Detailed documentation of the codes and steps for this tutorial can be found here.
Check out our EASE Crowd Supply Campaign Page: https://www.crowdsupply.com/harmonic-bionics/ease
In this tutorial, you will learn how to set up and use the EtherCAT Arduino Shield by Esmacat (EASE) Slave device on top of an Arduino subsystem and interface it with an LCD and Motor Shield to enable data transfer between the two slave devices via the EtherCAT master (Raspberry Pi).
- First, some general information about Raspberry Pi and the shields is discussed.
- After learning to set up the devices, you will learn to implement a practical project involving both the LCD and Motor Shields to control the Motors connected via the buttons on the LCD Shield by exchanging data between the 2 slave devices and the EtherCAT master. The data about the current motor to be controlled and its state (speed/position) is also printed on the terminal of the Pi.
EtherCAT Arduino Shield by Esmacat (EASE):
EASE is an EtherCAT slave that connects to an EtherCAT master (PC/ Laptop/ Dedicated Master devices like the Esmacat Master S and Esmacat Master C. It can be stacked on top of Arduino, Arduino-like boards and Arduino Shields. This shield allows high-speed communication with an industry-standard EtherCAT protocol for high-performance robotic applications.
This shield has 8 registers that can be used to send/receive data between devices via ethernet cables attached to the shield.
More info: https://www.esmacat.com/ease
Suggested Reading: EASE Datasheet.
Raspberry Pi is a tiny, dual-display, low-cost desktop computer that is used widely in robot brains, smart home hubs, media centers, as a networked AI core and factory controllers. It can also be used as an EtherCAT master just like a Laptop/PC. However, it should be noted that the Pi is a Linux based computer.
Suggested Reading: Section 4.2 Getting Started with EASE, Motor & LCD Shields.
The LCD shield used in the tutorial is a 16x02 LCD display with six buttons which is simple and convenient to stack it onto the Arduino Uno board. There are 5 control buttons (Select, Up, Down, Left, Right) and a reset button. The 5 buttons are connected with the A0 analog input of the Arduino board.Read more »