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--- mycnc:mycnc_et15 [2020/01/06 13:19] – ivan
+++ mycnc:mycnc_et15 [2022/01/28 11:21] (current) – ivan
@@ Line 1: / Line 1: @@
 ===== myCNC-ET15 CNC controller =====
-(Preview)
+Currently, two breakout boards are available for the myCNC-ET15 controller:
+) ET10/ET15 board (comes with the ET10R5C controller model)
+) 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 |
+| 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 ====
@@ Line 8: / Line 31: @@
 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}}
@@ Line 57: / Line 80: @@
 ==== 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)
@@ Line 69: / Line 92: @@
-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.
@@ Line 75: / Line 98: @@
 ==== 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.
@@ Line 84: / Line 107: @@
 ==== 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
@@ Line 147: / Line 170: @@
 ==== 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:
@@ Line 155: / Line 178: @@
 | password | operator |
 | 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 |
@@ Line 179: / Line 202: @@
-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
@@ Line 210: / Line 233: @@
-**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 example, MKinematics uses variables R1, R2 which are joints length. The variable values can be defines statically in the class constructor
 <code C>
 KinematicsPlugin::KinematicsPlugin(QObject *parent) :
@@ Line 227: / Line 250: @@
 </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>
 void KinematicsPlugin::setParameters(uint32_t addr, double param)
@@ Line 241: / Line 264: @@
 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>