Generic EtherCAT Slave

Apart from the common slave options, the configuration structure has to be specified. At the top level, the structure has the fields

• slave.SlaveConfig used to specify the EtherCAT setup in a fashion similar to the EtherCATInfo slave description xml supplied by the manufacturor.
• slave.PortConfig used to specify the Simulink block inputs and outputs, based on SlaveConfig

SlaveConfig

• vendor: Vendor Id
• product: Product Code
• description (optional): Description string
• sm: SyncManager configuration
• sdo: CAN over EtherCAT slave specific configuration
• dc: Distributed clock setup
• soe: (OBSOLETE) Sercos configuration

slave.SlaveConfig.vendor = 2;
slave.SlaveConfig.product = hex2dec('bb93052')
slave.SlaveConfig.description = 'EL3001'  % optional

SyncManager Configuration

The SyncManager is specified by assigning slave.SlaveConfig.sm a cell array with as many elements as the slave has SyncManagers that need to be configured.

The elements of the cell array are cell arrays themselves that have three elements: {SmIndex, SmDirection, SmPDO} where:

1. SmIndex: Zero based index number of the <Sm> xml element in the EtherCATInfo xml file
2. SmDirection: SyncManager direction as seen by the master: 0 = Output (for RxPdo); 1 = Input (for TxPdo);
3. SmPDO: Cell array of PDO's that are mapped to the SyncManager

slave.SlaveConfig.sm = {Sm2, Sm3};

Sm2 = {2, 0, Sm2PDO}  % SyncManager Index 2, Output
Sm3 = {3, 1, Sm3PDO}  % SyncManager Index 3, Input

1. PdoIndex: PDO index number
2. PdoEntries: PDO index number

Sm3PDO = {TxPDO1, TxPDO2}
TxPDO1 = {hex2dec('1a00') Entries_1a00}
TxPDO2 = {hex2dec('1a01') Entries_1a01}

1. Entry Index
2. Entry SubIndex
3. BitLen

Entries_1a00 = [hex2dec('6000')  1  1;
                hex2dec('6000')  2  1;
                hex2dec('6000')  3  2;
                hex2dec('6000')  5  2;
                hex2dec('6000')  7  1;
                0                0  7;  % 7 space bits
                hex2dec('1800')  7  1;
                hex2dec('1800')  9  1;
                hex2dec('1800') 17 16]

CAN over EtherCAT configuration

This cell array has 4 columns and as many rows as there are options to be configured. The rows can be specified to configure either a single value or the whole SDO at once.

Specify a single SDO value: This mode directly configures a single SDO. The column elements specify:

1. SDO Index
2. SDO SubIndex
3. Data type: 8 = uint8, 16 = uint16, 32 = uint32
4. Value

1. SDO Index
2. Ignored
3. Ignored
4. Either a string, or an array of values interpreted as uint8

slave.SlaveConfig.sdo = { hex2dec('8000'),6,8,1;
                          hex2dec('8001'),0,0,'save';
                          hex2dec('8002'),0,0,[64,65,66,67] };

Distributed Clocks configuration

Vector specification: the elements specify:

1. Assign Activate
2. Cycle Time Sync0
3. Cycle Time Sync0 Factor
4. Shift Time Sync0
5. Shift Time Sync0 Factor
6. Shift Time Sync0 Input
7. Cycle Time Sync1
8. Cycle Time Sync1 Factor
9. Shift Time Sync1
10. Shift Time Sync1 Factor

A single value just sets Assign Activate.

For example:

slave.SlaveConfig.dc = hex2dec('320');
slave.SlaveConfig.dc = [hex2dec('320'), 0, 1, 0, 0, 1, 0, 0, 0, 15000];

Sercos over EtherCAT

This cell array has 2 columns and as many rows as there are options to be configured:

1. SDO Index
2. Either a string, or an array of values interpreted as uint8

slave.SlaveConfig.soe = { hex2dec('8001'),'save';
                          hex2dec('8002'),[64,65,66,67] };

PortConfig

Output Port specification

• pdo Nx4 array specifying which PDO entries are mapped to the port. PDO Entries may be referenced as often as required, on the same or on another port, even with different data types.
• pdo_data_type Data Type interpretation of the PDO Entry (required if pdo is not empty)
• big_endian PDO Entry is in big endian format (optional)
• full_scale Used to normalize the PDO Entry to unity. filter (optional)
• gain see below (optional)
• offset see below (optional)
• filter Time constant of a first order low pass filter. (optional)

slave.PortConfig.output(1).pdo = [ 0 0 0 0 ];
slave.PortConfig.output(2).pdo = [ 0 1 0 0;
                                   0 1 1 0;
                                   0 1 1 1 ];

The PDO specification is a zero-based Nx4 array of index address of a PDO Entry. The columns specify:

1. SyncManager Index. This index addresses the SyncManager element of the slave.SlaveConfig.sm cell vector. Only input SyncManagers (element 2 of the SyncManager field is 1) should be addressed. Addressing a SyncManager with direction output (0) will result in a warning.
2. PDO Index. This index addresses the PDO element of the third element of the SyncManager cell vector.
3. Entry Index. This index addresses the Entry row of the second element of the PDO cell vector.
4. Element Index. This index addresses the data type element of the PDO Entry. (eg. if a Entry has BitLen=8 and it is interpreted as a boolean, Element Index can be [0..7])

The port will have as many elements as pdo has rows (N).

pdo_data_type is a value that specifies which data type the PDO Entry is interpreted as:

The data type must match the PDO Entry's BitLen. The remainder of division BitLen / mantissa_bits must be zero. Specifying a data type with fewer bits than BitLen will create a vector. For example, if BitLen=64 and pdo_data_type=1001 (boolean), the PDO Entry will have 64 elements. Placing all booleans on one output will have:

slave.PortConfig.output(3).pdo_data_type = 1001;
slave.PortConfig.output(3).pdo = [ 0,0,0,0;
                                   0,0,0,1;
                                   ...
                                   0,0,0,63 ];

full_scale is intended to normalize the PDO Entry value to unity so that scaling can be performed naturally. For example, full_scale has the value 2^15 for int16.

Gain, offset, filter and full_scale apply the following operation:

output = filter((PDO_Entry / full_scale) * gain + offset);

Gain, offset and filter are either empty (or not even specified), a scalar or a vector with as many elements as pdo field has rows. If it is empty, the operation is not applied. A scalar operates on every PDO Entry whereas the vector will be applied element for element.

Specifying any of gain, offset, full_scale or filter causes the output's data type to be set to double.

gain, offset, full_scale or filter may assigned a 2 element cell array {'NameString', ValueArray}. The variable will be available as a parameter, allowing values to be changed at run-time.

Not specifying any of gain, offset, full_scale or filter will set the data type to the PDO Entries raw data type, possibly promoting the value to the next superiour type. Unsigned64 and Integer64 are represented as Real64 because they are not available in Simulink Coder.

Input Port specification

• There is no filter
• Input port signals may have fewer elements as there are rows in pdo

Gain, offset and full_scale apply the following operation:

PDO_Entry = (input * gain + offset) * full_scale;