EtherCAT
用于控制自动化的以太网 (EtherCAT) 是一种面向实时分布式控制的开放式以太网网络协议。请参阅 www.ethercat.org 。
首先，使用 EtherCAT 网络配置器配置网络，然后将配置加载到 EtherCAT 协议模块中。这些模块连接至支持 EtherCAT 协议的 Intel® 以太网板，并与 PCI 标准总线架构兼容，例如 PCI、PCI Express® 和 PXI®。
Simulink® Real-Time™ 支持 Beckhoff® TwinCAT® 配置器和 Acontis EC-Engineer 配置器。
有关配置器的详细信息，请参阅制造商文档（ www.beckhoff.com 和 www.acontis.com/en/ ）。有关 EtherCAT 电路板的详细信息，请参阅制造商文档。
请参阅EtherCAT 网络建模。
函数
slrealtime.EtherCAT.filterNotifications | Display EtherCAT notifications in human-readable format |
slrealtime.EtherCAT.getSignalNames | Display EtherCAT notifications in human-readable format |
模块
| EtherCAT Init | 使用 EtherCAT 网络信息 (ENI) 文件中的数据初始化 EtherCAT 主设备节点 |
| EtherCAT Get Emergency | Collect emergency messages from the EtherCAT bus (自 R2023b 起) |
| EtherCAT Get Notifications | Collect notifications from the EtherCAT bus |
| EtherCAT Get Scanbus Error Data | Detects when an EtherCAT device in the model is not responding (自 R2022b 起) |
| EtherCAT PDO Receive | Receive data from subordinate device represented by process data object |
| EtherCAT PDO Transmit | Send data to subordinate device represented by process data object |
| EtherCAT Sync SDO Upload | Read data synchronously from subordinate device represented by service data object |
| EtherCAT Sync SDO Download | Transmit data synchronously to subordinate device represented by service data object |
| EtherCAT Async SDO Upload | Read data asynchronously from subordinate device represented by service data object |
| EtherCAT Async SDO Download | Transmit data asynchronously to subordinate device represented by service data object |
| EtherCAT Sync SSC/SoE Upload | Read data synchronously from subordinate device represented by service data object |
| EtherCAT Sync SSC/SoE Download | Transmit data synchronously to subordinate device represented by service data object |
| EtherCAT Async SSC/SoE Upload | Read data asynchronously from subordinate device represented by service data object |
| EtherCAT Async SSC/SoE Download | Transmit data asynchronously to subordinate device represented by service data object |
| EtherCAT Get State | Get state of EtherCAT network |
| EtherCAT Set State | Set state of EtherCAT network |
| EtherCAT Get Device State | Get state of EtherCAT network (自 R2021b 起) |
| EtherCAT Set Device State | Set state of EtherCAT network (自 R2021b 起) |
主题
EtherCAT 协议模型
- EtherCAT 网络建模
了解 Simulink Real-Time 对基于 EtherCAT 协议的实时分布式控制的支持。
参考
- EtherCAT 分布式时钟算法
了解 EtherCAT 主设备移位和总线移位模式。 - Fixed-Step Size Derivation
Determine the fixed step size for the EtherCAT model and the sample times for key blocks. - EtherCAT 协议映射
了解第三方配置器功能与 Simulink Real-Time 功能之间的关系。 - EtherCAT 配置器组件映射
了解第三方配置器组件与 Simulink Real-Time 模块及模块属性的关系。 - EtherCAT 数据类型
了解 EtherCAT 数据类型与 Simulink Real-Time 数据类型的关系。 - EtherCAT Init Block DC Error Values
Learn about the EtherCAT distributed clock error values that the EtherCAT Init block returns. - EtherCAT Error Codes
The Error output for EtherCAT blocks returns an EtherCAT error code. - EtherCAT Init
精选示例
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.
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.
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.
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.
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.
EtherCAT Protocol Motor Velocity Control with Accelnet Drive
Control the velocity of a motor by using EtherCAT communication.
EtherCAT Protocol Motor Position Control with Accelnet Drive
Control the position of a motor by using EtherCAT communication.
Generate ENI Files for EtherCAT Devices
Generate EtherCAT network information (ENI) files to use in Simulink® Real-Time™ with EtherCAT devices.
