Ethercat installation from repositories - how to step by step

nc:~$ sudo apt update
[sudo] password for aa:
Hit:1 http://security.debian.org/debian-security bookworm-security InRelease
Hit:2 http://deb.debian.org/debian bookworm InRelease
Hit:3 http://deb.debian.org/debian bookworm-updates InRelease
Hit:5 https://www.linuxcnc.org bookworm InRelease
Hit:4 https://repository.qtpyvcp.com/apt develop InRelease
Get:6 http://download.opensuse.org/repositories/science:/EtherLab/Debian_12 ./ InRelease [1,575 B] Err:6 http://download.opensuse.org/repositories/science:/EtherLab/Debian_12 ./ InRelease The following signatures were invalid: EXPKEYSIG A94819A7CB97A204 science:EtherLab OBS Project
Fetched 1,575 B in 2s (1,019 B/s)
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
126 packages can be upgraded. Run 'apt list --upgradable' to see them.
W: An error occurred during the signature verification. The repository is not updated and the previous index files will be used. GPG error: http://download.opensuse.org/repositories/science:/EtherLab/Debian_12 ./ InRelease: The following signatures were invalid: EXPKEYSIG A94819A7CB97A204 science:EtherLab OBS Project
W: Failed to fetch http://download.opensuse.org/repositories/science:/EtherLab/Debian_12/./InRelease The following signatures were invalid: EXPKEYSIG A94819A7CB97A204 science:EtherLab OBS Project
W: Some index files failed to download. They have been ignored, or old ones used instead. nc:~$ sudo apt install linuxcnc-ethercat
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following additional packages will be installed: autoconf autoconf-archive automake autotools-dev ethercat-dkms ethercat-master libethercat libltdl-dev libtool m4
Suggested packages: gnu-standards autoconf-doc libtool-doc gfortran | fortran95-compiler gcj-jdk m4-doc
The following NEW packages will be installed: autoconf autoconf-archive automake autotools-dev ethercat-dkms ethercat-master libethercat libltdl-dev libtool linuxcnc-ethercat m4
0 upgraded, 11 newly installed, 0 to remove and 126 not upgraded. Need to get 5,372 kB of archives. After this operation, 86.5 MB of additional disk space will be used. Do you want to continue? [Y/n] y
Get:1 http://deb.debian.org/debian bookworm/main amd64 autoconf-archive all 20220903-3 [775 kB]
Get:2 http://deb.debian.org/debian bookworm/main amd64 m4 amd64 1.4.19-3 [287 kB]
Get:3 http://deb.debian.org/debian bookworm/main amd64 autoconf all 2.71-3 [332 kB]
Get:4 http://deb.debian.org/debian bookworm/main amd64 autotools-dev all 20220109.1 [51.6 kB]
Get:5 http://deb.debian.org/debian bookworm/main amd64 automake all 1:1.16.5-1.3 [823 kB]
Err:6 http://download.opensuse.org/repositories/science:/EtherLab/Debian_12 ./ ethercat-dkms 1.6.0.g8330bca-1+3.1 404 Not Found [IP: 195.135.223.226 80]
Get:7 http://deb.debian.org/debian bookworm/main amd64 libtool all 2.4.7-7~deb12u1 [517 kB]
Get:8 http://deb.debian.org/debian bookworm/main amd64 libltdl-dev amd64 2.4.7-7~deb12u1 [164 kB]
Err:9 http://download.opensuse.org/repositories/science:/EtherLab/Debian_12 ./ ethercat-master 1.6.0.g8330bca-1+3.1 404 Not Found [IP: 195.135.223.226 80]
Err:10 http://download.opensuse.org/repositories/science:/EtherLab/Debian_12 ./ libethercat 1.6.0.g8330bca-1+3.1 404 Not Found [IP: 195.135.223.226 80]
Err:11 http://download.opensuse.org/repositories/science:/EtherLab/Debian_12 ./ linuxcnc-ethercat 1.39.0.g4299f7a-0 404 Not Found [IP: 195.135.223.226 80] Fetched 2,951 kB in 0s (6,985 kB/s)
E: Failed to fetch http://download.opensuse.org/repositories/science:/EtherLab/Debian_12/all/ethercat-dkms_1.6.0.g8330bca-1%2b3.1_all.deb 404 Not Found [IP: 195.135.223.226 80]
E: Failed to fetch http://download.opensuse.org/repositories/science:/EtherLab/Debian_12/amd64/ethercat-master_1.6.0.g8330bca-1%2b3.1_amd64.deb 404 Not Found [IP: 195.135.223.226 80]
E: Failed to fetch http://download.opensuse.org/repositories/science:/EtherLab/Debian_12/amd64/libethercat_1.6.0.g8330bca-1%2b3.1_amd64.deb 404 Not Found [IP: 195.135.223.226 80]
E: Failed to fetch http://download.opensuse.org/repositories/science:/EtherLab/Debian_12/amd64/linuxcnc-ethercat_1.39.0.g4299f7a-0_amd64.deb 404 Not Found [IP: 195.135.223.226 80]
E: Unable to fetch some archives, maybe run apt-get update or try with --fix-missing?

