Documentation

Open SYCON.net and locate the "CIFX RE/ECS" EtherCAT Stand-Alone Slave. Drag and drop the device to the main panel.

Double-click on the icon to open the Configuration window.

Navigate to Configuration, General Settings. These are the parameters that you can use to setup the EtherCAT subordinate device.

	Note
	The Input Data Bytes are referenced to the Master RxPdo. In reality they are the output data bytes of the subordinate device. By consequence the output data bytes are the part of the TxPdo and are the input data bytes of the subordinate device.

Apply the configuration and close the windows. Right click on the Slave icon and select Additional Functions, Export, DBM/nxd.

Select a name for the file, e.g.: my_slave.nxd. Save the file in your current MATLAB workspace.

In MATLAB, locate the file and use the following script to load the configuration to the target machine.

IO750                 = sg_IO75X_struct();    % Define default structure

IO750.protocol        = 'IO750';              % Protocol Speedgoat ID
IO750.cardid          = '1';                  % Card ID as defined in the model
IO750.configfiles     = '1';                  % Number of configuration files
IO750.configfile1     = 'my_slave.nxd';       % Name of configuration file

sg_IO75X_loadconfig(IO750);

Configure the driver blocks according to the configuration defined in SYCON.net. In the Setup driver block select "Configuration mode: Configuration file".

When you build the model, the firmware and configuration are loaded to the IO750 EtherCAT subordinate device I/O module.