mycnc:mycnc_et15
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mycnc:mycnc_et15 [2019/09/19 12:15] – ivan | mycnc:mycnc_et15 [2020/07/06 23:20] – skirillov | ||
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===== myCNC-ET15 CNC controller ===== | ===== myCNC-ET15 CNC controller ===== | ||
- | (Preview) | + | Currently, two breakout boards are available for the myCNC-ET15 controller: |
+ | |||
+ | 1) ET10/ET15 board (comes with the ET10R5C controller model) | ||
+ | |||
+ | 2) Full dedicated ET15 breakout board | ||
+ | |||
+ | Depending on the breakout board, the ET15 controller will have a different number of I/O ports. Please consult the chart below to find out the necessary model for your setup. | ||
+ | |||
+ | ^ Specs ^ Model 1 ^ Model 2 ^ | ||
+ | | Motor outputs | 6 | 8 | | ||
+ | | Pulse-dir | 6 channels, up to 3MHz | 8 channels, up to 3MHz | | ||
+ | | Analog -10V...+10V outputs | 6 channels | 8 channels | | ||
+ | | Galvanic isolated inputs | 48 | 64(72) | | ||
+ | | Encoder inputs | 4+2 channels | 8 channels | | ||
+ | | Closed loop motion control | (Pulse/ | ||
+ | | Outputs (total) | 28 | 64 | | ||
+ | | Outputs | ||
+ | | PWM outputs | 4 | 8 | | ||
+ | | RS485 Modbus | yes | yes | | ||
+ | |||
+ | //NOTE: The above information is subject to change. // | ||
+ | |||
+ | |||
==== Power supply connection ==== | ==== Power supply connection ==== | ||
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Power Supply 24V DC and +24V and GND pins are shown in a picture below. | Power Supply 24V DC and +24V and GND pins are shown in a picture below. | ||
- | __NOTE: The board has a set of incorrectly labelled 5V pins (labeled | + | __NOTE: The board has a set of incorrectly labelled 5V pins (labelled |
{{: | {{: | ||
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==== ET15 Output pins ==== | ==== ET15 Output pins ==== | ||
- | ET15 board contains | + | ET15 board contains |
- | * ... open collector outputs (OUT# | + | * 56 open collector outputs (OUT#0-OUT#55) |
- | * ... PWM outputs (PWM#1, PWM#2, PWM#3) | + | * 8 PWM outputs (PWM#0 - PWM#7) |
- | + | ||
- | < | + | |
An internal schematic is shown in the picture below. Darlington transistors array chip ULN2803 is used to buffer binary outputs in ET15. Each chip contains 8 transistors and handles 8 binary outputs. | An internal schematic is shown in the picture below. Darlington transistors array chip ULN2803 is used to buffer binary outputs in ET15. Each chip contains 8 transistors and handles 8 binary outputs. | ||
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ET15 pinout for outputs is shown below | ET15 pinout for outputs is shown below | ||
- | {{hardware: | + | {{:mycnc: |
==== Galvanic isolated inputs ==== | ==== Galvanic isolated inputs ==== | ||
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==== ET15 Encoder inputs ==== | ==== ET15 Encoder inputs ==== | ||
- | ET15 board has 8 Incremental encoder inputs. ET15 encoder inputs conform RS422 standard and compatible with most of servo drivers and line driver incremental encoders. 34C86 chip is used in ET15 as a receiver of encoder signals. Internal schematic for line driver encoder inputs is shown on a picture below. | + | ET15 board has 8 Incremental encoder inputs. ET15 encoder inputs conform RS422 standard and compatible with most of the servo drivers and line driver incremental encoders. 34C86 chip is used in ET15 as a receiver of encoder signals. Internal schematic for line driver encoder inputs is shown on a picture below. |
**INCREMENTAL ENCODER** inputs schematic (1 Encoder, ABC signals is shown) | **INCREMENTAL ENCODER** inputs schematic (1 Encoder, ABC signals is shown) | ||
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- | Encoder inputs are mapped to general purpose inputs space, addresses from 64 to 87. | + | Encoder inputs are mapped to general-purpose inputs space, addresses from 64 to 87. |
ET15 board can use up to 88 binary inputs in total. | ET15 board can use up to 88 binary inputs in total. | ||
