Hello
I have a Optimum BF46 milling machine with the step motor CNC kit
I done 5 years ago a first installation of LinuxCNC and use two LPT port to run it
I try to do a new installation and replace the second lpt port by a Beckhoff EtherCAT coupler (EK1100) on a Debian 10 with Preempt-RT kernel and LinuxCNC 2.9
I has download, compile, install the master EtherCAT ( version 1.5.2 ) and run it
The EtherCAT link is alive add i can get the auto-config with : ethercat xml
Code:
<?xml version="1.0" ?>
<EtherCATInfoList>
<EtherCATInfo>
<!-- Slave 0 -->
<Vendor>
<Id>2</Id>
</Vendor>
<Descriptions>
<Devices>
<Device>
<Type ProductCode="#x044d2c52" RevisionNo="#x00110000">EK1101</Type>
<Name><![CDATA[EK1101 EtherCAT-Koppler (2A E-Bus, ID-Switch)]]></Name>
<Sm Enable="0" StartAddress="#x1000" ControlByte="#x0" DefaultSize="0" />
<TxPdo Sm="0" Fixed="1" Mandatory="1">
<Index>#x1a00</Index>
<Name>ID</Name>
<Entry>
<Index>#x6000</Index>
<SubIndex>1</SubIndex>
<BitLen>16</BitLen>
<Name>ID</Name>
<DataType>UINT16</DataType>
</Entry>
</TxPdo>
</Device>
</Devices>
</Descriptions>
</EtherCATInfo>
<EtherCATInfo>
<!-- Slave 1 -->
<Vendor>
<Id>2</Id>
</Vendor>
<Descriptions>
<Devices>
<Device>
<Type ProductCode="#x04b23052" RevisionNo="#x00100000">EL1202</Type>
<Name><![CDATA[EL1202 2K. Fast Dig. Eingang 24V, 1�s]]></Name>
<Sm Enable="1" StartAddress="#x1000" ControlByte="#x0" DefaultSize="1" />
<TxPdo Sm="0" Fixed="1" Mandatory="1">
<Index>#x1a00</Index>
<Name>Channel 1</Name>
<Entry>
<Index>#x6000</Index>
<SubIndex>1</SubIndex>
<BitLen>1</BitLen>
<Name>Input</Name>
<DataType>BOOL</DataType>
</Entry>
</TxPdo>
<TxPdo Sm="0" Fixed="1" Mandatory="1">
<Index>#x1a01</Index>
<Name>Channel 2</Name>
<Entry>
<Index>#x6000</Index>
<SubIndex>2</SubIndex>
<BitLen>1</BitLen>
<Name>Input</Name>
<DataType>BOOL</DataType>
</Entry>
</TxPdo>
</Device>
</Devices>
</Descriptions>
</EtherCATInfo>
<EtherCATInfo>
<!-- Slave 2 -->
<Vendor>
<Id>2</Id>
</Vendor>
<Descriptions>
<Devices>
<Device>
<Type ProductCode="#x089a3052" RevisionNo="#x00100000">EL2202</Type>
<Name><![CDATA[EL2202 2K. Dig. Ausgang 24V, 0.5A]]></Name>
<Sm Enable="9" StartAddress="#xf00" ControlByte="#x44" DefaultSize="0" />
<RxPdo Sm="0" Fixed="1" Mandatory="1">
<Index>#x1600</Index>
<Name>Channel 1</Name>
<Entry>
<Index>#x7000</Index>
<SubIndex>1</SubIndex>
<BitLen>1</BitLen>
<Name>Output</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x7000</Index>
<SubIndex>2</SubIndex>
<BitLen>1</BitLen>
<Name>TriState</Name>
<DataType>BOOL</DataType>
</Entry>
</RxPdo>
<RxPdo Sm="0" Fixed="1" Mandatory="1">
<Index>#x1601</Index>
<Name>Channel 2</Name>
<Entry>
<Index>#x7010</Index>
<SubIndex>1</SubIndex>
<BitLen>1</BitLen>
<Name>Output</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x7010</Index>
<SubIndex>2</SubIndex>
<BitLen>1</BitLen>
<Name>TriState</Name>
<DataType>BOOL</DataType>
</Entry>
</RxPdo>
</Device>
</Devices>
</Descriptions>
</EtherCATInfo>
</EtherCATInfoList>
When i had in my hal file le chargement du module EtharCAT : loadusr -W lcec_conf ./ethercat_config_n.xml
linuxcnc don't went start : lcec_conf no such file or directory
I thinking the module glue EtherCAT hal is not in the main linuxcnc but i don't know how add it
I found two repository :
github.com/sittner/linuxcnc-ethercat
and
github.com/CalvinHsu1223/LinuxCNC-EtherCAT-HAL-Driver
but noone explain how to add the module to linuxcnc
Somebody have an idee ?
Thanks
