Ethercat installation from repositories - how to step by step

rodw
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3 years 2 months ago #279216 by rodw

Replied by rodw on topic Ethercat installation from repositories - how to step by step

The default Bookworm kernel in my ISO is 6.1 so you are in the clear!
Sorry but the download had a regression and is missing nonfree and nonfree-firmware in /etc/apt/sources.list
You will nead them. Please edit the file and add "nonfree nonfree-firmware" to the end of each line starting with deb then
sudo apt update
sudo apt upgrade (to get the very latest 2.9 linuxcnc)
So once installed, I think you should install the r8125-dkms driver (which is in non-free) to get best network performance
sudo apt install r8125-dkms
If this breaks your network, it must be purged, not removed sudo apt purge r8125-dkms

@transint, I can't help without seeing your config files. Sounds like you got something wrong there.

RodW
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mwc
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3 years 2 months ago #279219 by mwc

Replied by mwc on topic Ethercat installation from repositories - how to step by step

It'll likely be the weekend before I get a chance to try this.

I've not had any time to work on the machine that this setup is likely to end up on, but I've been checking in occasionally to see what developments have been happening, however I might soon have a bit free time to get a few workshop projects worked on, so am wanting to see if I can get this working reliably or not.

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Transint
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3 years 2 months ago #279257 by Transint

Replied by Transint on topic Ethercat installation from repositories - how to step by step

Warning: Spoiler!

Code:

<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1">

<!-- Slave 0 - DIEWU 16 input, 16 output Ethercat IO Module -->

    <slave idx="0" type="generic" vid="00000b95" pid="0x00010200" configPdos="false">
     <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>     
      <syncManager idx="2" dir="out">
        <pdo idx="1a00">            
            <!-- Digtial Outputs (DIEWU_EtherCAT_DIO_16)-->
          <pdoEntry idx="3101" subIdx="01" bitLen="8" halType="complex">
            <complexEntry bitLen="1" halPin="out-01" halType="bit"/>
            <complexEntry bitLen="1" halPin="out-02" halType="bit"/>
            <complexEntry bitLen="1" halPin="out-03" halType="bit"/>
            <complexEntry bitLen="1" halPin="out-04" halType="bit"/>
            <complexEntry bitLen="1" halPin="out-05" halType="bit"/>
            <complexEntry bitLen="1" halPin="out-06" halType="bit"/>
            <complexEntry bitLen="1" halPin="out-07" halType="bit"/>
            <complexEntry bitLen="1" halPin="out-08" halType="bit"/>
          </pdoEntry>             
        </pdo>     
        <pdo idx="1a01">            
            <!-- Digtial Outputs (DIEWU_EtherCAT_DIO_16)-->
          <pdoEntry idx="3101" subIdx="02" bitLen="8" halType="complex">
            <complexEntry bitLen="1" halPin="out-09" halType="bit"/>
            <complexEntry bitLen="1" halPin="out-10" halType="bit"/>
            <complexEntry bitLen="1" halPin="out-11" halType="bit"/>
            <complexEntry bitLen="1" halPin="out-12" halType="bit"/>
            <complexEntry bitLen="1" halPin="out-13" halType="bit"/>
            <complexEntry bitLen="1" halPin="out-14" halType="bit"/>
            <complexEntry bitLen="1" halPin="out-15" halType="bit"/>
            <complexEntry bitLen="1" halPin="out-16" halType="bit"/>
          </pdoEntry>             
        </pdo>        
      </syncManager>     
      <syncManager idx="3" dir="in">
        <pdo idx="1600">    
          <!-- Digtial_inputs  -->
          <pdoEntry idx="3001" subIdx="01" bitLen="8" halType="complex">
            <complexEntry bitLen="1" halPin="in-01" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-02" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-03" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-04" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-05" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-06" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-07" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-08" halType="bit"/>
           </pdoEntry> 
        </pdo>
        <pdo idx="1601">
          <pdoEntry idx="3001" subIdx="02" bitLen="8" halType="complex">
                 <complexEntry bitLen="1" halPin="in-09" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-10" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-11" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-12" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-13" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-14" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-15" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-16" halType="bit"/>    
           </pdoEntry>  
        </pdo>
      </syncManager>         
    </slave> 
   
