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 .

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

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

Sure that -lethercat is in /opt/etherlab/bin/ ?

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?

I referred to forum.linuxcnc.org/24-hal-components/223...ver?start=500#101305 .

Hello

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

Thank you

hi Sirop,
  Sorry I misunderstood, added "-L / opt / etherlab / lib /, what library is?" -lethercat "? The same thing happens to me

Thank you

So do you still have any problems when building linuxcnc-ethercat?

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.