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v10.0.1.x for R2026a
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IO644 - Setup v2

IO644 - Setup v2 — Configure the IO644 I/O module

Library

Simulink Real-Time - Speedgoat

Description

The Setup block configures the protocol stack of the IO644 module and enables the PDO and Object blocks to exchange data on the network. The old IO644 Send and Receive blocks do not work with this Setup block version. With the Setup block, you make the basic communication settings, define the device identity and configure the network monitoring. During model start, the block adds the corresponding objects to the device's object dictionary, which the remote master node can read and write afterward.

You can use the IO644 module for both prototyping and simulation. For prototyping, you design your own CANopen slave node in Simulink with a custom object dictionary and export an EDS file (Electronic Data Sheet) with which you can register the device in the master configuration tools. For simulation, you set the parameters according to the EDS file of the device you want to simulate. This results in an object dictionary that matches an object dictionary of the external device.

[Tip]Tip

With the help of the createFromEds function, you can import EDS files and autogenerate a communication interface in Simulink ready for use with the IO644. According to the objects defined in the EDS file, the function places the IO644 Setup, PDO, and Object driver blocks into the model and automatically sets the block parameters according to the objects' data types and values.

Ports

This driver block has no input or output ports.

Parameters

General
Module ID

The Module ID has two functions:

  • It logically connects the Setup block and its I/O blocks

  • It also informs the auto-search feature of the PCI Slot parameter. If only one I/O module of this family is installed, the Module ID must be set to 1. To see how each I/O module maps to a Module ID, use this Speedgoat API: 

    speedgoat.getIoInterfaces("TargetName", "mySpeedgoat")

This Setup block belongs to two families of I/O modules that use the same hardware for multiple protocols. Across both families, the Module ID must be unique.

  • IO64X/IO75X (single-node modules): IO641, IO642, IO643, IO644, IO750, IO751, IO752, IO753, IO754, IO755, IO756, IO758

  • IO64X-32/IO75X-32 (multi-node modules): IO642-32, IO752-32, IO754-32, IO756-32

If the PCI Slot parameter is set to -1 (auto-search), the Module ID must be in the range 1:n, where 'n' cannot be larger than the number of modules of this type installed in the target machine. Not all installed I/O modules need to be used.

To use this Setup block with a multi-node I/O module (IO75X-32 family), the Module ID must be defined as a two-element vector. The second vector element is the sub-module ID. It describes the specific node (1:32) within the I/O module. The 32 nodes are internally connected to form two linear networks (daisy-chain), where the first and the last node of both chains are externally accessible. If one node is not configured (has no Setup block), the chain terminates at this point. The sub-module IDs must therefore start at node 1, 16, 17 or 32 and not have any gaps.

[Note]Note

When using I/O modules of both families simultaneously (single-node and multi-node I/O modules), always use explicit addressing in the PCI Slot parameter. Ignore the Module IDs returned by the getIoInterfaces function and instead assign unique Module IDs accross all modules used.

PCI Slot (-1: auto-search)

There are two approaches for mapping this block to a specific I/O module installed in your target machine. All modules of the same type must be configured using the same method.

  • Auto-Search: with the default value -1 the I/O module will be automatically located in the target machine. If you have multiple modules of the same kind, the Module ID defines which module is associated with this block. To see how each I/O module maps to a Module ID, use this Speedgoat API: 

    speedgoat.getIoInterfaces("TargetName", "mySpeedgoat")

  • Explicit Addressing: to explicitly define the logical address of the I/O module in the target machine, you can provide the PCI bus and slot numbers as a vector: [bus, slot]. To determine these numbers, run the following command in the MATLAB command window: 

    speedgoat.getIoInterfaces("TargetName", "mySpeedgoat", "Advanced", true)

    Note that the PCI address can change whenever an I/O module is added or removed – usually, auto-search is the best option.

CAN Node ID

The address of the module in the CANopen network. Each node has a unique address between 1 and 127. The value must match the address of the related node in the network configuration of the master.

Data Type: numeric scalar

Baud Rate

Select the transmission speed. The speed must match the speed selected in the master configuration. The values in the dropdown list are defined by the CANopen standard. The options a CANopen device supports are listed in the DeviceInfo section of the corresponding EDS file. The IO644 supports all options specified by the standard. Therefore, all baudrates are marked as supported in the EDS file. Select Auto if you are not sure which baud rate to select. Refer to the manual of your CANopen master to learn about how to set the CANopen timing on the master side.

Export EDS File

Creates an EDS file according to the IO644 blocks used in the model and their parameter settings. You can change the entries in the FileInfo section afterward (FileName, FileVersion, etc.). Only blocks with the same Module ID are taken into account.

