LinuxCNC x EtherCAT (Beckhoff EK1100)

About this repository

This repo provides a collection of LinuxCNC commands, configuration files, resources collected through hands-on use with LinuxCNC using the EtherCAT protocol, BECKHOFF modules and OMRON 1SN servo drive.

LinuxCNC version used is: 2.9.6

Summary

• LinuxCNC x EtherCAT (Beckhoff EK1100)
  • About this repository
  • Summary
  • Hardware overview
  • Phase 1: installing LinuxCNC
  • Phase 2: setup EtherCAT master
  • Phase 3: commissioning LinuxCNC slaves (BECKHOFF and OMRON)
  • Phase 4: customizing LinuxCNC

Hardware overview

flowchart LR
    A[Computer] -->|EtherCAT| B[Beckhoff EK1100]

    subgraph IO_Modules [Beckhoff modules]
        C[Beckhoff EL1008]
        D[Beckhoff EL2008]
        B --- C --- D
    end
 
    B ---->|EtherCAT| SVD[OMRON R88D-1SN servo drive]
    SVD --> SVM[OMRON R88M motor]

    classDef ethercat fill:#FF2800,stroke:#000000,color:#000000;
    class B,C,D ethercat;
    classDef linuxcnc fill:#0096FF,stroke:#000000,color:#000000;
    class A linuxcnc;

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Phase 1: installing LinuxCNC

Note

To operate machinery LinuxCNC requires a special kernel with real-time extensions.

See: installing-linuxcnc

Phase 2: setup EtherCAT master

See: setup-ethercat

Phase 3: commissioning LinuxCNC slaves (BECKHOFF and OMRON)

See: commissioning-linuxcnc

Phase 4: customizing LinuxCNC

See: customizing-linuxcnc