IO750 - SDO Read
IO750 - SDO Read —
Reads data from local EtherCAT Service Data Objects
Library
Simulink Real-Time - Speedgoat
Description
This block is used to read the service data objects of the subordinate device. Use the IO750
Setup block to define these objects. On the network side the objects can be read and
written by the EtherCAT main device.
Your model can contain only one SDO Read block for each I/O module in your target
machine. This single block handles all the model's SDO read accesses to the SDO
dictionary of the related module.
Your model must contain one Setup block and one SDO Read block for the SDO
communication to function. The SDO Write block is optional.
![[Caution]](images/caution.png) | Caution |
|---|
This block is only supported by MATLAB from R2019b. |
Ports
Inputs
This block does not have any input ports.
Outputs
This block has one output port for each SDO defined in the SDO table of the
related Setup block with a "read" or "read-write" Access
Mode. The port type depends on the Data
Type property. The name of the port is composed of the Index, Sub Index and
Name properties.
If no SDO has a "read" or "read-write" Access
Mode then the block will have no 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 |
|---|
All blocks that interface with the same I/O module must have identical
sample times. |
-
Retrieve SDO Configuration
Retrieves the SDO configuration from the related Setup block and
updates the output ports.