Beckhoff ethercat 64 with bit linuxcnc, How to install.

1. install debian OS from www.debian.org/distrib/ , choose the relevant iso adapted to your CPU architecture. I usually select the netinst for an installation through the network. But if you want to keep a ready to go iso download the CD one. During the install, select Gnome desktop as you might want to use Glade to design your machine interface.
2. install the real time kernel:

   sudo synaptic

   then search for linux-image. Mark for installation the latest linux-image-***-rt-*** which might be described as a PREEMPT_RT kernel. The *** must match the version you want (probably the latest on the list) and the architecture of your install. Select the associated headers linux-headers-***-rt-*** matching the real time installation you just previously marked. Mark it for installation as well. Then apply to install both.
3. reboot and make sure that you boot choosing the real time kernel newly installed (in the advanced options for Debian sub menu). This might be the one booting by default now. To check use

   uname -a

   which should display your real time install -rt- . We are going to uninstall the non real time kernel:

   sudo synaptic

   , then search linux-image and then mark for complete removal the original install. Reboot, then the system should always boot on the remaining system which is the real time. While booting the advanced options for Debian sub menu should only display the rt option and its recovery mode.

1. git clone https://github.com/LinuxCNC/linuxcnc.git linuxcnc-dev

   to clone linuxcnc into the linuxcnc-dev directory. This way I never mistake it with the linuxcnc directory created by the linuxcnc installation, where all the machine configurations are stored.

2. git clone https://github.com/sittner/ec-debianize.git

   , while we are cloning repository I also clone the other 2 required.

3. git clone https://github.com/sittner/linuxcnc-ethercat.git

4. sudo apt-get install dpkg-dev

   to install dpkg and prepare to be able to check the dependencies

5. cd linuxcnc-dev/debian
   ./configure uspace
   cd ..

6. dpkg-checkbuilddeps

   lists the packages that need to be installed before proceeding. Use a

   sudo apt-get install packagename

   to install the missing elements. Repeat until all required packages are installed.
7. I extend the memory of the hal components before buidling linuxcnc, from @dgarret in forum.linuxcnc.org/10-advanced-configura...-signal-pin?start=20

   cd src/hal/
   gedit hal_priv.h

   then I modify the values: #define HAL_SIZE (85*4096) to #define HAL_SIZE (170*4096) and #define HAL_STACKSIZE 16384 to #define HAL_STACKSIZE 32768 to double the hal memory (not sure what is doing what and not sure neither of the limit of those values regarding the installed hardware yet). I save and come back to the main linuxcnc-dev directory.
8. Now you can either build for run in place or build package. I choose the second option, build the package .deb for your install:

   dpkg-buildpackage -b -uc

   , this should create two .deb on the parent directory. Install those debian package using

   sudo dpkg -i linuxcnc-uspace_XXX_*.deb

   , use

   sudo apt-get --fix-broken install

   if any packages are indicated as missing. Instal

   sudo dpkg -i linuxcnc-uspace-dev_XXX_*.deb

   and possibly missing packages too.

9. halcmd status

   to check that the hal memory hal been installed with extended limitation, reading in the total shared memory the value which should match NNN*4096 with NNN the value you entered before building linuxcnc.
10. you can test linuxcnc with a sim config with

    linuxcnc

    , the configs file being saved by default in ~/linuxcnc
11. if you need to add special components like me to extend and go above the 16 limitation see: forum.linuxcnc.org/24-hal-components/359...gument-limit?start=0

1. sudo apt-get install quilt

2. cd ec-debianize
   ./get_source.sh

3. cd ec-debianize/etherlabmaster/
   dpkg-buildpackage

   . If it fails you can use

   dpkg-checkbuilddeps

   and

   sudo apt-get install nameofpackage

   then retry to build the package. The final notice error "failed to sign .dsc file is not an issue. Once built, you should have the .deb files in ec-debianize.

4. cd ec-debianize 
   sudo dpkg -i etherlabmaster_*_amd64.deb
   sudo dpkg -i etherlabmaster-dev_*_amd64.deb

5. It might be required to be done twice for the non dev one in the case you are installing a newer version over a currently installed one.
6. Identify your MAC address for the ethernet connexion linked to your Ethercat bus. To do so you can use

   sudo apt-get install net-tools
   sudo ifconfig

   then you can read your MAC addresses.
7. Identify your MAC address for the ethernet connexion linked to your Ethercat bus. To do so you can use

   sudo gedit /etc/default/ethercat

   then modify the MASTER0_DEVICE="" to MASTER0_DEVICE="MACADRESS" with MACADRESS the value obtain with ifconfig. Also change DEVICE_MODULES="" to DEVICE_MODULES="generic" then save.

