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OPENCNC-J 📖中文README

  • Introduction
    • 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).
  • Current Version - Looking forward to more developers joining
    • 0.1.0
  • Personal Video Release Page - Detailed Project Content
  • Notice & Warning!!!
    • 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.
    • This project follows the GPL-3.0 open-source license.

Installation Instructions - Taking Raspberry Pi Installation as an Example

Install Linuxcnc

  1. Download the official installation package - LinuxCNC 2.9.1Raspberry Pi OS based on Debian 12 Bookworm
  2. Create an SD card system - It is recommended to use the official Raspberry Pi SD card system creation tools forWindows &Ubuntu
  3. Insert the card to boot the Raspberry Pi
  4. Configure Linuxcnc - [To be filled in]

Install dependencies - Refer to the EtherCAT installation example, CIA402

  1. EtherCAT installation
    1. Open terminal:sudo apt install ethercat-master libethercat-dev linuxcnc-ethercat
    2. If installation fails, please refer to the example
    3. Check the MAC address of the network port:ip a
      1. Record the MAC address, e.g.,xx:aa:yy:zz:bb:cc
    4. Enter (configure) into the ethercat.conf file
      1. sudo geany /etc/ethercat.conf
      2. Modify the file with geany
        1. MASTER0_DEVICE="xx:aa:yy:zz:bb:cc" - Replace with the MAC address you just obtainedDEVICE_MODULES="generic"
    5. Set the EtherCAT service to start on boot
      1. sudo systemctl enable ethercat.service
      2. sudo systemctl start ethercat.service
      3. sudo systemctl status ethercat.service
      4. sudo chmod 666 /dev/EtherCAT0
      5. EtherCAT test command
        1. ethercat slaves - Check for errors to confirm successful installation
        2. Restart
  2. Install CIA402
    1. Return to the user directory:cd
    2. git clone https://github.com/dbraun1981/hal-cia402 - If there's an error, please confirm if git tool is installed
      1. sudo apt install git - Git installation command
    3. Enter the hal-cia402 folder:cd hal-cia402
    4. Compile and install the 402 tool package:sudo halcompile --install cia402.comp

That completes the most challenging part 👍

Driver Parameter Settings

  • When starting, shows AL221 alarm [Encoder not zeroed]
    • 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
  • Motor Reversing
    • If the motor direction is incorrect, the motor direction can be switched
      • Setting method: Modify parameter P1.01 = 1 or 0
  • Electronic Gear Ratio
    • Electronic gear ratio numerator P3.08 Electronic gear ratio denominator P3.10

Directory Structure

  • CAD - Electrical schematic diagram in PDF format
  • linuxcnc - Contains all the required configuration files

Project Procurement List

Disclaimer: There is no commercial relationship with the procurement links, please inquire and compare prices yourself.

Item URL Model Quantity Notes
XY Axis Motor+Drive URL (New) 400W Servo+Drive+5m Cable
Motor Model: RSM-M06L1330A (No Brake)		 2 Multi-turn Encoder
Absolute Origin, This costs extra,
5m Cable
Supports EtherCAT+CIA402
Z Axis Motor+Drive URL (New) RS400E Servo+Drive+5m Cable
Motor Model: RSM-M06L1330A-Z (With Brake)		 1 Multi-turn Encoder
Absolute Origin!!! This costs extra,
5m Cable
Supports EtherCAT+CIA402
Spindle Motor+Drive URL (New) RS400E Servo+Drive+5m Cable
Motor Model: RSM-M06J1330A (No Brake)		 1 Standard Encoder
, 5m Cable
Supports EtherCAT+CIA402
Raspberry Pi_4 Dev Board URL Pi 4B/8G[Essential Package] 1
Micro HDMI to HDMI Cable URL 3m 1
EtherCAT Servo Bus URL High Flexibility Gigabit Shielded Ethernet Cable - Green 3(0.5m)
1(1.5m)		 -
Raspberry Pi_Rail Box URL 1
Monitor with Case URL 7 inch 1024*600 IPS+Touch+Case 1 Not recommended,
Broke in less than a month
Monitor Stand URL 1
Handwheel URL MACH3 Wired Handwheel 4 Axis 1
Rail Socket URL 5 Slots 1
USB Cable URL Micro USB Data Cable Black 5m 1
Axial Fan URL Flame Retardant ZL-803+12038 Fan AC220V+Protective Net 2
Emergency Stop Button URL
Circuit Breaker (Schneider) IC65N-C10A/2P 10A
IC65N-C6A/2P 6A		 1
2		 Please purchase on your own
24V DC Power Supply MW Power Supply, 120W 1 Please purchase on your own

Special Thanks