Basic Ethercat Configuration

deedee
Topic Author
Offline
Junior Member

5 years 6 months ago #206268 by deedee

Basic Ethercat Configuration was created by deedee

Hi,
I'm new to LinuxCNC and want to get started with an EK1100 Coupler and a few IO-Modules.
I'm using:
- LinuxCNC 2.8.0 Debian 10 Buster PREEMPT-RT ISO
- Driver build via ec-debianize as *.deb package
- linuxcnc-ethercat also build as a *.deb package

ethercat slaves show up in PREOP

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halcmd:

Code:

loadrt threads name1=master period1=1000000
loadusr -W lcec_conf ethercat_config_1.xml
loadrt lcec
addf lcec.read-all master
addf lcec.write-all master
start

All pins are shown and halmeter shows the attached toggle switch.I tried to get LinuxCNC up and running with

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but it won't start.

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What did I do wrong?

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Grotius
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Platinum Member

5 years 6 months ago #206284 by Grotius

Replied by Grotius on topic Basic Ethercat Configuration

Hi,

This example should show something up in linuxcnc

Code:

/yourpath/linuxcnc/bin$ halshow
> loadrt threads name1=base-thread fp1=0 period1=15000 name2=servo-thread period2=1000000
> loadusr -W /yourpath/linuxcnc/bin/lcec_conf /path_to_yours/ethercat-conf.xml
> loadrt lcec

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deedee
Topic Author
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Junior Member

5 years 6 months ago #206292 by deedee

Replied by deedee on topic Basic Ethercat Configuration

Hi,

thanks for the quick tip.

"unexpected realtime delay" -> what's the problem?

Input Terminal:

Code:

cnc@linuxcnc:~$ halshow

Input GUI:

Code:

loadrt threads name1=base-thread fp1=0 period1=15000 name2=servo-thread period2=1000000

Output in Terminal:

Code:

Note: Using POSIX realtime
Unexpected realtime delay on task 0 with period 15000
This Message will only display once per session.
Run the Latency Test and resolve before continuing.

Input GUI:

Code:

loadusr -W /yourpath/linuxcnc/bin/lcec_conf /path_to_yours/ethercat-conf.xml

Output in GUI:

Code:

Component 'lcec_conf' ready
Program '/home/cnc/linuxcnc/ec/lcec_conf' started

Input GUI:

Code:

loadrt lcec

Output GUI:

Code:

Component 'lcec' ready
Program '/usr/bin/rtapi_app' started
Realtime module 'lcec' loaded

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