8. sudo update-ethercat-config

   then reboot to make those modifications effective. To check that the ethercat is working, just connect and power your ethercat bus then try

   ethercat slaves

   You should see all the ethercat module connected to your bus.

1. This first step is required to make the ethercat+linuxcnc work, as indicated by @Hawkeye in forum.linuxcnc.org/24-hal-components/223...ver?start=670#123888 . On my case this is required to avoid the error while launching linuxcnc with ethercat:

   <stdin>:3: waitpid failed /usr/bin/rtapi_app lcec
   <stdin>:3: /usr/bin/rtapi_app exited without becoming ready
   <stdin>:3: insmod for lcec failed, returned -1

   Go to the directory where you have been cloning the git linuxcnc-ethercat. Mine is in ~/linuxcnc-ethercat.

   cd ~/linuxcnc-ethercat
   gedit ~/linuxcnc-ethercat/src/lcec_main.c 

   edit this file adding #include "rtapi_mutex.h" below #include "rtapi_app.h" then save and close gedit.
2. Then come back to the linuxcnc-ethercat directory, and

   make -jN

   N being the number of processor to speed up the process.

   sudo make install



3. Copy some files across to the relevant location:

   cp ~/linuxcnc-ethercat/src/lcec_conf ~/linuxcnc/configs/FolderWhereInIFileForConfig

   to your linuxcnc sim folder (copy it where your ini files is)

   cp ~/linuxcnc-ethercat/src/lcec.so ~/linuxcnc-dev/rtlib/

   apparently only required for for linuxcnc_dev users
4. Make the Ethercat0 permission permanent for your user for linuxcnc

   sudo adduser $USER ethercat
   sudo adduser root ethercat

   . Reboot to make it effective permanently.

Grotius wrote:

copy lcec_conf ==> ../linuxcnc-ethercat/src/lcec_conf ==> to your linuxcnc sim map (copy it where your ini files is)
copy lcec_so ==> ../linuxcnc-ethercat/src/lcec.so ==> to your home/.../linuxcnc/rtlib/ (this is only for linuxcnc_dev users)
copy and edit the ethercat_config.xml from the linuxcnc-ethercat example directory and copy it where your ini file is.
In your ini file add "HALFILE = postgui.hal"
make a postgui.hal file include :
loadusr -W lcec_conf ethercat-conf.xml
#loadrt lcec
#addf lcec.read-all servo-thread
#addf lcec.write-all servo-thread
First check if lcec_conf will load, open your halmeter.
When you see the Lcec section, uncheck the # sign's in the postgui.hal file.

sudo gedit /lib/systemd/system/networking.service

on

newbynobi wrote:

wget ftp://ftp.gnome.org/pub/GNOME/sources/glade3/3.8/glade3-3.8.6.tar.xz
tar -xpf glade3-3.8.6.tar.xz

now install it by typing:

cd glade3-3.8.6
./configure
make
sudo make install

to test the glade install, enter in the terminal:

glade-3

sudo apt-get install libxml2-dev

sudo apt-get install libgladeui*

newbynobi wrote:

sudo mkdir -p /usr/local/share/glade3/backup/catalogs
sudo mkdir -p /usr/local/share/glade3/backup/pixmaps
sudo cp /usr/local/share/glade3/catalogs/* /usr/local/share/glade3/backup/catalogs
sudo cp -r /usr/local/share/glade3/pixmaps/* /usr/local/share/glade3/backup/pixmaps

now copy/add the missing files to that dir with the following terminal commands

sudo cp ~/linuxcnc-dev/lib/python/gladevcp/*.xml /usr/local/share/glade3/catalogs
sudo cp ~/linuxcnc-dev/lib/python/gladevcp/*.png /usr/local/share/glade3/pixmaps

suo make uninstall
sudo make clean

paste this before "http:// : " ( to many links in post )
linuxcnc.org/dists/wheezy/base/binary-amd64/libgladeui-1-11_3.8.0-0ubuntu6_amd64.deb
linuxcnc.org/dists/wheezy/base/binary-amd64/glade-gtk2_3.8.0-0ubuntu6_amd64.deb
linuxcnc.org/dists/wheezy/base/binary-amd64/glade-gnome_3.8.0-0ubuntu6_amd64.deb
Unpack in terminal :
$ sudo dpkg -i libgladeui-1-11_3.8.0-0ubuntu6_amd64.deb
$ sudo dpkg -i glade-gtk2_3.8.0-0ubuntu6_amd64.deb
$ sudo dpkg -i glade-gnome_3.8.0-0ubuntu6_amd64.deb

./configure
make -jn
sudo make install

Grotius wrote:

I now use a EL2124 to guide 4 stepgen signals ( 4 motor pulse train's )