EtherCAT Get State

Get state of EtherCAT network

• Library:

• Simulink Real-Time / EtherCAT

• 

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Description

The EtherCAT Get State block returns the state of the EtherCAT^® network.

Ports

Output

State — State received from 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.

Parameters

Device index — EtherCAT network identifier

0 (default) | 0-11

To associate a block with an EtherCAT network, enter 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

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

Model Examples

EtherCAT Protocol with Beckhoff Analog IO Slave 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 Slave 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 Slave 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 Slave 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

Extended Capabilities

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

Version History

Introduced in R2020b