Using POSIX realtime

Hello everyone,

i have completed the Ethercat installation according to rodw
forum.linuxcnc.org/ethercat/45336-etherc...-how-to-step-by-step

The installation went smoothly and the final test was positive:Component Pins:
Owner   Type  Dir         Value  Name
     4  u32   OUT    0x00000001  lcec.conf.master-count
     4  u32   OUT    0x00000004  lcec.conf.slave-count

The following version of Linuxcnc is installed:
6.1.0-30-rt-amd64 #1 SMP PREEMPT_RT Debian 6.1.124-1 (2025-01-12) x86_64 GNU/Linux

When I check if /sys/kernel/realtime exists, I get /sys/kernel/realtime
When I check the module cia 402 (halcmd loadrt cia402 count=1), I get Using POSIX realtime

Am I wrong as a layman if I assume that this is not real real time and that there may be problems with some modules?

thank you very much tommylight

I need to reopen this topic. The installation went smoothly as described above. After reinstalling the system, I can no longer access the EK1100 (it worked before). I've spent hours searching for the error, but to no avail. What I noticed is that the EtherCAT master always has the status "Link DOWN."

Master0
  Phase: Waiting for device(s)...
  Active: no
  Slaves: 0
  Ethernet devices:
    Main: 80:ee:73:fd:0f:8b (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
    Common:
      Tx frames:   0
      Tx bytes:    0
      Rx frames:   0
      Rx bytes:    0
      Lost frames: 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
      Loss rate [1/s]:          0      0      0
      Frame loss [%]:         0.0    0.0    0.0
  Distributed clocks:
    Reference clock:   None
    DC reference time: 0
    Application time:  0
                       2000-01-01 00:00:00.000000000

Could this also be the reason why no master is found when starting a test configuration?

The EK 1100 is powered and the network is connected. Is there something wrong with the network configuration?



 

I think the installation is fine. The system reports POSIX realtime, and the pins for testing are accessible:

Owner Type Dir Value Name
4 u32 OUT 0x00000001 lcec.conf.master-count
4 u32 OUT 0x00000004 lcec.conf.slave-count

When I now call EtherCAT Master, the system reports:

Master0
Phase: Waiting for device(s)...
Active: no
Slaves: 0
Ethernet devices:
Main: 80:ee:73:fd:0f:8b (waiting...)
Link: DOWN

The network adapter is correctly entered in Ethercat.conf:

MASTER0_DEVICE="80:ee:73:fd:0f:8b"
DEVICE_MODULES="generic"

The permissions are also correct:
'KERNEL=="EtherCAT[0-9]", MODE="0777"'

However, I can no longer access the EK1100. The EK is connected to the network and shows no errors. As mentioned, everything worked fine with the same components before the reinstallation.
 

Looks like your network adapter is not upped correctly. The master can't access ethernet.
Check "ip a", it should say UP for the adapter but I guess it won't.
Follow one of the standard debian guides to bring it up, will involve the /etc/network/interfaces file.
Can be a permission problem, check "ls  -l /dev/EtherCAT0" should say crwxrwxrwx
Try with "sudo service ethercat restart"
Also check "sudo dmesg" the last say 50 lines for anything that can help.

The following results:
- ip a returns the result that the adapter is running without errors:
enp1s0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc mq state UP

- the permissions are also correct:
crwxrwxrwx 1 root root 238, 0  3. Mai 16:22 /dev/EtherCAT0

nevertheless the link is DOWN and I cannot start a test configuration
Debug file information:
Note: Using POSIX realtime
Failed to reserve master: No such device
LCEC: requesting master 0 (index 0) failed
LCEC: failure, clearing config
LCEC: exiting
LCEC: returning -EINVAL
lcec: rtapi_app_main: Invalid argument (-22)
./axis_mm.hal:3: waitpid failed /usr/bin/rtapi_app lcec
./axis_mm.hal:3: /usr/bin/rtapi_app exited without becoming ready
./axis_mm.hal:3: insmod for lcec failed, returned -1
2306
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime
 

The ethercat master doesn't have the right contact with the network interface.
Do "sudo service ethercat restart" and show here the lines from "sudo dmesg" from this restart, some 30 lines or so, check time.