Component: EtherCAT Slave (EasyCAT) (Comms: IoT/Cloud)
| Author | Matrix TSL |
| Version | 1.0 |
| Category | Comms: IoT/Cloud |
EtherCAT Slave (EasyCAT) component
Provides support for the EtherCAT Slave industrial protocol using an EasyCAT Arduino shield. The shield can be driven from a Flowcode compatible Arduino type board or can be driven using an Arduino using the SCADA Slave firmware to drive EtherCAT from the Flowcode simulation runtime. Compatible with the EasyCAT Easy Configurator tool.
Detailed description
No detailed description exists yet for this component
Examples
No additional examples
Downloadable macro reference
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SetInt |
| Write a 16-bit value to the In receive buffer | |
 - BYTE
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Index |
| Data Index | |
 - UINT
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Data |
 - VOID
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Return |
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MainTask |
| Must be called as part of the application main program loop. | |
| - BYTE
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Return |
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SetLong |
| Write a 32-bit value to the In receive buffer | |
| - BYTE
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Index |
| Data Index | |
 - ULONG
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Data |
| - VOID
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Return |
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GetFloat |
| Read a 32-bit floating point value from the Out receive buffer | |
| - BYTE
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Index |
| Data Index | |
| [[File:]] - | Return |
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GetLong |
| Read a 32-bit value from the Out receive buffer | |
| - BYTE
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Index |
| Data Index | |
| - ULONG
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Return |
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GetInt |
| Read a 16-bit value from the Out receive buffer | |
| - BYTE
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Index |
| Data Index | |
| - UINT
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Return |
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SetByte |
| Write an 8-bit value to the In receive buffer | |
| - BYTE
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Index |
| Data Index | |
| - BYTE
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Data |
| - VOID
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Return |
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GetByte |
| Read a 8-bit value from the Out receive buffer | |
| - BYTE
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Index |
| Data Index | |
| - BYTE
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Return |
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SetFloat |
| Write a 32-bit floating point value to the In receive buffer | |
| - BYTE
|
Index |
| Data Index | |
| [[File:]] - | Data |
| - VOID
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Return |
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Initialise |
| Starts up the SPI connection to the EasyCAT board and configures the board. Returns 1 for a sucessful initialise. | |
| [[File:]] - | Return |
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Initialise |
| Sets up the component ready to collect weather data. | |
| - VOID
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Return |
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Initialise |
| Sets up the GSM module. Returns 0 for OK, 255 for no reply and 254 for command fail. | |
| - BYTE
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Return |
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Left |
| Rotates the robot left - waits for the angle to be traversed before returning | |
| - UINT
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Angle |
| Angle to turn in degrees | |
| - VOID
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Return |
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ReadIR |
| Reads an IR sensor 0=Left, 1=FrontLeft, 2=Front, 3=FrontRight, 4=Right, 5=RearRight, 6=Rear, 7=RearLeft | |
| - BYTE
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index |
| 0=Left, 1=FrontLeft, 2=Front, 3=FrontRight, 4=Right, 5=RearRight, 6=Rear, 7=RearLeft | |
| - UINT
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Return |
|
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LCDDrawPixel |
| Allows a single pixel on the LCD to be set or cleared | |
| - BYTE
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X |
| X Pixel 0-127 | |
| - BYTE
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Y |
| Y Pixel 0-31 | |
| - BYTE
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State |
| 0=White (Off), 1=Black (On) | |
| - VOID
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Return |
|
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ServoSetPosition |
| Allows one of the servo positions to be assigned | |
| - BYTE
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Channel |
| Range 0-3 | |
| - BYTE
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Position |
| Range 0-255 | |
| - VOID
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Return |
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CardBitmap |
| Displays a monochrome bitmap read from the card on the LCD | |
| - BYTE
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X |
| Range 0-127 | |
| - BYTE
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Y |
| Range 0-31 | |
 - STRING
|
Filename |
| - BYTE
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Return |
|
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CardRecordMic |
| Records an audio stream on the card from the microphone | |
| - BYTE
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BitDepth |
| 0=8-bit, 1=16-bit | |
| - BYTE
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SampleRate |
| Sample Rate 0=8KHz, 1=16KHz | |
| - UINT
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RecordTime |
| Time to record for in seconds, Range 0-65535 | |
| - STRING
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Filename |
| - BYTE
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Return |
|
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CardOpen |
| Attempts to open an existing file on the SD card 255=Error, 1=File not found, 0=Open OK | |
| - STRING
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Filename |
| - BYTE
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Return |
|
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Forwards |
| Drives the robot forwards - waits for the distance to be traversed before returning | |
| - UINT
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Distance |
| Distance in mm | |
| - VOID
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Return |
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ReadBearing |
| Reads the compass bearing based on the degrees clockwise from magnetic north. | |
| [[File:]] - | Return |
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GetConsoleHandle |
| Gets the handle to the console allowing data displaying on the panel etc. | |
| [[File:]] - | Return |
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LCDDrawLine |
| Allows a single pixel width line to be drawn on the LCD | |
| - BYTE
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X1 |
