Ethercat for VESC

General topics and discussions about the VESC and its development.
erwincoumans
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Ethercat for VESC

Postby erwincoumans » 26 Nov 2016, 20:08

Did anyone try connecting to VESC using Ethercat?

The Ethercat shorter cycle times would allow VESC to be used in robotics applications, it is superior to CANBUS.

There are some affordable solutions by Infineon Technologies and Microchip (LAN9252).
One easy integration would be connecting an Ethercat client to the VESC motor controller over SPI...

benjamin
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Re: Ethercat for VESC

Postby benjamin » 29 Nov 2016, 15:06

I have actually thought about connecting VESCs over ethernet for robotics applications, but by using the 100-pin version of the stm32f4 and an ethernet switch such as this one:
http://www.microchip.com/wwwproducts/en/KSZ8863
It can be connected directly to the RMII interface of the stm32f4 and to two transformers for the ethernet cables - making it possible to chain all VESCs without having individual cables and a switch. The propagation delay would be low because the switches won't buffer lots of packets, and the speed is high. I haven't seen the LAN9252 before, but it seems to have an MII interface, and since it is for ethercat it might be a better solution.

guoping
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Re: Ethercat for VESC

Postby guoping » 08 Apr 2017, 16:11


JTAG
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Re: Ethercat for VESC

Postby JTAG » 08 Apr 2017, 22:28

I plan to work on exactly this once the sources are released. I already made a universal slave based on the LAN9252 and SOES:
https://github.com/DieBieEngineering/DieBieSlave

And made it work with a nun-chuck, everthing is working flawless so far:
https://github.com/DieBieEngineering/Di ... e-Firmware

I will make a video of the universal slave and nunchuck working with TwinCAT somewhere next week.

I hear/sense so much need for affordable universal motor drivers from the robotics faculty where I work that it would be almost a crime not to add EtherCAT to the VESC :D .

guoping
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Re: Ethercat for VESC

Postby guoping » 09 Apr 2017, 09:00


Frederir
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Re: Ethercat for VESC

Postby Frederir » 09 Apr 2017, 11:34


JTAG
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Re: Ethercat for VESC

Postby JTAG » 09 Apr 2017, 19:31


Frederir
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Re: Ethercat for VESC

Postby Frederir » 09 Apr 2017, 22:06


JTAG
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Re: Ethercat for VESC

Postby JTAG » 09 Apr 2017, 23:49

As far as I understood all ways of interfacing need this weird way of indirect addressing, but please tell me I missed something :roll: , I would really like to use the LAN9252 in a more efficient way. The two integrated Phy's make pcb design and component count so so much more pleasant/compact to design.

Frederir
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Re: Ethercat for VESC

Postby Frederir » 10 Apr 2017, 12:21



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