Ethercat HAL driver

Thanks udo.
Will be possible a hal component for LCNC that convert a raspberry pi 4 in a ethercat slave.

hello,

you can't build an ethercat slave without an licensed hardware chip or Asic firmware by beckhoff. You can code your own master, but not legaly a slave.
For this you can by boards/Chips from Beckhoff ET1100 / ET1815 or licensed ic's at Infinion / Microchip etc...
if you need an high counts of pieces them cost only a few dollars...
for prototypes or homebuildings i would by an ethercat evaluation Kit and then use Soes (simple open ethercat slave) or buy an ready to use rasppi or arduino expansion board.

getting your own slave running with linuxcnc ethercat then, is the smallest step.... (coding own driver or config manual in the conf xml.)

@yrodriguez
1. You have data on the RPi4;
2. You want this data make available to PC-Ethercat-Master and ultimately to Lcnc ;

SO: some how you need the RPi to become a slave ; I told you one way to do that ; 
Then you can read the data through the master into the HAL.
For that you need a component to attach the slave to the Etherlab Master, but that is available.

Hope that helped or else please give more info's / details about your setup or intensions.

best rgds   udo

@db1981
the Bausano slave is a legal expansion board for the raspi.
They are building a whole range of low cost ethercat cnc boards.

Just have a look

Now there is also a soft-plc available running on linux-PC and RPi3/4 that has a Ethercat Master.
From there it just takes a rt-plugin (shared memory with semaphore) to have any data from plc into HAL;
Nothing illegal about it.

Best rgds.   udo

I going yo explane that a have mount.
1. PC with LCNC 2.8 and ethercat Master working.
2. A raspberry pi 4 with LCNC 2.8 and ethercat Master working.
My problem is when a conect de PC with rpi through ethercat, the PC does not reconize de rpi as ethercat slave.

I need reconize rpi 4 like slave to send information from a hal component on rpi yo a hal component on PC

I readed SOES from Github but I don't know how use it to solve my question.
Thanks.

you can only talk beetween ec master over an bridge interface, but that hat not be done yet on linuxcnc.

To get your pi as an slave you need an extra piece of hardware, (like the bausano udoS showed, it has an ethercat stamp on board) .

But to get your information from linuxcnc on your pi to the ec-slave board, you have to code an own component / interface driver.

If your use case is not realtime critical i would implement my own tcp communication layer in an c-comp.

In my case is not realtime critical I could test your c-comp.

There is an other problem I see here.
If your RPi has the ethercat master running then there is NO free NIC.
So you need additional hardware one or the other way. Wether it's the slave HAT or TCP HAT.
What is that setup anyway. Two interconnected robots. Working together. Sounds interesting.

best rgds. udos

I measuring position of parts that move on a conveyor with my rpi + camera this position is send to trípod robot controled by PC with linuxcnc.
I want sent the position of moving parts through ethercat.
I made this with a raspberry pi but latency is high (70000ns) to improve this I use a PC with linuxcnc to control de robot and latency is better (16000ns) but I can not get comunícate de rpi with PC.