Beckhoff ethercat 64 with bit linuxcnc, How to install.

@Nicolas,

Thanks for your compliment's. For me it's a kind of public timeline comment tutorial, very handy to look back some time's,
and trough the public publication everyone has profit of this !!

It could be your kernel version. Some newer kernels are incompatible with linuxcnc because of different mathematic symbols or something like that. Machinekit has solved this problem so far i know. But i am not sure.
There is a new 64 bit linuxcnc kernel available on github, but there is no nice install guide.

@Shameless,

I want to know that if ec_debianize is the source code of etherlab-master？
No it's not the source code of etherlab-master.
A simple explenation could be :
Ec_debianize is a tool that configures the etherlab-master for debian 64 bit system's.

In other word's ec_debianize is a tool that configures ethercat for preempt rt kernels. The clue is .so component instead of .ko component.

and what the relationship between linuxcnc-ethercat and etherlab-master?
Etherlab master is the main interface for the ethercat protocol. It runs outside of linuxcnc.
To talk with etherlab master, linuxcnc has to have a glue component. This is linuxcnc-ethercat.
It's complicated. In theory etherlab-master could be integrated into linuxcnc-ethercat.

I can not install the linuxcnc-ethercat,
when I 'make', print "halcompile/comp ececutable not found or set"
Could you tell me why?

It looks like linuxcnc is not installed as run in place, did you installed the linuxcnc-dev version with all dependencies?

I want to say thank you, and I should add the path to my profile，thanks.

@Grotius Hi， I recently haven't solved the problem that there are some problem shows when lcec.so is loaded, after I start the linuxcnc.
Could you tell me that, how ethercat works with linuxcnc?
I mean if when we start linuxcnc, and the lcec.so is inserted normally, will ethercat start automatically? or I should start ethercat manually first, and then start linuxcnc later.
Kind regards

Ethercat will start when pc boots up.
Check your ethercat slave device if the leds are flickering fast.

Hi @Grotius, thanks for your reply. I decided to test the installation from scratch with your iso that you put on the linkl at the start of this topic. Here again I am facing the same final issue, using your small example from the sim.axis configuration:

LINUXCNC - 2.8.0~pre1
Machine configuration directory is '/home/plotter/linuxcnc/configs/sim.axis'
Machine configuration file is 'axis.ini'
Starting LinuxCNC...
Found file(lib): /usr/share/linuxcnc/hallib/core_sim.hal
Note: Using POSIX realtime
Found file(lib): /usr/share/linuxcnc/hallib/sim_spindle_encoder.hal
Found file(lib): /usr/share/linuxcnc/hallib/axis_manualtoolchange.hal
Found file(lib): /usr/share/linuxcnc/hallib/simulated_home.hal
Found file(lib): /usr/share/linuxcnc/hallib/check_xyz_constraints.hal
Found file(REL): ./postgui.hal
lcec: dlopen: /usr/lib/linuxcnc/modules/lcec.so: undefined symbol: rtapi_mutex_get
./postgui.hal:2: waitpid failed /usr/bin/rtapi_app lcec
./postgui.hal:2: /usr/bin/rtapi_app exited without becoming ready
./postgui.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 run manually the hal command:
plotter@plotter:~/linuxcnc/configs/sim.axis$ halrun
halcmd: loadusr -W lcec_conf ethercat-conf.xml
halcmd: loadrt lcec
Note: Using POSIX realtime
lcec: dlopen: /usr/lib/linuxcnc/modules/lcec.so: undefined symbol: rtapi_mutex_get
<stdin>: waitpid failed /usr/bin/rtapi_app lcec
<stdin>: /usr/bin/rtapi_app exited without becoming ready
<stdin>: insmod for lcec failed, returned -1

The loadrt lcec seams to fail but I manage to see the lcec component into the halshow if I uncomment this line and keep only the first line. The ethercat slaves command works fine so the ethercat installation is OK to me.

Any clue where it might come from? This time I tried to follow as much as your instructions appart from:
-installing linuxcnc and linuxcnc-dev using dpkg-i to have a version working anywhere and not RIP only
-I had to make a sudo make clean then sudo make and sudo make install to get the linuxcnc-ethercat going.

According to your comment I should try with a less recent kernel then and porbably stick to the one of your iso.

I should probably avoid the sudo apt-get dist-upgrade but FYI I am now running on
uname -a
Linux plotter 4.9.0-8-rt-amd64 #1 SMP PREEMPT RT Debian 4.9.130-2 (2018-10-27) x86_64 GNU/Linux

Moreover your were stating: There is a new 64 bit linuxcnc kernel available on github, but there is no nice install guide. Can you send me the link as I am not sure if I am looking at the good one for another solution.

Cheers,
Nicolas