Beckhoff ethercat 64 with bit linuxcnc, How to install.

yes I'm not at the most recent version, thank you for your quick reply.

I have upgraded to the more recent ethercat library as mentioned in New LinuxCNC-Ethercat git tree .
My devices folder is under linuxcnc-ethercat/src/devices and I didn't have to do the part where I added the device to lcec.config.c & lcec.config.h files

I guess I will try rebuilding from scratch but overall it is working with just this one module EL5102 not supported. The other unsupported module EL3068 I was able to get working and my other common i/o modules work so the ethercat part is working.

If possible, it would be good if you could do a pull request to Scotts repo to add your drivers. MAybe ask on the other thread

FWIW, the EL3068 should already be working in github.org/linuxcnc-ethercat/linuxcnc-ethercat . I have one in my test suite. I *think* all of the EL30xx and EL31xx devices should work, but I haven't actually looked for stragglers.

As for the EL5102 vs EL5101, a quick glance suggests that they're not actually all that close, register-wise:

- linuxcnc-ethercat.github.io/esi-data/devices/EL5101
- linuxcnc-ethercat.github.io/esi-data/devices/EL5102

That's unfortunate, as it means that we can't easily repurpose the EL5101 driver for the EL5102, unlike (say) the EL3xxx devices, most of which can share a driver (except, weirdly, for the EL31x2).

thanks for the reply. I'm going to work this weekend on upgrading to the latest linuxcnc version, not that it will help with this issue. My hope the two modules would be similar didn't work out. Buying two 5101 would be rather expensive.

I suppose I will have to learn a lot more about creating a file from scratch. I can't say I'm too confident but I'll give it a shot.

It's probably not *that* hard to get this working with a couple cheats .

I started to write them up here (first: remove the sync setup entirely, it's not really needed for most Beckhoff hardware and it makes things look more complex than they need to be), but decided that it'd probably be less work to just write a quick, untested el5102 driver as an example. Then you can work with that as a start for debugging.

Give me a couple hours to finish something else and I'll throw something together.

Okay, threw something together quickly. It compiles cleanly, and nothing seems *glaringly* wrong, but I don't have the hardware to test it and it's been a long day already . I'm not going to guarantee that it works at all, but hopefully when it fails it provides useful debugging data and doesn't just crash.

It should be tagged as v1.17.0, and packages are building and should be available in a couple minutes. You're probably better off downloading from github.com/linuxcnc-ethercat/linuxcnc-ethercat and compiling yourself, if you're up to debugging and fixing a few bugs.

At a minimum, this defines ~10 control bits and ~13 status bits, but only exposes about half of them as HAL pins. Odds are we don't care about all of them, but it'd be nice if someone was willing to think about it a bit and then add the remaining useful pins (plus code in the read/write functions, should be pretty straightforward) *or* just delete the unused ones.

The hardware also supports a second latch value; we're mapping that but not exporting it to HAL. Pretty much the same logic applies there as above.

Let me know how it goes.