Anything2EtherCAT is built to put an end to CAN bus and Dynamixel on Reachy x.
Nobody talks about EtherCAT on Reachy 2 — because it simply works. Orbitas 2-DoF and 3-DoF run flawlessly at 1 kHz over EtherCAT, while the Mobile Base still relies on CAN-over-USB, and the grippers/antennas still depend on Dynamixel 3p/4p. Only a handful of devices speak EtherCAT today, so we built this board to change that — a clean, robust translator to EtherCAT, ready to drop anywhere.
- STM32G431 microcontroller: available, affordable and embassy-rust-ready.
- LAN9253 EtherCAT controller: 8 FMMUs, 8 Sync manager, rock-solid modern silicon.
- Transformer-less Dual-port EtherCAT, using "Pollen-standard" pico5 connector
- FD-CAN bus
- Dynamixel 3
- Dynamixel 4
- Stemma and StemmaQt
- IMU (of course!)
- Plenty of MCU I/O (extra SPI, analog inputs…)
- SWD debug port
- 3 to 28V input voltage range
- 0,6 to 0,75 x Vin (default is 5V)
- Up to 10 Amps, huge for a dev board this small.
- Designed with Kicad 9.
- Uses Pollen Kicad components library (https://github.com/pollen-robotics/lib_KiCAD)