Beckhoff ethercat 64 with bit linuxcnc, How to install.

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03 Mar 2021 14:29 #200904 by V-max
Hi
Skiping:
Terminal: ./configure uspace
All whent well

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03 Mar 2021 14:52 #200906 by db1981
okay, that means linuxcnc is running as rip install now ?

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03 Mar 2021 15:15 #200907 by V-max
Yes
I suppose is normal that the configs folder is the same

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03 Mar 2021 15:28 #200908 by db1981
next steps;

1 installing lcnc-ethercat for the rip Install
In the terminal you already have execute the rip-environment script,
navigate to your linuxcnc-ethercat folder
Terminal: make clean
Terminal; make install
now lcnc is new compiled and the last lines that appear on screen should copy (cp) lcec_conf and lcec.so to the rip folder your_foldername
2 add the task-pll-functions patch to linuxcnc
in your linuxcnc-ethercat folder there is a subfolder patches, add the add-task-pll-functions-2.8.patch to your rip install.
Terminal: cd your_foldername/src
Terminal: git apply lcnc-ethercat path/patches/add-task-pll-functions-2.8.patch
should be no error...
3 Compile linuxcnc again
close the terminal, and open a new one.
navigate to your_foldername/src
repeat step 7 +8 from the last post.

now modify your ethercat_conf.xml:
-first line: change refClockSyncCycles= to "-1"
-change the dc_conf line:
<dcConf assignActivate="730" sync0Cycle="250000" sync0Shift="0" sync1Cycle="750000" sync1Shift="0"/>

start your config with the rip install, and check if it goes to OP again. There should be no sync errors anymore.

with this patch we syncronizise your Master/Network card to the clock from the slave. i will explain this later in detail...

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03 Mar 2021 18:24 #200921 by V-max
Hi DB

db1981 wrote: next steps;

1 installing lcnc-ethercat for the rip Install
In the terminal you already have execute the rip-environment script,
navigate to your linuxcnc-ethercat folder
Terminal: make clean
Terminal; make install
now lcnc is new compiled and the last lines that appear on screen should copy (cp) lcec_conf and lcec.so to the rip folder your_foldername


They weren't copied:
.
..
.
Compiling realtime lcec_omrg5.c
Compiling realtime lcec_ph3lm2rm.c
Linking lcec.so
cp lcec.so /usr/lib/linuxcnc/modules/
make[2]: Leaving directory '/home/avc/linuxcnc-ethercat/src'
make[1]: Leaving directory '/home/avc/linuxcnc-ethercat/src'
make[1]: Entering directory '/home/avc/linuxcnc-ethercat/examples'
mkdir -p /usr/share/linuxcnc-ethercat/examples
cp -R generic-complex swm-fm45a /usr/share/linuxcnc-ethercat/examples
make[1]: Leaving directory '/home/avc/linuxcnc-ethercat/examples'
avc@debian:~/linuxcnc-ethercat$

Do I copy them by Hand? which are the right files and folders?

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03 Mar 2021 18:28 #200922 by V-max

db1981 wrote: next steps;
3 Compile linuxcnc again
close the terminal, and open a new one.
navigate to your_foldername/src
repeat step 7 +8 from the last post.
.


uspace problem again:
avc@debian:~/Desktop/LinuxcncRIP/linuxcnc/src$ sudo make -j2
Reading 199/199 dependency files
Done reading dependencies
Reading 214/214 realtime dependency files
Done reading realtime dependencies
Creating shared library libposemath.so.0
Creating shared library liblinuxcnchal.so.0
Linking rtapi_app
Linking test_rtapi_vsnprintf
Compiling rtapi/uspace_xenomai.cc
Compiling hal/components/streamer_usr.c
rtapi/uspace_xenomai.cc: In function ‘RtapiApp* make()’:
rtapi/uspace_xenomai.cc:172:16: error: invalid new-expression of abstract class type ‘{anonymous}::XenomaiApp’
return new XenomaiApp;
^~~~~~~~~~
rtapi/uspace_xenomai.cc:19:8: note: because the following virtual functions are pure within ‘{anonymous}::XenomaiApp’:
struct XenomaiApp : RtapiApp {
^~~~~~~~~~
In file included from rtapi/uspace_xenomai.cc:3:
rtapi/rtapi_uspace.hh:90:23: note: ‘virtual long long int RtapiApp::task_pll_get_reference()’
virtual long long task_pll_get_reference(void) = 0;
^~~~~~~~~~~~~~~~~~~~~~
rtapi/rtapi_uspace.hh:91:17: note: ‘virtual int RtapiApp::task_pll_set_correction(long int)’
virtual int task_pll_set_correction(long value) = 0;
^~~~~~~~~~~~~~~~~~~~~~~
make: *** [Makefile:222: objects/rtapi/uspace_xenomai.o] Error 1
make: *** Waiting for unfinished jobs....
avc@debian:~/Desktop/LinuxcncRIP/linuxcnc/src$

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03 Mar 2021 18:36 #200923 by db1981
strange.. have you executed rip-environment before the makes in ethercat

-lcec_conf -> your_foldername/bin
-lcec.so -> your_foldername/rtlib

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03 Mar 2021 18:49 - 03 Mar 2021 18:52 #200924 by db1981
this is an rt-preempt system or ?

i'm a little confused about the Xenomai problem, have to check this tommorow.

git apply the_ patch , has given no errors ?
I compiled a few days ago without errors, maybe there is something broken with your rt kernel installation / config.
Last edit: 03 Mar 2021 18:52 by db1981.

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03 Mar 2021 18:50 #200926 by V-max
Yes, at the point 8, just for testing twice.

The lcec.so and lcec_conf from linuxcnc-ethercat/crc/

Right?

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03 Mar 2021 18:53 #200927 by db1981
this is an rt-preempt system or ?

yes from linuxcnc-ethercat/src/

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