EtherCAT Async SDO Download

Transmit data asynchronously to subordinate device represented by service data object

Since R2020b

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Libraries:
Simulink Real-Time / EtherCAT

Description

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

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

Input

Data — Data to write to subordinate device

numeric

Input data for writing to the EtherCAT subordinate device.

Enable — Enables block to download data

int32

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

Output

Status — Status of data transfer

0 | 1 | 2 | 3

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

Error — Report an EtherCAT network error

0 | integer

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

Parameters

Index — Index of CANopen register

integer

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

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

Programmatic Use

Block Parameter: index

Access Mode — Select access mode for CoE variables

Single Subindex (default) | Complete Access

When the Access Mode is Complete Access, the protocol for CoE access to variables provides:

• Access to all subindexes attached to a single index in the CoE dictionary for a single terminal device.

• Read or write all subindexes in the time it would take to read or write a single one of them.

• Simultaneously update all subindexes when a tuning parameter set is being written

• Capture a simultaneous read of all subindexes

• Allow use of EtherCAT devices that require complete access for configuration

Programmatic Use

Block Parameter: complete

Subindex — Subindex of CANopen register

integer

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

If you specify an invalid subindex, the block returns a nonzerio value through the Error output.

Programmatic Use

Block Parameter: subIndex

Data Type — Data type of CANopen register

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

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

Dimension — Dimension of CANopen register

1 (default)

Specify the row and column dimension of the CANopen register.

Enter the vector length as found in the CoE 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 CANopen register

character vector

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

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.

Programmatic Use

Block Parameter: sample_time

Extended Capabilities

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

Version History

Introduced in R2020b

R2022a: Complete Access Mode

You can select the access mode for the EtherCAT Async SDO Upload block and EtherCAT Async SDO Download block.