Ethercat HAL driver

andrax,

If you want to send an uint32 number, who's value is 1000, and 000003E8 in hex format, then you should write E8 03 00 00 in sdoRawData field

Hello,

the question about PDO and SDO has been resolved.
I found the values ​​and understand the entries.
I have now created the xml without Axes and tested in linuxcnc.
The ethercat haldriver brings a lot of errors but linuxcnc starts and I can address the pins of el1014 and el2008.
The el 6731 has the following statuses:

RUN: flasch
BF: flash
ERR: off

in the Hal:
state-safeop = false
slave-preop = true
state-op = true
state-init = false
slaves-responding = 0x00000004
link-up = true

is there a solution for the errors of ethercat-haldriver?

Best regards

Andre

Hello,

i have an entry:

PDO Content: 0x1600
Size: 6.0
Offs: 0.0
Name: Outputs.3 PD (3 words)_1_0
Type: ARRAY [0..2] OF UNIT

How do I describe this in the XML ?

Best regards

Andre

Hallo,

ich habe die Klemme el6731 zum Laufen bekommen.
Der Datenaustausch funktioniert.

Vielen Dank für eure Hilfe...

Hi i did a install for 64 bit linuxcnc

terminal : sudo apt-get install mercurial

hg clone hg.code.sf.net/p/etherlabmaster/code ethercat-hg

./bootstrap
./configure --disable-8139too --enable-generic (no real time driver)
or take look for a currently used ethernet driver :
sudo lspci -v | grep "Ethernet\|driver"|grep -A1 Ethernet
in my case output = e1000e
./configure --disable-8139too --with-e1000e-kernel

make
make modules

sudo make install
sudo make modules_install
sudo depmod

/opt/etherlab/etc/init.d/ sudo ./ethercat restart

So far so good. Terminal say's :
I think i have to configure a few files.

My system is : 4.9.0-5-rt-amd64

Hi Rene (@ReneCNC), I think I am in your situation but I still do not manage to make it work. I have got:

LINUXCNC - 2.8.0~pre1
Machine configuration directory is '/home/plotter/linuxcnc/configs/LAMGUI'
Machine configuration file is 'lam.ini'
Starting LinuxCNC...
Found file(REL): ./lam-v1.hal
Note: Using POSIX realtime
lcec: dlopen: /usr/lib/linuxcnc/modules/lcec.so: undefined symbol: rtapi_mutex_get
./lam-v1.hal:3: waitpid failed /usr/bin/rtapi_app lcec
./lam-v1.hal:3: /usr/bin/rtapi_app exited without becoming ready
./lam-v1.hal:3: insmod for lcec failed, returned -1
Shutting down and cleaning up LinuxCNC...
Note: Using POSIX realtime
LinuxCNC terminated with an error. You can find more information in the log:
/home/plotter/linuxcnc_debug.txt
and
/home/plotter/linuxcnc_print.txt
as well as in the output of the shell command 'dmesg' and in the terminal

What did you do to make it work? I have the good rt headers installed, so still surprised it does not work.
Cheers,
Nicolas