Device Info
Device Type

The Device Type is a combination of the CANopen profile the device complies with and the device type ID. The value must range between 0 and 0xFFFFFFFF. You can enter the type of the device you want to simulate according to its EDS file or leave the default value 0. A value of 0x00020192, for example, represents the servo drive device type (0x02 = 2) of the CiA device profile for drives and motion control (0x0192 = 402). Checking the device type is part of the identity check (optional) that the master performs when connecting to slave nodes. The device type is represented by object 0x1000.

Data Type: numeric scalar

Vendor Name

The name of the vendor of the CANopen device. You can enter the vendor of the device you want to simulate according to its EDS file or leave the default value Speedgoat. The vendor name is represented by the VendorName entry in the DeviceInfo section of the EDS file.

Data Type: character array

Vendor ID

The ID of the vendor of the CANopen device in the range 0 to 0xFFFFFFFF. You can enter the ID of the device you want to simulate according to its EDS file or leave the default value 0x00000267 (Speedgoat GmbH). Checking the vendor ID is part of the identity check (optional) that the master performs when connecting to slave nodes. The vendor ID is represented by object 0x1800, sub-object 0x01, and by the VendorName entry in the DeviceInfo section of the EDS file.

Data Type: numeric scalar

Product Name

The name of the CANopen device. You can enter the name of the device you want to simulate according to its EDS file or leave the default value IO644. The product name is represented by the ProductName entry in the DeviceInfo section of the EDS file.

Data Type: character array

Product Code

The product code of the CANopen device in the range 0 to 0xFFFFFFFF. You can enter the number of the device you want to simulate according to its EDS file or leave the default value 1 (IO644). Checking the product code is part of the identity check (optional) the master performs when connecting to slave nodes. The product code is represented by object 0x1800, sub-object 0x02, and by the ProductNumber entry in the DeviceInfo section of the EDS file.

Data Type: numeric scalar

Revision Number

The revision of the CANopen device in the range 0 to 0xFFFFFFFF. You can enter the revision of the device you want to simulate according to its EDS file or leave the default value 1. Checking the revision number is part of the identity check (optional) the master performs when connecting to slave nodes. The revision is represented by object 0x1800, sub-object 0x03, and by the RevisionNumber entry in the DeviceInfo section of the EDS file.

Data Type: numeric scalar

Monitoring

Using the Heartbeat and Node Guarding error control protocols, a CANopen node can check whether other nodes in the network are still alive. Examples:

  • The master monitors one or multiple slave nodes

  • A slave node monitors the master

  • A slave node monitors other slave nodes

The two protocols are not used simultaneously.

Heartbeat

Each node can act as a heartbeat producer, cyclically sending heartbeat messages. All other nodes can act as consumers, monitoring the producer's heartbeat message. In a typical application, each slave monitors the master and the master monitors all slaves.

Producer Time

The interval in milliseconds at which the module should send out heartbeat messages. The maximum value is 65535 ms. A value of 0 turns off heartbeat messages.

The value is represented by object 0x1017. The master can change the value via the SDO protocol and can therefore prompt the slave to produce or stop producing heartbeats.

Data Type: numeric scalar

Consumer Time

The timeout for monitoring the heartbeat messages of remote nodes. The timeout defines the time the module should wait before indicating a specific node's loss. The Network Status block outputs this information. The parameter is an n-by-2 matrix with up to 64 rows representing 64 devices. The first column defines the node ID to be monitored. The second column defines the respective timeout. The maximum timeout is 65535 ms. If the node ID is not 0, the timeout must not be 0.

Each monitored node is represented by a sub-object of object 0x1016. The sub-object's value includes the node ID and the corresponding timeout. The master can change the values via the SDO protocol and can therefore prompt the module to monitor or stop monitoring other nodes.

Data Type: numeric matrix

Node Guarding

The master cyclically sends polling messages to the slave nodes to check whether the nodes still exist. The slave nodes return their current state in response to the master (Node Guarding). The nodes use the poll messages of the master to supervise the master (Life Guarding).

Guard Time

Defines the interval in milliseconds at which the master should send polling messages. A value of 0 turns off node and life guarding in the local slave node and the remote master.

The value is represented by object 0x100C. The master can change the value via the SDO protocol and can therefore enable or disable the guarding protocol.

Data Type: numeric scalar

Life Time Factor

The life time is defined as Guard Time multiplied by Life Time Factor. If the module does not receive polling messages within the life time, it generates a life guarding event in the Network Status block. The maximum life time factor is 255. A value of 0 disables node and life guarding in the module and the remote master.

The Life Time Factor is represented by object 0x100D. The master can change the value via the SDO protocol and can therefore enable or disable the guarding protocol. To achieve stable communication, the Life Time Factor must be set to at least 2. Life guarding can only be used if the master carries out node guarding.

Data Type: numeric scalar