This repository contains software, pcb shematics and layouts, reference documentation etc that I used during the creation of my own EtherCAT device.
This job is documented in a series of Youtube videos, from my first attempts to understand how EtherCAT works, to making my own pcb, program it and testing it in LinuxCNC.
=======
This was something, I almost gave up. But here it is. A working step generator. Actually, not one but two step generators for the EaserCAT 2000 board. For a step generator it is all about timing, timing and timing. I'll walk you through what I had to do to get it to work. It can give some general insight into how EtherCAT for linuxcnc works.
Biggest changes this time are in the Firmware folder. The Documentation folder has design details on the second step generator. A small but fatal indexing bug was fixed in the EEPROM_generator. For all details, read the git log. Too much to mention all.
Introducing the new EaserCAT 3000 board. It's an evolution of the EaserCAT 2000 and intended to be used in my plasma cutter. It features four stepper driver outputs, input for a THCAD arc voltage card, an encoder, an analog output (for spindle +- 10V), eigth digital inputs, four digital outputs, plus some 12 I/O for any possible extension.
The KiCAD files are in the KiCAD folder
I have now put things together so the EaserCAT 2000 card controls my small CNC lathe. Two stepper generators, one each for the X and Z axes, and an encoder counter for the spindle encoder are on this small card.
While it works there are still issues caused by the variation in cycle time. Thankfully I was able to reduce the variation from 80-100 microseconds down to 2-3 microseconds,
The stepper driver generator shows up and makes some stepper motor sounds. The two big things this time have been setup of the timer for the stepper pulses and synchronizing the EtherCAT cycle with the linuxcnc servo-thread cycle. Thankfully I don't show much of that.
I hook up the EaserCAT 2000 board to my mini-lathe and make it work. Documentation is available here, please select the Video5 branch.
In this video it starts to be interesting. I have got the pcb and I try to make it work. Now I finally make documentation available, see this folder.
I made a rudimentary EtherCAT encoder module. To test it I need something better than my test setup so I start to design my own PCB to be used for testing with LinuxCNC.
Testing the SPI connection between the MCU and the LAN9252 chip. Get into state diagrams for EtherCAT and for CIA402.
My first tries with the LAN9252 chip. Getting accustomed to some tools.
Open this in PlatformIO. PlatformIO might be able to install all necessary software. If not, you need at least Arduino for STM32 (STM32duino) and SPI. PlatformIO might be able to figure that out, I hope so. SPI settings are in lib/soes/hal/spi.cpp if you are interested. SOES is the Arduino port of SOES from https://github.com/kubabuda/ecat_servo/tree/main/examples/SOES_arduino My own code is in main.cpp. The encoder counter code is in STM34_Encoder.cpp
Open this with Kicad. I have put the symbols and footprints in there, just set the right paths. The design is in the state I ordered the pcb from Aisler, Germany.
contains reference documentation, schematics of several LAN9252 evaluation boards and other boards. This is from where I got inspiration and ideas to the design. No I didn't read all the reference documentation - I copied most from these designs and that's why it also worked the first time. Freerouting was used to route the pcb. Normally I route the nets by hand but this time it was a bit much and it came out quite nice and, most importantly, it worked.
Access the folder with a file browser and click on index.html to make or update your own xml file (and other necessary files, incl eeprom bin). Copy the contents to Firmware/lib/soes
and to Twincat esi xml file directory c:\twincat\3.1\io\modules\ethercat
The original EEPROM_generator is found here https://github.com/kubabuda/EEPROM_generator
The .ioc file can be opened in CubeMX. The STM32F407 processor has functions tied to specific pins, the .ioc file has this info. This is just for reference.
I have put Dig_8IN_8OUT.xml here, this is an example ESI file for the LAN9252 IC standalone, no MCU needed. It's sometimes handy to have the simplest possible ESI file at ahnd, here it is. You find the ESI file for the Encoder application here
The configuration files and the hal component I used are placed here.
Arduino sketch to program the AT24C32 eeprom with a valid eeprom content. Hook up the eeprom using I2C and run the program. The verification in the of theprogram must be passed for valid programming.
###License
Don't violate the original licenses. No warranties. Use it any way you like.