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EtherCAT PDO Receive

Receive data from slave device represented by process data object

  • Library:
  • Simulink Real-Time / EtherCAT

  • EtherCAT PDO Receive block


The EtherCAT PDO Receive block receives data from the EtherCAT® slave device.

The block parameter dialog box has two sections, parameters and signal information. When you specify an EtherCAT network and device variable name:

  • The EtherCAT PDO Receive block mask is updated with the selected signal name.

  • The signal information in the block parameter dialog box is updated to reflect the device variable.


If an error occurs while the software parses the configuration file specified in the EtherCAT Init block, this block displays an error message.



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Vector of data received from the EtherCAT slave device.


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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 EtherCAT device variable name.

The block parameter dialog box updates the read-only signal information to reflect the device variable that you selected.

For a mapping of EtherCAT configurator components to Simulink® Real-Time™ blocks and block attributes, see EtherCAT Configurator Component Mapping.

For a mapping of Simulink data types to EtherCAT data types, see EtherCAT Data Types.

Programmatic Use

Block Parameter: sig_name

This property is read-only.

After the execution of the EtherCAT Init block, location in the process image from which the data is available.

Programmatic Use

Block Parameter: sig_offset

This property is read-only.

Simulink data type for the EtherCAT data.

Programmatic Use

Block Parameter: sig_type

This property is read-only.

Size in bits of the EtherCAT data type.

Programmatic Use

Block Parameter: type_size

This property is read-only.

The EtherCAT blocks support vectors and scalars (vectors of dimension 1).

Programmatic Use

Block Parameter: sig_dim

This property is read-only.

This rate is the execution rate of the EtherCAT task, as specified in the ENI file.

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