[code][code] 

nc:~$ sudo apt install ethercat-master libethercat-dev linuxcnc-ethercat
[sudo] password for aa:
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following additional packages will be installed: autoconf autoconf-archive automake autotools-dev ethercat-dkms libethercat libltdl-dev libtool m4
Suggested packages: gnu-standards autoconf-doc libtool-doc gfortran | fortran95-compiler gcj-jdk m4-doc
The following NEW packages will be installed: autoconf autoconf-archive automake autotools-dev ethercat-dkms ethercat-master libethercat libethercat-dev libltdl-dev libtool linuxcnc-ethercat m4
0 upgraded, 12 newly installed, 0 to remove and 126 not upgraded.
Need to get 2,444 kB/5,394 kB of archives.
After this operation, 86.6 MB of additional disk space will be used. Do you want to continue? [Y/n] y
Err:1 http://download.opensuse.org/repositories/science:/EtherLab/Debian_12 ./ ethercat-dkms 1.6.0.g8330bca-1+3.1 404 Not Found [IP: 195.135.223.226 80]
Err:2 http://download.opensuse.org/repositories/science:/EtherLab/Debian_12 ./ ethercat-master 1.6.0.g8330bca-1+3.1 404 Not Found [IP: 195.135.223.226 80]
Err:3 http://download.opensuse.org/repositories/science:/EtherLab/Debian_12 ./ libethercat 1.6.0.g8330bca-1+3.1 404 Not Found [IP: 195.135.223.226 80]
Err:4 http://download.opensuse.org/repositories/science:/EtherLab/Debian_12 ./ libethercat-dev 1.6.0.g8330bca-1+3.1 404 Not Found [IP: 195.135.223.226 80]
Err:5 http://download.opensuse.org/repositories/science:/EtherLab/Debian_12 ./ linuxcnc-ethercat 1.39.0.g4299f7a-0 404 Not Found [IP: 195.135.223.226 80]
E: Failed to fetch http://download.opensuse.org/repositories/science:/EtherLab/Debian_12/all/ethercat-dkms_1.6.0.g8330bca-1%2b3.1_all.deb 404 Not Found [IP: 195.135.223.226 80]
E: Failed to fetch http://download.opensuse.org/repositories/science:/EtherLab/Debian_12/amd64/ethercat-master_1.6.0.g8330bca-1%2b3.1_amd64.deb 404 Not Found [IP: 195.135.223.226 80]
E: Failed to fetch http://download.opensuse.org/repositories/science:/EtherLab/Debian_12/amd64/libethercat_1.6.0.g8330bca-1%2b3.1_amd64.deb 404 Not Found [IP: 195.135.223.226 80]
E: Failed to fetch http://download.opensuse.org/repositories/science:/EtherLab/Debian_12/amd64/libethercat-dev_1.6.0.g8330bca-1%2b3.1_amd64.deb 404 Not Found [IP: 195.135.223.226 80]
E: Failed to fetch http://download.opensuse.org/repositories/science:/EtherLab/Debian_12/amd64/linuxcnc-ethercat_1.39.0.g4299f7a-0_amd64.deb 404 Not Found [IP: 195.135.223.226 80]
E: Unable to fetch some archives, maybe run apt-get update or try with --fix-missing?

