Esmacat HarmonicBionics / Mbed OS Example_EtherCAT_System_Using_EASE

This is an example application demonstrating building an EtherCAT system using Esmacat

Dependencies:   EsmacatShield X_NUCLEO_IHM01A1

Basic Information of Esmacat

Information about Esmacat and EASE is provided in the link below. https://os.mbed.com/users/esmacat/code/EASE_Example/wiki/Homepage

Information about the hardware needs and setup is provided in the link below. https://os.mbed.com/users/esmacat/code/EASE_Example/wiki/Hardware-Setup

Information about the structure of the system and it's software is provided in the link below. https://os.mbed.com/users/esmacat/code/EASE_Example/wiki/Software

About this example

This is an example application to demonstrate the ease with which a system, which communicates over EtherCAT, can be build. It measures the RPM of a motor using a proximity sensor.

Following lists the hardware required

  • 2 x Mbed boards with Arduino UNO form factor (NUCLEO-F103RB)
  • 2 x EASE boards
  • 1 x proximity sensor shield (X_NUCLEO_6180XA1)
  • 1 x Motor shield (X-NUCLEO-IHM01A1)
  • 1 x stepper motor
  • 1 x Ethernet POE injector with a 24VDC power supply
  • 2 x Ethernet cables
  • Keyboard, mouse, and monitor
  • PC with Linux/Windows OS installed
  • DC power supply for motor

https://os.mbed.com/media/uploads/pratima_hb/system_pic1.jpg

Click here to know more about this Example

Diff: main.cpp

Revision:
29:a80a213c3c94
Parent:
27:e09aa231c16d
Child:
34:543d0d1147d9
--- a/main.cpp	Wed Aug 03 10:11:21 2016 +0000
+++ b/main.cpp	Thu Sep 08 12:39:58 2016 +0000
@@ -60,7 +60,9 @@
 #define DELAY_3 6000
 #define DELAY_4 8000
 
-/* Speed in step/s. */
+/* Speed in pps (Pulses Per Second).
+   In Full Step mode: 1 pps = 1 step/s).
+   In 1/N Step Mode:  N pps = 1 step/s). */
 #define SPEED_1 2400
 #define SPEED_2 1200
 
@@ -70,10 +72,10 @@
 /* Initialization parameters. */
 L6474_Init_t init =
 {
-    160,                              /* Acceleration rate in step/s2. Range: (0..+inf). */
-    160,                              /* Deceleration rate in step/s2. Range: (0..+inf). */
-    1600,                             /* Maximum speed in step/s. Range: (30..10000]. */
-    800,                              /* Minimum speed in step/s. Range: [30..10000). */
+    160,                              /* Acceleration rate in pps^2. Range: (0..+inf). */
+    160,                              /* Deceleration rate in pps^2. Range: (0..+inf). */
+    1600,                             /* Maximum speed in pps. Range: (30..10000]. */
+    800,                              /* Minimum speed in pps. Range: [30..10000). */
     250,                              /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
     L6474_OCD_TH_750mA,               /* Overcurrent threshold (OCD_TH register). */
     L6474_CONFIG_OC_SD_ENABLE,        /* Overcurrent shutwdown (OC_SD field of CONFIG register). */