Ethercat installation from repositories - how to step by step

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".

./configure --sysconfdir=/etc/ --disable-8139too --enable-userlib --disable-generic --disable-eoe --enable-e1000e

ethercat master Master0   Phase: Waiting for device(s)...   Active: no   Slaves: 0   Ethernet devices:     Main: 00:01:05:xx:93:xx (waiting...)       Link: DOWN       Tx frames:   0       Tx bytes:    0       Rx frames:   0       Rx bytes:    0       Tx errors:   0       Tx frame rate [1/s]:      0      0      0       Tx rate [KByte/s]:      0.0    0.0    0.0       Rx frame rate [1/s]:      0      0      0       Rx rate [KByte/s]:      0.0    0.0    0.0

DEVICE_MODULES="generic"

sudo systemctl restart ethercat.service