Ethercat HAL driver

It is smth. like:

loadusr and loadrt are linuxCNC cmmands.
Up to now i have just tried to send commands thru the commandline tool.
My intention is at least to use the drives with linuxcnc but from this i am 100 years away.
I don´t know how to configure the .hal and the .ini and and so on
I found some infos from roschi but at the moment i just try to get one motor spinning.
So is there a way to do this with the commandlinetool or do i have to integrate it in linuxcnc.
By the way, it is not possible to use the generic Linux driver for RTAI realtime, right?
I have installed from the LinuxCNC LiveCD, do i have to compile new for the use of Ethercat?

ChrisB wrote: loadusr and loadrt are linuxCNC cmmands.
Up to now i have just tried to send commands thru the commandline tool.
My intention is at least to use the drives with linuxcnc but from this i am 100 years away.
I don´t know how to configure the .hal and the .ini and and so on
I found some infos from roschi but at the moment i just try to get one motor spinning.
So is there a way to do this with the commandlinetool or do i have to integrate it in linuxcnc.
By the way, it is not possible to use the generic Linux driver for RTAI realtime, right?
I have installed from the LinuxCNC LiveCD, do i have to compile new for the use of Ethercat?

Command line tools can only help you with SDO upload/download. So they are of limited use in operational phase.
As soon as you deal with PDOs, you need some real time scheduling.

linuxcnc-ethercat is not a part of the official linuxcnc release, so you have to compile and install it.

I tryed now for hours to compile install config linuxcnc.
Is there a complete step by step tutorial for linux idiots?
Up to now i feels i have compiled the world, but nothing works.
I found this : github.com/sittner/linuxcnc-ethercat
is this enough?
I have a Ethercat linuxcnc config attached and the debugoutput.
But for me there is no useful information inside.

Attached are some notes I made during a recent installation.
Hope they help.

Allan

sorry for a dumb question but..
i got some estun drives with ethercat im looking to get setup now

can someone explaine the math etc how to work out what the Position factor should be
6093 & 6094
the numerator & divisor
if there was an exsample things would be clearer

i have 17bit encoders, and 10mm screw pitch on X Y Z , direct drive onto the shaft

on the 4th & 5th the motors & Drives have a gear ratio 1/5 from the motor to gear then a 1/72 final worm drive

also whats the best/easy way to tune drives , i guess using the software with the drives to tune them and then start linking them into linuxcnc fully.

as in the past i have done analog drives with linuxcnc doing the loop

thanks, rob