100 lines
12 KiB
Markdown
100 lines
12 KiB
Markdown
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## **OPENCNC-J** [📖中文README](/README.md)
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* Introduction
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* This is an open-source integration project based on Linuxcnc. Its aim is to facilitate electrical engineers in using a combination of Linuxcnc + EtherCAT with CIA402 protocol + Raspberry Pi (or X86 - Debian).
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* Current Version - Looking forward to more developers joining
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* 0.1.0
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* Personal Video Release Page - Detailed Project Content
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* [Bilibili - OPENCNC-J Development Process Collection](https://space.bilibili.com/341589947/channel/collectiondetail?sid=1918828)
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* Notice & Warning!!!
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* This is an open-source project. It does not provide any warranty or compensation, and involves electrical safety warnings. Please be responsible for it yourself.
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* This project follows the GPL-3.0 open-source license.
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## **Installation Instructions - Taking Raspberry Pi Installation as an Example**
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Install [Linuxcnc](https://linuxcnc.org/)
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1. Download the official installation package - LinuxCNC 2.9.1[Raspberry Pi OS based on Debian 12 Bookworm](https://www.linuxcnc.org/iso/linuxcnc-2.9.1-bookworm-rpi4.img.xz)
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2. Create an SD card system - It is recommended to use the [official Raspberry Pi](https://www.raspberrypi.com/software/) SD card system creation tools for[Windows](https://downloads.raspberrypi.org/imager/imager_latest.exe) &[Ubuntu](https://downloads.raspberrypi.org/imager/imager_latest_amd64.deb)
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3. Insert the card to boot the Raspberry Pi
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4. Configure Linuxcnc - [To be filled in]
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Install dependencies - [Refer to the EtherCAT installation example](https://forum.linuxcnc.org/ethercat/45336-ethercat-installation-from-repositories-how-to-step-by-step), CIA402
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1. EtherCAT installation
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1. Open terminal:`sudo apt install ethercat-master libethercat-dev linuxcnc-ethercat`
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2. If installation fails, please refer to the example
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3. Check the MAC address of the network port:`ip a`
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1. Record the MAC address, e.g.,`xx:aa:yy:zz:bb:cc`
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4. Enter (configure) into the ethercat.conf file
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1. `sudo geany /etc/ethercat.conf`
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2. Modify the file with geany
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1. `MASTER0_DEVICE="xx:aa:yy:zz:bb:cc"` - Replace with the MAC address you just obtained`DEVICE_MODULES="generic"`
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5. Set the EtherCAT service to start on boot
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1. `sudo systemctl enable ethercat.service`
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2. `sudo systemctl start ethercat.service`
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3. `sudo systemctl status ethercat.service`
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4. `sudo chmod 666 /dev/EtherCAT0`
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5. EtherCAT test command
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1. `ethercat slaves` - Check for errors to confirm successful installation
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2. Restart
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2. Install CIA402
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1. Return to the user directory:`cd`
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2. `git clone https://github.com/dbraun1981/hal-cia402` - If there's an error, please confirm if git tool is installed
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1. `sudo apt install git` - Git installation command
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3. Enter the hal-cia402 folder:`cd hal-cia402`
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4. Compile and install the 402 tool package:`sudo halcompile --install cia402.comp`
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That completes the most challenging part 👍
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## **Driver Parameter Settings**
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* When starting, shows AL221 alarm [Encoder not zeroed]
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* Set zero point: Click on driver panel operation → Switch to [AF.CEN] → Press S → Press S again → Set successfully #Refer to the driver manual P39 - 4.3.3 Absolute operation
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* Motor Reversing
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* If the motor direction is incorrect, the motor direction can be switched
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* Setting method: Modify parameter P1.01 = 1 or 0
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* Electronic Gear Ratio
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* Electronic gear ratio numerator P3.08 Electronic gear ratio denominator P3.10
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## **Directory Structure**
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* CAD - Electrical schematic diagram in PDF format
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* linuxcnc - Contains all the required configuration files
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## **Project Procurement List**
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Disclaimer: There is no commercial relationship with the procurement links, please inquire and compare prices yourself.
