EtherCAT driver for a 6 axis robot

Agree with db1981
Maybe it Is possible to somehow adapt linuxcnc for debugging. But there is the question of developing your own application

"You mean that you connect 3d model to linuxcnc/ isn't it? If then is true - it's a waste of time.~"
Adding support for an existing industrial robot to LinuxCNC is not a waste of time. Not to me....

"But there is the question of developing your own application"
LinuxCNC is the application, no? A motion control application. I wish to control motion of a robot (& spindle).

Thanks rodw!

Perfect answer and some great starter tips! Thanks!

Hi db1981!

"I could not find anything about realtime external control, all motion commands are interpreted by the robot himself and gives no direct control of the joints themselfes.."

There are some significant improvements in the next firmware. I can't really say much more at this time.

There is no discussion about the fact that you are going to jump on the robot.
The fact is that linuxcnc does not have ready-made tools for controlling your robot.
As I said you can use linuxcnc as a debugger. But anyway, you will have to program your own widgets that will use mux, dmux and etc.
The new firmware will not allow you to control an individual joint. More features will be added s-curve acceleration and deceleration or etc.
You don't said - you already installed etherlab master and lcec? - This will have to be done anyway.

I am fully aware that "linuxcnc does not have ready-made tools" for my particular robot. I specifically said I wanted to "develop a LinuxCNC driver for an EtherCAT 6 axis robot - the Meca500" and asked for a starting point.  rodw seemed to grasp straight away what I was asking and provided some great advice.

I'm here to develop and contribute. I have already installed etherlab master and lcec.

"The new firmware will not allow you to control an individual joint" - are you a Mecademic employee or have one of these little chaps?