Ethercat HAL driver

Hi udoS,

I think will be better for me right now to use open source software at University.

But will be nice to know if you have experience with LinuxCNC and TwinSAFE.
Because is undocumented right now and I guess just few knows how to get that working (I haven't yet, unfortunately).


Regards.

@juniorfi
Sorry, no I do have not. I left the etherlab-ethercat some time back. No TwinSAFE.
And no Docu is one of the major problems in Linuxcnc. 
I use a soft-plc with an etherCAT Master and a shared memory to connect to Lcnc.
I'm working on a nml interface but not ready yet.
Every thing regarding etherCAT is done in the plc.

Best regds
Udo

Hi.
I am looking for setting up a raspberry pi 4 as ethercat slave to send image position to a ethercat Master to a PC with preemt rt with linuxcnc-ethercat and LCNC 2.8 almost all show how setting raspberry pi like Master but never show how setting one like slave.
Thanks.

@yrodriguez

This board makes the RPi3/4 a slave. Works great. Easy to setup.
Gives you a max of 128 Bytes Space.
Best thing: Great support ! "Andrea Bausano"
www.bausano.net/en/hardware/ethercat-e-a...t-and-raspberry.html

Best regds.  udo 

Thanks udo.
Will be possible a hal component for LCNC that convert a raspberry pi 4 in a ethercat slave.

hello,

you can't build an ethercat slave without an licensed hardware chip or Asic firmware by beckhoff. You can code your own master, but not legaly a slave.
For this you can by boards/Chips from Beckhoff ET1100 / ET1815 or licensed ic's at Infinion / Microchip etc...
if you need an high counts of pieces them cost only a few dollars...
for prototypes or homebuildings i would by an ethercat evaluation Kit and then use Soes (simple open ethercat slave) or buy an ready to use rasppi or arduino expansion board.

getting your own slave running with linuxcnc ethercat then, is the smallest step.... (coding own driver or config manual in the conf xml.)