Ethercat HAL driver

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02 Nov 2017 09:37 #101179 by sirop
Replied by sirop on topic Ethercat HAL driver

sqmathlete wrote: Hi Frank,

Then when linuxcnc starts up, the slave is in the op-state BUT, for example changing modes is not possible since linuxcnc has no way to change state. example set 0x6060 from 0x08 CSP mode to 0x06 Home mode.
Dan


If you want to interchange between 0x08 CSP mode to 0x06 Home mode, you have to code a state machine component which
changes the op-state to pre-op state and then changes MODE OF OPERATION INDEX 0X6060 to whatever by SDO communication similar to github.com/sirop/MK_sdo_download/blob/master/sdo_download.comp .

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04 Nov 2017 11:30 #101305 by chimeno
Replied by chimeno on topic Ethercat HAL driver
Hello everyone, if you can help me, I just installed linuxcnc -stretch-uspace-i386-r9, install igh-ethercat with generic driver, install linuxcnc-ethercat, add to the file realtime.mk, line 27 "-L / opt / etherlab / bin / "make..ok. start linuxcnc and give me error "lcec: dlopen: libeethercat.so.1: can not open shared object file: no such file or directory ...

any ideas?

Thank you

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09 Nov 2017 09:32 #101539 by chimeno
Replied by chimeno on topic Ethercat HAL driver
good morning,
Can linuxcnc-ethercat work with the linuxcnc -stretch-uspace-i386-r9 version, does anyone work well? I have problems executing it.

Thank you

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10 Nov 2017 04:48 #101588 by sirop
Replied by sirop on topic Ethercat HAL driver
Sure that -lethercat is in /opt/etherlab/bin/ ?
The following user(s) said Thank You: chimeno

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10 Nov 2017 15:26 #101608 by chimeno
Replied by chimeno on topic Ethercat HAL driver
Hello Sirop, thanks for answering,

-lethercat is not here,
-libethercat is in / opt / etherlab / lib /

I have installed the system linuxcnc -stretch-uspace-i386-r9 core PR-PREEMPT

I install igh ethercat-hg
I edit the file / script / sysconfig / ethercat I add MAC and GENERIC
./bootstrap
./configure --disable-8139too --enable-generic --enable-sii-assign
make
make modules
make install
make modules_install
depmod
mkdir / etc / sysconfig
cp / opt / etherlab / etc / sysconfig / ethercat / etc / sysconfig / ethercat
ln -s /opt/etherlab/etc/init.d/ethercat /etc/init.d/ethercat
ln -s / opt / etherlab / bin / ethercat / usr / bin / etherc

./ethercat start
Done .... ok
ethercat master
Okay
ethercat Slave
Okay

Is there something wrong?

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10 Nov 2017 15:52 #101612 by sirop
The following user(s) said Thank You: chimeno

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10 Nov 2017 16:23 #101618 by chimeno
Replied by chimeno on topic Ethercat HAL driver
Hello

in the directory / opt / etherlab / bin .. only one file called "ethercat"

Thank you

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11 Nov 2017 07:29 #101641 by chimeno
Replied by chimeno on topic Ethercat HAL driver
hi Sirop,
  Sorry I misunderstood, added "-L / opt / etherlab / lib /, what library is?" -lethercat "? The same thing happens to me

Thank you

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11 Nov 2017 08:56 #101647 by sirop
Replied by sirop on topic Ethercat HAL driver
So do you still have any problems when building linuxcnc-ethercat?

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11 Nov 2017 09:06 - 11 Nov 2017 09:22 #101648 by chimeno
Replied by chimeno on topic Ethercat HAL driver

File Attachment:

File Name: realtime.c
File Size:1 KB

File Attachment:

File Name: realtime.c
File Size:1 KB
hi Sirop,
if i have a problem running linuxcnc 2.7 when it starts erro "dlopen: libeethercat.so.1: can not open shared object file: no such file or directory ..."

I attach the modified file realtime.mk, it compiles well with make, without errors.
Attachments:
Last edit: 11 Nov 2017 09:22 by chimeno.

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