EtherCAT Set State

Set state of EtherCAT network

Since R2020b

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Libraries:
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.

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

New State — State transmitted to the EtherCAT network

1 | 2 | 4 | 8

State	Value	Description
INIT	1	Initialization — The system finds terminal devices and initializes the communication controller.
PREOP	2	Preoperational — The system uses the communication controller to exchange system-specific initialization data. In this state, the network cannot transmit or receive signal data.
SAFEOP	4	Safe operational — The network is running and ready for full operation. The supervisor sends input data to the terminal device. The terminal device output remains in a safe state.
OP	8	Operational — The network is in full operation. The supervisor sends input data to the terminal device. The terminal device responds with output data.

Output

Prev State — Previous state of the network

1 | 2 | 4 | 8

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

Error — Report an EtherCAT state error

0 | integer

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

Parameters

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

Timeout — Time to wait for the network to change state

integer

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

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