# Introduction

The system uses LinuxCNC as its control platform, with two igus® dryve D1 controllers which are used to control a stepper motor and a brushless motor, respectively. The system diagram is shown in {numref}`fig:system_diagram`. Below, we detail the system's configuration, including the boards and components used.

:::{ext-figure} images/system_diagram.\*
:height-html: 300px
:name: fig:system_diagram

System diagram.
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## LinuxCNC

LinuxCNC, formerly known as the {{EMC}}, is a software system designed for the computer control of various machine tools, such as milling machines and lathes, as well as robots like PUMA and SCARA, and other computer-controlled machinery with up to nine axes. LinuxCNC is free, open-source software. Current versions are fully licensed under the [{{GPL}}](https://www.gnu.org/licenses/gpl.html) and [{{LGPL}}](https://gnu.org/licenses/lgpl.html).

In our system, LinuxCNC communicates with the igus® dryve D1 controllers via the MESA 7I96S and 7I77 boards. LinuxCNC is responsible for coordinating the operation of all motors, providing precise, real-time control over the system.

Detailed information on LinuxCNC’s operation and configuration can be found in {numref}`sec:linuxcnc`.

## System Hardware

{numref}`fig:installation` shows a photograph of the testbed setup. This system comprises the following key components:

:::{figure} images/installation_labelled.*
:name: fig:installation

Testbed setup.
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- **[Aim-TTI EL302RD](https://www.aimtti.com/product-category/dc-power-supplies/aim-el-rseries) Dual Power Supply**: Provides two independent power outputs, each capable of delivering a maximum of 30 V and 2 A. For the testbed setup, we required 24 V and 5 V power.

- **Two [igus® dryve D1](https://www.igus.eu/product/D1) Motor Controllers**: igus® dryve D1 can be used for controlling stepper, DC, and brushless motors in industrial and automation applications. The igus® dryve D1 supports the following communication methods with control systems:

  - **CANopen**: A communication protocol widely used in industrial automation systems, built upon the CAN bus (ISO 11898) standard.
  - **Modbus TCP**: A communication protocol extensively employed in industrial applications for data transmission over Ethernet networks using the TCP protocol.
  - **Analog and Digital Signals**: In addition to network communication options, the igus® dryve D1 can receive analog and digital signals for direct control.

    In this system, we communicate with the igus® dryve D1 controllers using MESA 7I96S and 7I77 boards using digital and analog signals. This setup enables LinuxCNC to have precise, real-time control over the motors' operation.

- **[MESA 7I96S](https://store.mesanet.com/index.php?route=product/product&product_id=374) Board**: This board is the primary hardware interface between LinuxCNC and the igus® dryve D1 controllers. It connects to the computer running LinuxCNC via an Ethernet connection. Its main functions include:

  - Controlling the stepper motor by sending step and direction signals to its designated igus® dryve D1 controller.
  - Receiving input signals from limit switches.

- **[MESA 7I77](https://store.mesanet.com/index.php?route=product/product&product_id=120) Daughter Board**: This board connects to the 7I96S board via a 25-pin flat cable. Its primary functions are:

  - Controlling the brushless motor by sending an analog speed signal to its corresponding igus® dryve D1 controller.
  - Receiving position feedback signals from motor encoders.
  - Receiving warning and error signals from the controllers.
  - Receiving the emergency stop signal when the emergency stop switch is activated.

- **Brushless Motor**: A [STEPPERONLINE 42BLS40-24-01](https://www.omc-stepperonline.com/24v-4000rpm-0-0625nm-26w-1-8a-42x42x40mm-brushless-dc-motor-42bls40-24-01), equipped with a [CUI Devices AMT102-0512-I5000-S](https://www.cuidevices.com/product/motion-and-control/rotary-encoders/incremental/modular/amt10-series) optical encoder of 512 {{PPR}}.

- **Stepper Motor**: A [STEPPERONLINE 17HS24-2104-ME1K](https://www.omc-stepperonline.com/nema-17-closed-loop-stepper-motor-65ncm-92oz-in-with-magnetic-encoder-1000ppr-4000cpr-17hs24-2104-me1k). This motor includes a 1000 {{PPR}} magnetic encoder.

- **LED Indicators**: Custom indicators with red, yellow, and green LEDs, which provide a visual display of the system's status.

- **Two Buttons for Limit Sensor Simulation**.

- **Emergency Stop Switch**: This switch has both a normally closed and a normally open contact.

The system wiring diagram, detailing all components and their interconnections, is available in the {{project_url_link}}.