Pratima Gokhale / 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/pratima_hb/code/EASE_Example/wiki/Homepage

Information about the hardware needs and setup is provided in the link below. https://os.mbed.com/users/pratima_hb/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/pratima_hb/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

Files at this revision

API Documentation at this revision

Revision 9:dc704c11181d, committed 2015-11-27

Comitter:
Davidroid
Date:
Fri Nov 27 10:02:40 2015 +0000
Parent:
8:146aac014c84
Child:
10:8f031470ca9f
Commit message:
+ Updated to fit the initialization of the motor to FULL STEP mode done by the library.

Changed in this revision

X_NUCLEO_IHM01A1.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/X_NUCLEO_IHM01A1.lib	Thu Nov 26 16:18:24 2015 +0000
+++ b/X_NUCLEO_IHM01A1.lib	Fri Nov 27 10:02:40 2015 +0000
@@ -1,1 +1,1 @@
-https://developer.mbed.org/teams/ST-Expansion-SW-Team/code/X_NUCLEO_IHM01A1/#c3824af0caf4
+https://developer.mbed.org/teams/ST-Expansion-SW-Team/code/X_NUCLEO_IHM01A1/#b4d365138c21

--- a/main.cpp	Thu Nov 26 16:18:24 2015 +0000
+++ b/main.cpp	Fri Nov 27 10:02:40 2015 +0000
@@ -52,7 +52,7 @@
 /* Definitions ---------------------------------------------------------------*/
 
 /* Number of steps corresponding to one round angle of the motor. */
-#define ROUND_ANGLE_STEPS 3200
+#define MOTOR_STEPS 400
 
 
 /* Variables -----------------------------------------------------------------*/
@@ -70,7 +70,7 @@
     /* Initializing SPI bus. */
     DevSPI dev_spi(D11, D12, D13);
 
-    /* Initializing Motor Control Component. */
+    /* Initializing Motor Control Component in FULL STEP mode. */
     motor = new L6474(D2, D8, D7, D9, D10, dev_spi);
     if (motor->Init(NULL) != COMPONENT_OK)
         return false;
@@ -82,10 +82,10 @@
     /*----- Moving. -----*/
 
     /* Printing to the console. */
-    printf("--> Moving forward %d steps.\r\n", ROUND_ANGLE_STEPS);
+    printf("--> Moving forward %d steps.\r\n", MOTOR_STEPS);
 
     /* Moving N steps in the forward direction. */
-    motor->Move(StepperMotor::FWD, ROUND_ANGLE_STEPS);
+    motor->Move(StepperMotor::FWD, MOTOR_STEPS);
 
     /* Waiting while the motor is active. */
     motor->WaitWhileActive();
@@ -103,10 +103,10 @@
     /*----- Moving. -----*/
     
     /* Printing to the console. */
-    printf("--> Moving backward %d steps.\r\n", ROUND_ANGLE_STEPS >> 1);
+    printf("--> Moving backward %d steps.\r\n", MOTOR_STEPS >> 1);
 
     /* Moving N steps in the backward direction. */
-    motor->Move(StepperMotor::BWD, ROUND_ANGLE_STEPS >> 1);
+    motor->Move(StepperMotor::BWD, MOTOR_STEPS >> 1);
     
     /* Waiting while the motor is active. */
     motor->WaitWhileActive();
@@ -128,10 +128,10 @@
     /*----- Going to a specified position. -----*/
 
     /* Printing to the console. */
-    printf("--> Going to position %d.\r\n", ROUND_ANGLE_STEPS >> 1);
+    printf("--> Going to position %d.\r\n", MOTOR_STEPS >> 1);
     
     /* Requesting to go to a specified position. */
-    motor->GoTo(ROUND_ANGLE_STEPS >> 1);
+    motor->GoTo(MOTOR_STEPS >> 1);
     
     /* Waiting while the motor is active. */
     motor->WaitWhileActive();
@@ -247,13 +247,13 @@
     while (1)
     {
         /* Requesting to go to a specified position. */
-        motor->GoTo(ROUND_ANGLE_STEPS >> 1);
+        motor->GoTo(MOTOR_STEPS >> 1);
 
         /* Waiting while the motor is active. */
         motor->WaitWhileActive();
 
         /* Requesting to go to a specified position. */
-        motor->GoTo(- (ROUND_ANGLE_STEPS >> 1));
+        motor->GoTo(- (MOTOR_STEPS >> 1));
 
         /* Waiting while the motor is active. */
         motor->WaitWhileActive();