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v10.0.1.x for R2026a
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IO750 - Emergency

IO750 - Emergency — Sends emergency messages to EtherCAT main devices

Library

Simulink Real-Time - Speedgoat

Description

This block is used to send CoE (CANopen over EtherCAT) emergency messages to the EtherCAT main device. An emergency message (containing an error code, an error register and diagnostic data) informs the main device about certain faults and conditions occurring in the subordinate device. The message can be sent in all EtherCAT states except the Init state. The block has no outputs since the main device sends no responses to emergency messages.

You can use one block to indicate all possible errors by updating the block's input signals during runtime. As an alternative, your model can contain multiple Emergency blocks, one for each error.

Your model must contain one Setup block and one PDO Receive block for proper emergency message transmission.

[Caution]Caution

This block is only supported by MATLAB from R2019b.

Ports

Inputs
Enable

The block sends out emergency messages as long as the input port is TRUE.

For event-based transmission of emergency messages, set the block's sample time to a higher rate (e.g., 1 ms) and connect the Enable input port with the event trigger.

Data type: Boolean

Error Code

The error code included in the emergency message as defined by IEC 61158 Part 2-6 Type 12 (or ETG 1000.6). Beside the common codes listed below, you can use any other 16-bit value the remote main device can interpret.

Data type: uint16

Error CodeDescription
0x00xxError Reset or No Error
0x20xxCurrent
0x22xxCurrent inside the device
0x30xxVoltage
0x32xxVoltage inside the device
0x40xxTemperature
0x42xxDevice Temperature
0x60xxDevice Software
0x62xxUser Software
0x70xxAdditional Modules
0x81xxCommunication
0x8210PDO not processed due to length error
0x90xxExternal Error
0xF0xxAdditional Functions
Error Register

The error register included in the emergency message as defined by IEC 61158 Part 2-6 Type 12 (or ETG 1000.6)

Data type: uint8

Error Register bit maskDescription
0x01Generic error
0x02Current error
0x04Voltage error
0x08Temperature error
0x10Communication error
0x20Device profile specific error
0x40Reserved
0x80Manufacturer-specific error
Data

A 5-byte vector that includes diagnostic data specific to the error code.

Data type: uint8

Outputs

This block does not have any output ports.

Parameters

Module ID

This ID defines the link to the corresponding Setup block

Sample Time

Defines the base sample time at which this driver block gets its sample hit. This parameter can also be set to -1 for inherited sample time. The units are in seconds.

[Caution]Caution

All blocks that interface with the same I/O module must have identical sample times.