nc:~$ mokutil --sb-state
EFI variables are not supported on this system

nc:~$ uname -r
6.1.0-23-rt-amd64

#!/bin/bash
echo "requires sudo to run eg: sudo ./ecat.sh"
# Removing old repo if it exists
if [ -e /etc/apt/sources.list.d/ighvh.sources ]
then
    echo "removing ethercat repository file\n"
    rm /etc/apt/sources.list.d/ighvh.sources
fi
# Install ethercat repositories.
echo "Install ethercat repository"
mkdir -p /usr/local/share/keyrings/
wget -O- https://build.opensuse.org/projects/science:EtherLab/signing_keys/download?kind=gpg | gpg --dearmor | dd of=/etc/apt/trusted.gpg.d/science_EtherLab.gpg
tee -a /etc/apt/sources.list.d/ighvh.sources > /dev/null <<EOT
Types: deb
Signed-By: /etc/apt/trusted.gpg.d/science_EtherLab.gpg
Suites: ./
URIs: http://download.opensuse.org/repositories/science:/EtherLab/Debian_12/
EOT

nc:~/Downloads$ sudo ./ecat.sh
sudo: ./ecat.sh: command not found

nc:~/Downloads$ chmod +x ecat.sh

nc:~/Downloads$ sudo ./ecat.sh
[sudo] password for aa:
requires sudo to run eg: sudo ./ecat.sh
Install ethercat repository
--2024-11-09 19:52:41--  https://build.opensuse.org/projects/science:EtherLab/signing_keys/download?kind=gpg
Resolving build.opensuse.org (build.opensuse.org)... 195.135.223.221, 2a07:de40:b250:131:10:151:131:20
Connecting to build.opensuse.org (build.opensuse.org)|195.135.223.221|:443... connected.
HTTP request sent, awaiting response... 200 OK
Length: unspecified [application/octet-stream]
Saving to: ‘STDOUT’

-                                [ <=>                                        ]   1.08K  --.-KB/s    in 0s      

2024-11-09 19:52:42 (28.1 MB/s) - written to stdout [1109]

1+1 records in
1+1 records out
733 bytes copied, 0.608919 s, 1.2 kB/s

nc:~$ sudo apt update
E: Conflicting values set for option Signed-By regarding source http://download.opensuse.org/repositories/science:/EtherLab/Debian_12/ ./: /etc/apt/trusted.gpg.d/science_EtherLab.gpg != /etc/apt/trusted.gpg.d/science_EtherLab.gpg.key.binary.gpg
E: The list of sources could not be read.

[HAL]
TWOPASS=ON
HALFILE = ecat_gantry.hal

loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec

<!--cnc-bg Config -->
<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">
      
       <!-- AKD X Axis (beam) -->
   <slave idx="0" type="generic" vid="0000006A" pid="00414b44" configPdos="true">
      <!-- Clear SM PDOs -->
      <sdoConfig idx="1C12" subIdx="00">
        <sdoDataRaw data="00"/>
      </sdoConfig>
      <!-- Clear SM PDOs -->
      <sdoConfig idx="1C13" subIdx="00">
        <sdoDataRaw data="00"/>
      </sdoConfig>
      