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| Item | URL | Model | Quantity | Notes |
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| ----------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------- | --------------------- | -------------------------------------------------------------------------------------------------------- |
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| XY Axis Motor+Drive | [URL](https://detail.tmall.com/item.htm?id=651348933042&spm=2015.23436601.0.0) | (New) 400W Servo+Drive+5m Cable<br/>Motor Model: RSM-M06L1330A (No Brake) | 2 | Multi-turn Encoder<br/>Absolute Origin, This costs extra,<br/> 5m Cable<br/>Supports EtherCAT+CIA402 |
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| Z Axis Motor+Drive | [URL](https://detail.tmall.com/item.htm?id=651348933042&spm=2015.23436601.0.0&skuId=4870002170807) | (New) RS400E Servo+Drive+5m Cable<br/>Motor Model: RSM-M06L1330A-Z (With Brake) | 1 | Multi-turn Encoder<br/>Absolute Origin!!! This costs extra, <br/>5m Cable<br/>Supports EtherCAT+CIA402 |
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| Spindle Motor+Drive | [URL](https://detail.tmall.com/item.htm?id=651348933042&spm=2015.23436601.0.0&skuId=4870002170807) | (New) RS400E Servo+Drive+5m Cable<br/>Motor Model: RSM-M06J1330A (No Brake) | 1 | Standard Encoder<br/>, 5m Cable<br/>Supports EtherCAT+CIA402 |
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| Raspberry Pi_4 Dev Board | [URL](https://detail.tmall.com/item.htm?abbucket=2&id=608798378397&ns=1&skuId=4551930747475&spm=a230r.1.14.43.2fad28eea6m3ZB) | Pi 4B/8G[Essential Package] | 1 | |
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| Micro HDMI to HDMI Cable | [URL](https://detail.tmall.com/item.htm?abbucket=2&id=658377041318&ns=1&skuId=4747932408936&spm=a230r.1.14.7.399d1c02A92EDD) | 3m | 1 | |
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| EtherCAT Servo Bus | [URL](https://detail.tmall.com/item.htm?abbucket=2&id=674202033100&ns=1&sku_properties=1627207:21423176984&spm=a230r.1.14.1.4e83345adWD5Zj) | High Flexibility Gigabit Shielded Ethernet Cable - Green | 3(0.5m)<br/>1(1.5m) | - |
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| Raspberry Pi_Rail Box | [URL](https://item.taobao.com/item.htm?spm=a230r.1.14.7.ae487264WDE38q&id=663400858369&ns=1&abbucket=2#detail) | | 1 | |
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| Monitor with Case | [URL](https://detail.tmall.com/item.htm?id=666450227637&skuId=5093251227751&spm=pc_detail.27183998.202208.1.705a7dd62FFPiD) | 7 inch 1024*600 IPS+Touch+Case | 1 | Not recommended,<br/>Broke in less than a month |
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| Monitor Stand | [URL](https://detail.tmall.com/item.htm?abbucket=17&id=687974425740&rn=c8d5c0a97e71825d8e11d5a7d7fd0f17&spm=a1z10.5-b.w4011-23875343074.107.14993b2bXRLXEy&skuId=4901270192689) | | 1 | |
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| Handwheel | [URL](https://item.taobao.com/item.htm?spm=a21n57.1.0.0.10a6523cQWLmki&id=45130365561&ns=1&abbucket=0#detail) | MACH3 Wired Handwheel 4 Axis | 1 | |
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| Rail Socket | [URL](https://detail.tmall.com/item.htm?abbucket=2&id=677701080516&ns=1&spm=a21n57.1.0.0.162c523chCpKY3&skuId=5038263790059) | 5 Slots | 1 | |
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| USB Cable | [URL](https://item.taobao.com/item.htm?spm=a21n57.1.0.0.19d6523c0w91YJ&id=542169862221&ns=1&abbucket=2#detail) | Micro USB Data Cable Black 5m | 1 | |
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| Axial Fan | [URL](https://detail.tmall.com/item.htm?abbucket=2&id=658927980547&ns=1&skuId=4759805705081&spm=a21n57.1.0.0.6a79523cvWfTb0) | Flame Retardant ZL-803+12038 Fan AC220V+Protective Net | 2 | |
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| Emergency Stop Button | [URL](https://detail.tmall.com/item.htm?abbucket=2&id=552913814211&ns=1&spm=a21n57.1.0.0.347b523ctQ5vgw) | | | |
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| Circuit Breaker (Schneider) | | IC65N-C10A/2P 10A<br/>IC65N-C6A/2P 6A | 1<br/>2 | Please purchase on your own |
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| 24V DC Power Supply | | MW Power Supply, 120W | 1 | Please purchase on your own |
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## Special Thanks
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* Thanks to Guilin Guanglu Digital Measurement and Control Co., Ltd. for their support of this open-source project
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* Tmall Flagship Store - [Product Purchase Address](https://guanglujj.tmall.com/shop/view_shop.htm?spm=a21n57.1.0.0.396d523cnfFegq&appUid=RAzN8HWJMBXJctTqz11nosKY98Wm2AwEqKJEpqoPs9YQHKEVNDc)
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* Thanks to the developers who helped me during the development process [Hakan](https://forum.linuxcnc.org/cb-profile/22448-hakan),[rodw](https://forum.linuxcnc.org/cb-profile/rodw), and [garlicbread](https://forum.linuxcnc.org/cb-profile/garlicbread)
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* Project References
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* [YouTube - Ethercat + linuxcnc + Raspberry pi?](https://www.youtube.com/watch?v=NQ-HnrusGJo&t=16s)
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