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==== ADC Inputs ==== | ==== ADC Inputs ==== | ||
- | myCNC-ET15 Control board has 8 ADC inputs 0...5V Range. ADC inputs connectors have also GND and +5V DC output pins for convenient potentiometer connection. The picture below shows an example | + | myCNC-ET15 Control board has 8 ADC inputs 0...5V Range. ADC inputs connectors have also GND and +5V DC output pins for convenient potentiometer connection. The picture below shows an example |
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==== RS422/RS485 Bus ==== | ==== RS422/RS485 Bus ==== | ||
- | RS422 and RS485 bus interfaces are implemented in hardware of myCNC-ET15 control board. Software level includes Modbus ASCII/RTU and Hypertherm Serial communication interfaces for both RS485 and RS422. | + | RS422 and RS485 bus interfaces are implemented in the hardware of myCNC-ET15 control board. Software level includes Modbus ASCII/RTU and Hypertherm Serial communication interfaces for both RS485 and RS422. |
Output schematics of RS422, RS485 interfaces are shown below | Output schematics of RS422, RS485 interfaces are shown below | ||
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==== SSH access to ET15 ==== | ==== SSH access to ET15 ==== | ||
- | ET15 board firmware based on RT-Linux and have SSH server installed and configured to get access to the board, configure it, modify and update firmware. | + | ET15 board firmware based on RT-Linux and have SSH server installed and configured to get access to the board, configure it, modify and update |
Data to access: | Data to access: | ||
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| password | operator | | | password | operator | | ||
| command to access | ssh mycnc@192.168.0.69 | | | command to access | ssh mycnc@192.168.0.69 | | ||
- | | command to access | ssh mycnc@192.168.1.69 | | + | | command to access | ssh mycnc@192.168.4.69 | |
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- | Another way to disable kinematics plugin completely is removing plugin library file **libkinematicsplugin.so** from plugins folder. | + | Another way to disable kinematics plugin completely is removing plugin library file **libkinematicsplugin.so** from the plugins folder. |
Example for MKinematics procedure for robot kinematics is show below | Example for MKinematics procedure for robot kinematics is show below | ||
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- | **MKinematics** procedure is a part of complete C++ class **MKinematicsPlugin** which may have another | + | **MKinematics** procedure is a part of complete C++ class **MKinematicsPlugin** which may have other variables and functions beside of the main **MKinematics**. |
- | For example MKinematics uses variables R1, R2 which are joints length. The variable values can be defines statically in the class constructor | + | For example, MKinematics uses variables R1, R2 which are joints length. The variable values can be defines statically in the class constructor |
<code C> | <code C> | ||
KinematicsPlugin:: | KinematicsPlugin:: | ||
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</ | </ | ||
- | or assigned from the amin firmware code by running **setParameters** procedure which is a part of the plugin interface | + | or assigned from the main firmware code by running **setParameters** procedure which is a part of the plugin interface |
<code C> | <code C> | ||
void KinematicsPlugin:: | void KinematicsPlugin:: | ||
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myCNC controller software uses 64 bits fixed point values and operates " | myCNC controller software uses 64 bits fixed point values and operates " | ||
- | To calculate kinematics formulas the values should be in real units like milimeter, inch, degree or radian. | + | To calculate kinematics formulas the values should be in real units like a millimetre, inch, degree or radian. |
- | Ratios to translate " | + | Ratios to translate " |
<code C> | <code C> |
mycnc/mycnc_et15.txt · Last modified: 2022/01/28 11:21 by ivan