

0 | integer

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

Parameters

IDN — Identification Number

character vector

Identify parameters.

The documentation for your EtherCAT device specifies the IDN values. You can select the IDN as a character vector that represents a 16-bit integer (according to IEC 61800 -7 -204), such as S-0-0150 or P-0-0150 with:

• First field (bit 15): S for Standard data, P for product-specific data

• Second field (bit 14 - 12): 0..7 for parameter set

• Third field (bit 11 - 0): 0..4095 for data-block number

Programmatic Use

Block Parameter: idn

Drive Number — Index number of the drive

integer

Specify the decimal index of the drive.

SoE blocks apply to only motor controllers. A single subordinate device can support one or more drive or motor channels. The drive number is the zero-based index of the drive or motor channel on this subordinate device at which this block is aimed. In SoE terminology, the drive is the logic that sends control signals to the motor. Typically, this logic is a small processor inside the subordinate device.

Programmatic Use

Block Parameter: drive

Data Type — Data type of the IDN

double (default) | single | int8 | uint8 | int16 | uint16 | int32 | uint32 | boolean

To identify the data type for the IDN, refer to the subordinate device documentation for the description of the IDN and the data type it uses. From the list, select the data type of the IDN.

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

Dimension — Dimension of data for this IDN

1 (default)

Specify the row dimension of data for this IDN.

To identify the dimension of data (vector size) for the IDN, refer to the subordinate device documentation for the description of the IDN and the number of data type values (the dimension) it uses. Enter the vector length as found in the SoE description for the subordinate device in its manual.

Programmatic Use

Block Parameter: sig_dim

Network Device Index — EtherCAT network identifier

0 (default) | 0-11

To associate a block with an EtherCAT network, enter the Network Device Index value from the EtherCAT Init block representing that network into the Network Device Index for the block.

Programmatic Use

Block Parameter: device_id

SubDevice Name — Name of device that contains the IDN

character vector

From the list, select the name of the device that contains the IDN.

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

Programmatic Use

Block Parameter: subdevice_name

Sample time — Sample time of block

-1 (default) | numeric

Enter the base sample time or a multiple of the base sample time. -1 means that the sample time is inherited. The EtherCAT Sync SSC/SoE Download block and the EtherCAT Sync SSC/SoE Uploadblock require at least three steps of the main EtherCAT processing task. Select a sample time that is three times that of the main task sample time or the model can overload and stop.

Programmatic Use

Block Parameter: sample_time

Timeout — Time to wait for response from subordinate device

numeric

Enter the maximum number of milliseconds to wait for a response from the EtherCAT subordinate device.

Programmatic Use

Block Parameter: timeout

Extended Capabilities

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

Version History

Introduced in R2020b