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mycnc:mycnc_et15 [2020/01/06 13:19]
ivan
mycnc:mycnc_et15 [2020/07/06 23:20] (current)
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/​Dir+Encoders) | (Pulse/​Dir+Encoders) | 
 +| Outputs (total) | 28 | 64 | 
 +| Outputs ​(open collector| 24 | 56 | 
 +| 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 ​on the board as 24V). Below is the correct power supply pinout:__+__NOTE: The board has a set of incorrectly labelled 5V pins (labelled ​on the board as 24V). Below is the correct power supply pinout:__
  
 {{:​mycnc:​et15-power-v2.jpg}} {{:​mycnc:​et15-power-v2.jpg}}
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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 ​for potentiometer connected to ADC2 input.+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 ​of potentiometer connected to ADC2 input.
  
  
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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 ​the firmware.
  
 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 ​variables and functions beside of the main **MKinematics**.+**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 exampleMKinematics 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(QObject *parent) : KinematicsPlugin::​KinematicsPlugin(QObject *parent) :
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 </​code>​ </​code>​
  
-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::​setParameters(uint32_t addr, double param) void KinematicsPlugin::​setParameters(uint32_t addr, double param)
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 myCNC controller software uses 64 bits fixed point values and operates "​units"​ which are equal to "​pulse"​ (for pulse-dir motor drivers) or "​encoder unit" for analogue servo control. myCNC controller software uses 64 bits fixed point values and operates "​units"​ which are equal to "​pulse"​ (for pulse-dir motor drivers) or "​encoder unit" for analogue servo control.
  
-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 "​pulses"​ to "milimeters" or "​radians"​ before kinematics translation can be either assigned statically or received from the main software through interface procedure **setInputRatios**+Ratios to translate "​pulses"​ to "millimetres" or "​radians"​ before kinematics translation can be either assigned statically or received from the main software through interface procedure **setInputRatios**
  
 <code C> <code C>
mycnc/mycnc_et15.1578334761.txt.gz · Last modified: 2020/01/06 13:19 by ivan