Beckhoff ethercat 64 with bit linuxcnc, How to install.

@Conny,

but what do i need to change in the .c file?
It depend's of the difference. If you are only editing a driver name, it's quite easy.
If you want to edit a 2 channel analog input from 16 to 10 bit for example, it's more complicated.
You have to edit more related to the 16 and 10 bit input size.

But if you think logical it would be to do. And take your time. If you are stuck for 36 hour's we can help you with coding.

Header file's are not so important. But you have to look at it alway's if there are differences.

Hi everyone,
I've build an XXYZ gantry and have it running on step/dir but wanted to move to EtherCAT for improved performance.
(using Kollmorgen Servo Drives)

I stumbled upon this guide but I'm stuck at installing etherlab.
When i run the step:

dpkg-buildpackage
and the output I get is:
~/ec-debianize/etherlabmaster$ dpkg-buildpackage
dpkg-buildpackage: info: source package etherlabmaster
dpkg-buildpackage: info: source version 1.5.2+20190904hg33b922p8ea394-1
dpkg-buildpackage: info: source distribution lucid
dpkg-buildpackage: info: source changed by Sascha Ittner <sascha.ittner@modusoft.de>
dpkg-buildpackage: info: host architecture amd64
dpkg-source --before-build etherlabmaster
fakeroot debian/rules clean
dh clean --with autoreconf,dkms
dh_testdir
dh_auto_clean
dh_autoreconf_clean
debian/rules override_dh_clean
make[1]: Entering directory '/home/paul/ec-debianize/etherlabmaster'
rm -f ChangeLog
dh_clean
make[1]: Leaving directory '/home/paul/ec-debianize/etherlabmaster'
dpkg-source -b etherlabmaster
dpkg-source: error: can't build with source format '3.0 (quilt)': no upstream tarball found at ../etherlabmaster_1.5.2+20190904hg33b922p8ea394.orig.tar.{bz2,gz,lzma,xz}
dpkg-buildpackage: error: dpkg-source -b etherlabmaster gave error exit status 255

I've found various people with this problem with quilt and they used different build arguments, and while some build arguments appear to make it farther (or the build output is more verbose), it always has the same failure.

I saw someone earlier mention that they had a similar problem that was solved by making sure they had the correct headers - I updated my RT kernel and headers and removed all others but am still having this same issue.

Has anyone else run into this issue?

Best Regards,
Paul

Hi,

I think this is because the first step which use mercurial (hg) did not completely succeed. Restart from the install EtherCAT step 0
Make sure you got:

sudo apt-get install quilt

before. But this is more likely due to the mercurial hg options. At the first step doing: Read carefully the output. There might be an error indicated even if it is not clearly flagging it. This might implies hg extensions which use the qpush command which requires the mq extension. To add an extension in mercurial, follow the suggested help displayed on the terminal, creating a ~/.hgrc , ie on your home directory. Then edit this file as a text file: Retry step ./get_source.sh till you got a complete success of this step. I have noticed that this might work or not depending how you did the git cloning with or without root privilege. Same thing with the creation of the .hgrc file. You might have also to as this is copying some files in specific locations.

Let me know how it this help, at least send the output of the ./get_source.

Once this step is successful you can carry on the installation

Thank you,
Nicolas

Ahh thankyou!
I clearly was not paying attention, it didn't fail catastrophically so i kept moving along.

Ok, i got further to the step where i need to copy "lcec_conf" into my project directory (where ini/hal files are) and add the following text to my post gui hal file:
loadusr -W lcec_conf ethercat-conf.xml

After i add that and re-start the project, i get an error screen:
custom_postgui.hal:5: execv(lcec_conf): No such file or directory

I copied the file without any extension (h/c/o) i assume that was correct. The lcec_conf is in the same directory as my ini/hal files...
Thanks!
-Paul

Ahh - I figured out what my problem was.

In case there are any other "green users" out there that got stymied by this - the example doesn't have a full file path, once added the full file path to lcec_conf and the xml file it loaded fine. and the HAL METER showed the devices from the config file.

On to trying to create a linuxcnc-ethercat driver for an AKD Servo Drive!

I'm struggling to connect my device (Kollmorgen AKD) via ethercat.
Using the Hal Meter, the LCEC module is identifying a link and a slave, and lights are blinking but I think i'm missing a step.

I have not compiled a driver, to get started i was trying to get the AKD into a Free Mapping mode by configuring a bunch of SDOs but I cant quite tell at which point the communication is not configured/misconfigured.

I started with a StepConf configuration (that's what i had been using with the parallel port). perhaps something isnt connected there?

Does anyone have a working ini/hal file they could post to use as an example?
The only extra commands i've added is the four lines:
loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec
addf lcec.read-all servo-thread
addf lcec.write-all servo-thread

I used this page to try and do the SDO run-up:
www.kollmorgen.com/en-us/developer-netwo...ition-mode%E2%80%9D/

but there isnt a whole lot of documentation that ive seen...