<!-- Slave 1 - Servo 2DM556-EC-->

    <slave idx="0" type="generic" vid="66668888" pid="20190302" configPdos="true">
      <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
      <sdoConfig idx="2000" subIdx="0"><sdoDataRaw data ="70 17"/></sdoConfig>  <!-- Max motor current (6.0) -->
      <sdoConfig idx="2007" subIdx="6"><sdoDataRaw data ="05"/></sdoConfig>     <!-- Input 6 - Emergency Stop -->
      <sdoConfig idx="2007" subIdx="5"><sdoDataRaw data ="05"/></sdoConfig>     <!-- Input 3 - Home Function -->
      <sdoConfig idx="2011" subIdx="0"><sdoDataRaw data ="01 00"/></sdoConfig>  <!-- Closed loop -->
      <sdoConfig idx="6098" subIdx="0"><sdoDataRaw data ="11 00"/></sdoConfig>  <!-- Home mode 17 -->
      <sdoConfig idx="607C" subIdx="0"><sdoDataRaw data ="00 00"/></sdoConfig>  <!-- Home offset 0  -->
      <sdoConfig idx="609A" subIdx="0"><sdoDataRaw data ="F4 01"/></sdoConfig>  <!-- Home accelleration 500 -->
      <sdoConfig idx="6099" subIdx="01"><sdoDataRaw data ="C4 09"/></sdoConfig>  <!-- Home fast speed 2500-->
      <sdoConfig idx="6099" subIdx="02"><sdoDataRaw data ="F4 01"/></sdoConfig>  <!-- Home slow speed 500 -->
      <syncManager idx="2" dir="out">
        <pdo idx="1600">
          <pdoEntry idx="6040" subIdx="00" bitLen="16" halPin="cia-controlword" halType="u32"/>
          <pdoEntry idx="6060" subIdx="00" bitLen="8" halPin="opmode" halType="s32"/>
          <!-- Target Position -->
          <pdoEntry idx="607A" subIdx="00" bitLen="32" halPin="target-position" halType="s32"/>
          <!-- Target Velocity -->
          <pdoEntry idx="60FF" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>
          <!-- Digtial Outputs (manufacturer's extension ECT86/ECT60)-->
          <pdoEntry idx="204A" subIdx="0" bitLen="16" halType="complex">
            <complexEntry bitLen="1" halPin="out-1" halType="bit"/>
            <complexEntry bitLen="1" halPin="out-2" halType="bit"/>
            <complexEntry bitLen="14"/>
          </pdoEntry>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <pdoEntry idx="6041" subIdx="00" bitLen="16" halPin="cia-statusword" halType="u32"/>
          <pdoEntry idx="6061" subIdx="00" bitLen="8" halPin="opmode-display" halType="s32"/>
          <pdoEntry idx="6064" subIdx="00" bitLen="32" halPin="actual-position" halType="s32"/>
          <pdoEntry idx="606C" subIdx="00" bitLen="32" halPin="actual-velocity" halType="s32"/>
          <pdoEntry idx="6077" subIdx="00" bitLen="32" halPin="actual-torque" halType="s32"/>
          <!-- Digtial_inputs (cia402 compatible) -->
          <pdoEntry idx="60FD" subIdx="0" bitLen="32" halType="complex">
            <complexEntry bitLen="1" halPin="CW-limit" halType="bit"/>
            <complexEntry bitLen="1" halPin="CCW-limit" halType="bit"/>
            <complexEntry bitLen="13"/>
            <complexEntry bitLen="1" halPin="DI3" halType="bit"/>
            <complexEntry bitLen="1" halPin="DI4" halType="bit"/>
            <complexEntry bitLen="10"/>
          </pdoEntry>          
        </pdo>
      </syncManager>
    </slave>
   

    
  </master>
</masters>

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Goodwood
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3 years 2 months ago #279419 by Goodwood

Replied by Goodwood on topic Ethercat installation from repositories - how to step by step

Thank you so much for such a quick installation with absolutely no hitches. I'm in shock.
The next challenge is to install the Yaskawa sigma 7 servos and drives.Do you have a list of the chips that this will run on. I want to put it onto an IPC. Thanks again.

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rodw
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3 years 2 months ago #279440 by rodw

Replied by rodw on topic Ethercat installation from repositories - how to step by step

Goodwood wrote:
Thank you so much for such a quick installation with absolutely no hitches. I'm in shock.
The next challenge is to install the Yaskawa sigma 7 servos and drives.Do you have a list of the chips that this will run on. I want to put it onto an IPC. Thanks again.

Great feedback thanks. Any industrial 64 bit 4 core PC I think. I don't think we have 32 bit repos of linuxcnc for bookworm.
Some people have got linuxcnc to run on 2 core machines but it needs a bit more work. eg update the kernel and check/update network drivers

RodW
MrRodW.au
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endian
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3 years 2 months ago #279445 by endian

Replied by endian on topic Ethercat installation from repositories - how to step by step

I am running 2 core now too and have more problems.

hich hw can you recommned for it please?

I am looking for small or mini PC with single network and single wifi connection. I found something like Lenovo ThinkCentre M93p Tiny Intel Core i5-4590T, HD 4600, 8GB DDR3 RAM, 256GB SSD ... do you think, should it run without major problems?

thanks

regards Slav

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Ethercat installation from repositories - how to step by step