      <!-- Clear RX PDO1 -->
      <sdoConfig idx="1A00" subIdx="00">
        <sdoDataRaw data="00"/>
      </sdoConfig>
      <!-- Map status word to RX-PDO1 -->
      <!--  0x6041 0010 -->
      <sdoConfig idx="1A00" subIdx="01">
        <sdoDataRaw data="10 00 41 60"/>
      </sdoConfig>
      <!-- Map position feedback to RX-PDO1 -->
      <!-- 0x6064 0020 -->
      <sdoConfig idx="1A00" subIdx="02">
        <sdoDataRaw data="20 00 64 60"/>
      </sdoConfig>
      <!-- Set RX-PDO1 count to 2 -->
      <sdoConfig idx="1A00" subIdx="00">
        <sdoDataRaw data="02"/>
      </sdoConfig>

jim@cnc:~$ ethercat slaves
0  6:0  PREOP   E  AKD EtherCAT Drive (CoE)
1  6:1  SAFEOP  E  AKD2G Dual Axis FS3 EtherCAT Drive (CoE)
2  1:0  PREOP   E  AKD EtherCAT Drive (CoE)

jim@cnc:~$ sudo dmesg | grep EtherCAT
[sudo] password for jim: 
[    4.545203] EtherCAT: Master driver 1.6.2 1.6.2.g285cdf0-1+12.2
[    4.545268] EtherCAT: 1 master waiting for devices.
[    4.572786] ec_generic: EtherCAT master generic Ethernet device module 1.6.2 1.6.2.g285cdf0-1+12.2
[    4.572795] EtherCAT: Accepting 00:1B:21:5A:44:37 as main device for master 0.
[    4.588476] EtherCAT 0: Starting EtherCAT-IDLE thread.
[    4.588497] EtherCAT 0: Link state of ecm0 changed to UP.
[    5.192449] EtherCAT 0: Link state of ecm0 changed to DOWN.
[    5.240474] EtherCAT 0: Link state of ecm0 changed to UP.
[    5.264455] EtherCAT 0: 3 slave(s) responding on main device.
[    5.264458] EtherCAT 0: Slave states on main device: PREOP, SAFEOP + ERROR.
[    5.265859] EtherCAT 0: Scanning bus.
[    5.878393] EtherCAT WARNING 0-1: Slave has state error bit set (SAFEOP + ERROR)!
[    7.657131] EtherCAT ERROR 0-1: Timeout after 1000 ms while waiting for SDO 0x1c12:0 upload response.
[    7.657134] EtherCAT ERROR 0-1: Failed to read number of assigned PDOs for SM2.
[    8.657645] EtherCAT ERROR 0-1: Timeout after 1000 ms while waiting for SDO 0x1c13:0 upload response.
[    8.657647] EtherCAT ERROR 0-1: Failed to read number of assigned PDOs for SM3.
[    9.267846] EtherCAT 0: Bus scanning completed in 4000 ms.
[    9.267848] EtherCAT 0: Using slave 0 as DC reference clock.
[    9.267851] EtherCAT 0: Starting EoE thread.
[    9.307336] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[    9.308655] EtherCAT ERROR 0-0: AL status message 0x001D: "Invalid output configuration".
[    9.310093] EtherCAT 0-0: Acknowledged state PREOP.
[    9.316500] EtherCAT ERROR 0-1: AL status message 0x001B: "Sync manager watchdog".
[    9.320634] EtherCAT 0-1: Acknowledged state SAFEOP.
[    9.372708] EtherCAT ERROR 0-2: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[    9.374026] EtherCAT ERROR 0-2: AL status message 0x001D: "Invalid output configuration".
[    9.375463] EtherCAT 0-2: Acknowledged state PREOP.
[    9.397756] EtherCAT ERROR 0-1: AL status message 0x001B: "Sync manager watchdog".
[    9.403141] EtherCAT 0-1: Acknowledged state SAFEOP.
[    9.469755] EtherCAT ERROR 0-1: AL status message 0x001B: "Sync manager watchdog".
[    9.473818] EtherCAT 0-1: Acknowledged state SAFEOP.

[55800.087042] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1C32:0E!
[55800.087045] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".
[55800.089891] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1C32:0F!
[55800.089893] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".
[55800.092737] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1C32:10!
[55800.092738] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".
[55800.096957] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1C32:11!
[55800.096958] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".
[55800.101182] EtherCAT WARNING 0-1: SDO information error response while fetching SDO entry 0x1C32:12!
[55800.101183] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".