EtherCAT

charly
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6 years 4 months ago #169550 by charly

EtherCAT was created by charly

Hello
I have a Optimum BF46 milling machine with the step motor CNC kit
I done 5 years ago a first installation of LinuxCNC and use two LPT port to run it

I try to do a new installation and replace the second lpt port by a Beckhoff EtherCAT coupler (EK1100) on a Debian 10 with Preempt-RT kernel and LinuxCNC 2.9

I has download, compile, install the master EtherCAT ( version 1.5.2 ) and run it

The EtherCAT link is alive add i can get the auto-config with : ethercat xml

Code:

<?xml version="1.0" ?>
<EtherCATInfoList>
  <EtherCATInfo>
    <!-- Slave 0 -->
    <Vendor>
      <Id>2</Id>
    </Vendor>
    <Descriptions>
      <Devices>
        <Device>
          <Type ProductCode="#x044d2c52" RevisionNo="#x00110000">EK1101</Type>
          <Name><![CDATA[EK1101 EtherCAT-Koppler (2A E-Bus, ID-Switch)]]></Name>
          <Sm Enable="0" StartAddress="#x1000" ControlByte="#x0" DefaultSize="0" />
          <TxPdo Sm="0" Fixed="1" Mandatory="1">
            <Index>#x1a00</Index>
            <Name>ID</Name>
            <Entry>
              <Index>#x6000</Index>
              <SubIndex>1</SubIndex>
              <BitLen>16</BitLen>
              <Name>ID</Name>
              <DataType>UINT16</DataType>
            </Entry>
          </TxPdo>
        </Device>
      </Devices>
    </Descriptions>
  </EtherCATInfo>
  <EtherCATInfo>
    <!-- Slave 1 -->
    <Vendor>
      <Id>2</Id>
    </Vendor>
    <Descriptions>
      <Devices>
        <Device>
          <Type ProductCode="#x04b23052" RevisionNo="#x00100000">EL1202</Type>
          <Name><![CDATA[EL1202 2K. Fast Dig. Eingang 24V, 1�s]]></Name>
          <Sm Enable="1" StartAddress="#x1000" ControlByte="#x0" DefaultSize="1" />
          <TxPdo Sm="0" Fixed="1" Mandatory="1">
            <Index>#x1a00</Index>
            <Name>Channel 1</Name>
            <Entry>
              <Index>#x6000</Index>
              <SubIndex>1</SubIndex>
              <BitLen>1</BitLen>
              <Name>Input</Name>
              <DataType>BOOL</DataType>
            </Entry>
          </TxPdo>
          <TxPdo Sm="0" Fixed="1" Mandatory="1">
            <Index>#x1a01</Index>
            <Name>Channel 2</Name>
            <Entry>
              <Index>#x6000</Index>
              <SubIndex>2</SubIndex>
              <BitLen>1</BitLen>
              <Name>Input</Name>
              <DataType>BOOL</DataType>
            </Entry>
          </TxPdo>
        </Device>
      </Devices>
    </Descriptions>
  </EtherCATInfo>
  <EtherCATInfo>
    <!-- Slave 2 -->
    <Vendor>
      <Id>2</Id>
    </Vendor>
    <Descriptions>
      <Devices>
        <Device>
          <Type ProductCode="#x089a3052" RevisionNo="#x00100000">EL2202</Type>
          <Name><![CDATA[EL2202 2K. Dig. Ausgang 24V, 0.5A]]></Name>
          <Sm Enable="9" StartAddress="#xf00" ControlByte="#x44" DefaultSize="0" />
          <RxPdo Sm="0" Fixed="1" Mandatory="1">
            <Index>#x1600</Index>
            <Name>Channel 1</Name>
            <Entry>
              <Index>#x7000</Index>
              <SubIndex>1</SubIndex>
              <BitLen>1</BitLen>
              <Name>Output</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x7000</Index>
              <SubIndex>2</SubIndex>
              <BitLen>1</BitLen>
              <Name>TriState</Name>
              <DataType>BOOL</DataType>
            </Entry>
          </RxPdo>
          <RxPdo Sm="0" Fixed="1" Mandatory="1">
            <Index>#x1601</Index>
            <Name>Channel 2</Name>
            <Entry>
              <Index>#x7010</Index>
              <SubIndex>1</SubIndex>
              <BitLen>1</BitLen>
              <Name>Output</Name>
              <DataType>BOOL</DataType>
            </Entry>
            <Entry>
              <Index>#x7010</Index>
              <SubIndex>2</SubIndex>
              <BitLen>1</BitLen>
              <Name>TriState</Name>
              <DataType>BOOL</DataType>
            </Entry>
          </RxPdo>
        </Device>
      </Devices>
    </Descriptions>
  </EtherCATInfo>
</EtherCATInfoList>

When i had in my hal file le chargement du module EtharCAT : loadusr -W lcec_conf ./ethercat_config_n.xml
linuxcnc don't went start : lcec_conf no such file or directory

I thinking the module glue EtherCAT hal is not in the main linuxcnc but i don't know how add it
I found two repository : github.com/sittner/linuxcnc-ethercat and github.com/CalvinHsu1223/LinuxCNC-EtherCAT-HAL-Driver but noone explain how to add the module to linuxcnc

Somebody have an idee ?

Thanks

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0x2102
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Elite Member

6 years 4 months ago #169650 by 0x2102

Replied by 0x2102 on topic EtherCAT

Is "lcec_conf" in your machine config directory? If not, you will need to copy it, from where you compiled it, to your machine directory.

I would recommend to go through this thread for more information around EtherCat.

forum.linuxcnc.org/24-hal-components/223...t-hal-driver?start=0

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