Ethercat HAL driver

@besriworld

I have been on here for a while and have not seen these amps here on the forum that I can remember. Not to say they are not, but do not look familiar at all. Plus if they are not shown on the GitHub site, then I would doubt anyone has made the device files yet. Just as an example of how long it has taken to get more devices working, the Omron G5 device was just recently added and I have watched for a very long time before it was added.

I am sure "Chimeno" will chime in to help you and he is excellent with his advise, and may even be able to make the device files you need. There are a few others that are on here such as Grotius that may be able to help also.

Worse case you can always use the Generic driver for manual mapping to HAL pins. You do this in your XML file and that will get you up and running pretty quick to at least get going. Hope this helps a little.


Robert

I make an rip-install on ubutnu 18.04 ... seems all work goods, but after some test of connection I try to launch my first config and I can see problem with linkied lcec.so .... so I try with halcmd and see these ... (the problem is on 68, 108 and 113 page of these thread)

mine is rip-install ....sim axis work ok, ehercat slave output:

I see the error when launch command with halcmd .... not understand if someone has solve these without change ec-debianize version .... comeone can help me for these problem?

regards
bkt

I control make file (modinc etc etc) and test with ldd some library as lcec.so libthethercat.so ..... I thinbk the problem was ec-debianize script .... seems not make for a rip-install .... so sometime shared library not match with respective folder on the SO ....

see mine ldd terminal output:

demo@demo:~/linuxcnc-dev/rtlib$ ldd lcec.so
linux-vdso.so.1 (0x00007ffe1ead5000)
libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007fa2a1023000)
libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007fa2a0c32000)
/lib64/ld-linux-x86-64.so.2 (0x00007fa2a15df000)

is my output correct or is there still some library missing?


Regards
bkt

Hi @btk,
are you sure you did:

Nico2017 wrote: Copy some files across to the relevant location:

cp ~/linuxcnc-ethercat/src/lcec_conf ~/linuxcnc/configs/FolderWhereInIFileForConfig

to your linuxcnc sim folder (copy it where your ini files is)

cp ~/linuxcnc-ethercat/src/lcec.so ~/linuxcnc-dev/rtlib/

apparently only required for for linuxcnc_dev users
Make the Ethercat0 permission permanent for your user for linuxcnc

sudo adduser $USER ethercat
sudo adduser root ethercat

. Reboot to make it effective permanently.

during your linuxcnc-ethercat installation? See post : forum.linuxcnc.org/27-driver-boards/3559...-to-install?start=30 Might be different if you are using a RIP installation.

Nicolas

on a std linuxcnc-dev rip-install all is intall inside everywhereWIthUserPermission/linuxcnc-dev .... so for sure I've copy lcec.so inside /rtlib, lcec_conf inside /config and I gave ethercat permission .... I read your tutorial but withut . . /scripts/rip-environment command not able to install correctly ethercat .... so after 3/4 test I use that command berofe install and all seems to work better in sim mode ... but when try to make my rt-config I' ve these error .... so for sure there are a problem with permissions .... I think ec-debianize try to write on /.... and not in /home/user/everywhere .... so dependency of lcec.so are unrechable from /home/user/everywhere folder .....

any how in your debian install what is the output of: ldd /rtlib/lcec.so ??

Try the solution here, it worked for me. You just need revert realtime.mk file then remake linuxcnc-ethercat.
github.com/sittner/linuxcnc-ethercat/issues/61