Ethercat HAL driver

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

According to IgH Master 1.5.2 Documentation - EtherLab

# cd /opt/etherlab
# cp etc/sysconfig/ethercat /etc/sysconfig/
# ln -s etc/init.d/ethercat /etc/init.d/
# insserv ethercat

Now the sysconfig file /etc/sysconfig/ethercat (see subsection 7.4.2), or the con-
figuration file /etc/ethercat.conf, if using systemd, has to be customized. The minimal
customization is to set the MASTER0_DEVICE variable to the MAC address of the Ether-
net device to use (or ff:ff:ff:ff:ff:ff to use the first device offered) and selecting
the driver(s) to load via the DEVICE_MODULES variable.

@Nico2017

I had the same problem, and found that lcec.so is not linked with liblinuxcnchal.so and libethercat.so.
You can check that by:I reverted commit 7b1e4bb and it works.

Hi,
committing to 7b1e4bb I got a different issue:

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: ecrt_slave_config_sdo
./lam-v1.hal:2: waitpid failed /usr/bin/rtapi_app lcec
./lam-v1.hal:2: /usr/bin/rtapi_app exited without becoming ready
./lam-v1.hal:2: 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

Are you running linuxcnc 2.7 or 2.8? Here are some of my system details:
uname -a
Linux plotter 4.9.0-8-rt-686-pae #1 SMP PREEMPT RT Debian 4.9.110-3+deb9u6 (2018-10-08) i686 GNU/Linux

cat /etc/debian_version
9.5
lsb_release -da
No LSB modules are available.
Distributor ID: Debian
Description: Debian GNU/Linux 9.5 (stretch)
Release: 9.5
Codename: stretch

Cheers,
Nicolas

Hi Rene,

After my post i did a new install from clean hard disk. 64 bit debian stretch version.
After finishing i got a other error message, file not found....

I installed version from orginal ethercat site, because they say it's 64 bit compatible.
So i need more time. And will follow exactly the documentation line's.

What mr. gbcwbz, says. I always configure my mac adres and use a generic driver. This is the best way to get it work.
So there is work to do.

Is someone already succeeded on a linuxcnc 64 bit system?

Hi it works.



I did a new instal :
hg clone hg.code.sf.net/p/etherlabmaster/code ethercat-hg
cd ethercat-hg
hg update stable-1.5 ( i think next time i don't do this one )

./bootstrap
./configure --disable-8139too --enable-generic --enable-e1000e

make
make modules
sudo make install
sudo make modules_install
depmod

Open the sysconfig, in total there are 2 files with the same name, hmmm strange :
input mac adres
input generic driver

Then my previous error is solved by copy this entire folder :
sysconfig map copy to :
etc directory.

And i made a empty file in the dev folder with name :
EtherCAT0

And i make a few files from root to user privileges in the etherlab directory.

Now the ethernet is starting. Now i need to connect it to linuxcnc. Someone has expirience with this?

my system : Linux grotius 4.9.0-8-rt-amd64 #1 SMP PREEMPT RT Debian 4.9.110-3+deb9u6 (2018-10-08) x86_64 GNU/Linux

Hi Nicolas,
I'm using LinuxCNC 2.7.14 from this repository Ubuntu PPA . Ubuntu 16.04 kernel 4.4.12-rt20

You may have a different problem. And you can check if lcec.so is linked with libethercat.so by runningecrt_slave_config_sdo is defined in libethercat.so and rtapi_mutex_get in liblinuxcnchal.so

@Grotius You can compile linuxcnc-ethercat and use config file from ethercat_3axis_CIA402 , use basic_3_CIA402_new.xml and add <masters></masters> in front and at the end of the file

Regards,
Bryan

Hi,
doing ldd lcec.so
linux-gate.so.1 (0xb7783000)
liblinuxcnchal.so.0 => /usr/lib/liblinuxcnchal.so.0 (0xb7746000)
libethercat.so.1 => /usr/lib/i386-linux-gnu/libethercat.so.1 (0xb773b000)
libm.so.6 => /lib/i386-linux-gnu/libm.so.6 (0xb76e4000)
libc.so.6 => /lib/i386-linux-gnu/libc.so.6 (0xb752d000)
librt.so.1 => /lib/i386-linux-gnu/librt.so.1 (0xb7524000)
libpthread.so.0 => /lib/i386-linux-gnu/libpthread.so.0 (0xb7507000)
/lib/ld-linux.so.2 (0xb7785000)

I installed ethercat, using dpkg with github.com/sittner/ec-debianize as I am using debian as it is the OS suggested for linuxcnc. I did try the etherlab installation, building it, without much success as it does not document the file system architecture for debian, during the installation process.

So far I have managed to
-install debian Strech with latest RT prempt kernel : Linux plotter 4.9.0-8-rt-686-pae #1 SMP PREEMPT RT Debian 4.9.110-3+deb9u5 (2018-09-30) i686 GNU/Linux
-install linuxcnc, either 2.7.14 or 2.8.x
-install ethercat using sittner ec-debianize depot (github.com/sittner/ec-debianize). After building and installing, Ethercat master and ethercat slaves command work fine
-build and install linuxcnc-ethercat from github.com/sittner/linuxcnc-ethercat (make then sudo make install, or sudo make clean, make then sudo make install if I switch the linuxcnc version to update the kernel)

My problems are:
-when I try to run Linuxcnc 2.7.14 I have a permission denied on Ethercat0 as shown in
LINUXCNC - 2.7.14
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
Failed to open /dev/EtherCAT0: Permission denied
LCEC: requesting master 0 (index 0) failed
lcec: rtapi_app_main: Invalid argument (-22)
./lam-v1.hal:2: waitpid failed /usr/bin/rtapi_app lcec
./lam-v1.hal:2: /usr/bin/rtapi_app exited without becoming ready
./lam-v1.hal:2: 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

-when I build linuxcnc 2.8.x then install it I 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:2: waitpid failed /usr/bin/rtapi_app lcec
./lam-v1.hal:2: /usr/bin/rtapi_app exited without becoming ready
./lam-v1.hal:2: 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

Any advice about how to make either 2.7 or 2.8 working with the ethercat and linuxcnc ethercat driver?
Cheers,

Nicolas

Hi Nico,

Failed to open /dev/EtherCAT0: Permission denied,

Is the file EtherCAT0 in your dev directory on C drive?
I made a empty file EtherCAT0 and placed this in C:dev/

I hope this helps you a little bit.