| X Pixel 0-127 | |
| - BYTE
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Y1 |
| Y Pixel 0-31 | |
| - BYTE
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X2 |
| X Pixel 0-127 | |
| - BYTE
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Y2 |
| Y Pixel 0-31 | |
| - VOID
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Return |
|
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ServoAutoMoveToPosition |
| Allows one of the servo positions to move gradually to a new position | |
| - BYTE
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Channel |
| Range 0-3 | |
| - BYTE
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Position |
| Range 0-255 | |
| - VOID
|
Return |
|
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ReadAllValue |
| Reads a single value stored from the read all command Index dictates which sensor value to read | |
| - BYTE
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Index |
| 0=SW, 1-8=IR, 9-10=Line, 11=Light, 12=Mic, 13-15=Accel | |
| - UINT
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Return |
|
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LCDBacklight |
| Allows the LCD backlight brighntess to be adjusted | |
| - BYTE
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Intensity |
| Range 0-100, 0=Off, 1=Min Brightness, 100=Max Brightness | |
| - VOID
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Return |
|
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LCDDrawRect |
| Allows a rectangle to be drawn on the LCD | |
| - BYTE
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X1 |
| X Pixel 0-127 | |
| - BYTE
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Y1 |
| Y Pixel 0-31 | |
| - BYTE
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X2 |
| X Pixel 0-127 | |
| - BYTE
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Y2 |
| Y Pixel 0-31 | |
| - VOID
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Return |
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ReadLine |
| Reads one of the IR line sensors 0-1 0=Left, 1=Right | |
| - BYTE
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index |
| 0=Left, 1=Right | |
| - UINT
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Return |
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ServoDisable |
| Allows one of the servo outputs 0-3 to be disabled | |
| - BYTE
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Channel |
| Range 0-3 | |
| - VOID
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Return |
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ServoEnable |
| Allows one of the servo outputs 0-3 to be enabled | |
| - BYTE
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Channel |
| Range 0-3 | |
| - VOID
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Return |
|
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CardReadByte |
| Reads a byte from the currently open file. Starts at the beginning of the file and auto increments to the end | |
| - BYTE
|
Return |
|
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CardErase |
| Attempts to delete an existing file on the SD card 255=Error, 1=File not found, 0=Delete OK | |
| - STRING
|
Filename |
| - BYTE
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Return |
|
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CardWriteByte |
| Appends a byte to the end of the currently open file | |
| - BYTE
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Data |
| - VOID
|
Return |
|
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EncoderRead |
| Reads one of the motor encoder counters. Approx 0.328296mm of travel per encoder unit. | |
| - BYTE
|
index |
| 0=Left, 1=Right | |
| - UINT
|
Return |
|
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SetMotors |
| Sets the motor speeds without feedback Range -100 to 100 | |
| [[File:]] - | Left |
| Range -100 to 100 | |
| [[File:]] - | Right |
| Range -100 to 100 | |
| - VOID
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Return |
|
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Backwards |
| Drives the robot backwards - waits for the distance to be traversed before returning | |
| - UINT
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Distance |
| Distance in mm | |
| - VOID
|
Return |
|
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EncoderReset |
| Resets the motor encoder counters | |
| - VOID
|
Return |
|
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LCDVerbose |
| Allows the LCD to automatically report the API commands as they get processed. Default - verbose on | |
| - BYTE
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State |
| 0=Off 1=On | |
| - VOID
|
Return |
|
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SetProp |
| Allows the COM port property to be set from a parent component. | |
| - STRING
|
PropName |
| - ULONG
|
PropVal |
| - VOID
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Return |
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CardInit |
| Attempts to startup the SD card 255=No Card, 254=Init Fail, 0=Init OK | |
| - BYTE
|
Return |
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GetProp |
| Allows the property filter for the COM port list to be copied to a parent component. | |
| - STRING
|
PropName |
| - STRING
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Return |
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LCDClear |
| Clears the LCD | |
| - VOID
|
Return |
Property reference
|
Properties |
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Synchronisation Mode |
| ASYNC = free running i.e. no synchronization between master and slave (default) DC_SYNC = interrupt is generated from the distributed clock unit SM_SYNC = interrupt is generated from the syncronisation manager | |
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Header File |
| Used to load a header file from Easy CAT Configurator tool to describe the units inputs and outputs | |
|
Total Byte Num Out |
| Total number of bytes to come out from the EtherCAT master | |
|
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Total Byte Num In |
| Total bytes to come in from the EtherCAT master | |
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Connections |
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Channel |
| SPI Channel selector | |
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MOSI |
| SPI Data Out Pin SDO - Also Known as Master Out Slave In (MOSI) when used in Master mode. | |
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MISO |
| SPI Data In Pin SDI - Also Known as Master In Slave Out (MISO) when used in Master mode. | |
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CLK |
| SPI Clock Pin CLK - The Clock signal is driven by the SPI master. | |
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CS / SS |
| Chip Select / Slave Select Pin Master Mode: General purpose output pin used to select the remote SPI device. Slave Mode: Hardware chip select pin input used to select the SPI device. | |
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Prescale |
| Prescale option selector | |
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Simulations |
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Simulation Comms |
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Scope Traces |
| Selects if the scope traces are automatically generated or not | |
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Console Data |
| Selects if the console data is automatically generated or not | |
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API |