end

rodw 帖子=229258 用户 ID=20660PS，我放弃尝试格式化上面的帖子！  

Is this sentence "sudo halcompile --install cia402.comp" related to "loadrt cia402 count=3"? My understanding is that "loadrt cia402" should be the RT library generated after the C/C++ source code is compiled. , I don't know if I understand it wrong?

halcompile is part of linuxcnc. It compiles .comp files and installs them. After that, the component is part of linuxcnc just as if it was included as part of the standard distribution.

See: linuxcnc.org/docs/devel/html/hal/comp.html

So just follow each step in the instructions and see how you go. You should have success!

Note that cia402 is a standard that some ethercat drives comply with and the component makes it a lot simpler to install a cia402 compatible servo drive.

If you get stuck type sudo dmesg to see the ethercat errors.  sudo dmesg -c clears the log which makes it easier to see the ethercat commands)