Ethercat installation from repositories - how to step by step

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17 Mar 2024 06:52 - 07 Apr 2024 06:19 #296108 by PeakWang
thank you, I do step by step according your guidance, It seems everything is ok, i also got the same result.
can you advice me or give me an link on how to set up an system with Ethercat servo after that, it seems only Stepconf.Wizard and Pncconf.Wizard. thank you
Update 2024.4.7
I managed to get the three motors moving through LinuxCNC via Ethercat last week, Now I still have some issues on how to adjust on ballscrew pitch, encoder bit(I have 2^17 encoder).......
Last edit: 07 Apr 2024 06:19 by PeakWang.

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02 Apr 2024 17:05 - 02 Apr 2024 17:11 #297448 by meister
strange,
following the steps from the first post on Raspberry PI 400 and getting...


Debian GNU/Linux 12 (bookworm) 6.1.54-rt15 #1_RT Sat Oct 21 18:12:02 AEST 2023
aarch64
Raspberry Pi 400 Rev 1.1

== DISK
Filesystem Size Used Avail Use% Mounted on
/dev/mmcblk0p2 29G 4.5G 23G 17% /
/dev/mmcblk0p1 508M 55M 454M 11% /boot/broadcom

== NETWORK
Hostname: raspberrypi
Wireless: wlan0 UP 192.168.10.248

== SYSTEM
Processor: Cortex-A72 @ 1800MHz 35.5°C
Online: 0-3
Governor: performance
Memory: 3.3G 264M
Entropy: 256
Uptime: 03:01:30 up 0 min, 1 user, load average: 3.41, 0.82, 0.27

Last login: Wed Apr 3 02:58:07 2024 from 192.168.10.23
root@raspberrypi:~#
root@raspberrypi:~# ethercat master
Failed to obtain number of masters: Failed to open master device /dev/EtherCAT0: No such file or directory
root@raspberrypi:~#
(reverse-i-search)`': ^C
root@raspberrypi:~# systemctl status ethercat
● ethercat.service - EtherCAT Master Kernel Modules
Loaded: loaded (/lib/systemd/system/ethercat.service; enabled; preset: enabled)
Active: active (exited) since Wed 2024-04-03 03:01:15 AEST; 1min 36s ago
Process: 447 ExecStart=/usr/sbin/ethercatctl start (code=exited, status=0/SUCCESS)
Main PID: 447 (code=exited, status=0/SUCCESS)
CPU: 130ms

Apr 03 03:01:15 raspberrypi systemd[1]: Starting ethercat.service - EtherCAT Master Kernel Modules...
Apr 03 03:01:15 raspberrypi systemd[1]: Finished ethercat.service - EtherCAT Master Kernel Modules.
root@raspberrypi:~#
root@raspberrypi:~# /usr/sbin/ethercatctl status
Checking for EtherCAT master 1.5.2
Master0 dead
root@raspberrypi:~#
root@raspberrypi:~# /usr/sbin/ethercatctl stop
rmmod: ERROR: Module ec_master is in use by: ec_genet
root@raspberrypi:~# rmmod ec_genet
root@raspberrypi:~# /usr/sbin/ethercatctl stop
root@raspberrypi:~# /usr/sbin/ethercatctl start
root@raspberrypi:~# ethercat master
Master0
Phase: Idle
Active: no
Slaves: 0
Ethernet devices:
Main: e4:5f:01:49:6a:7f (attached)
Link: DOWN
Tx frames: 0
Tx bytes: 0
Rx frames: 0
Rx bytes: 0
Tx errors: 0
Tx frame rate [1/s]: 0 0 0
Tx rate [KByte/s]: 0.0 0.0 0.0
Rx frame rate [1/s]: 0 0 0
Rx rate [KByte/s]: 0.0 0.0 0.0
Common:
Tx frames: 0
Tx bytes: 0
Rx frames: 0
Rx bytes: 0
Lost frames: 0
Tx frame rate [1/s]: 0 0 0
Tx rate [KByte/s]: 0.0 0.0 0.0
Rx frame rate [1/s]: 0 0 0
Rx rate [KByte/s]: 0.0 0.0 0.0
Loss rate [1/s]: 0 0 0
Frame loss [%]: 0.0 0.0 0.0
Distributed clocks:
Reference clock: None
DC reference time: 0
Application time: 0
2000-01-01 00:00:00.000000000
root@raspberrypi:~#

root@raspberrypi:~# uname -a
Linux raspberrypi 6.1.54-rt15 #1 SMP PREEMPT_RT Sat Oct 21 18:12:02 AEST 2023 aarch64 GNU/Linux
root@raspberrypi:~# lsb_release -a
No LSB modules are available.
Distributor ID: Debian
Description: Debian GNU/Linux 12 (bookworm)
Release: 12
Codename: bookworm



now with an slave, it looks ok:

root@raspberrypi:~# ethercat slaves
0  0:0  INIT  E  SAME54 EtherCAT Slave
 
Last edit: 02 Apr 2024 17:11 by meister.

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16 Apr 2024 06:50 - 16 Apr 2024 07:07 #298341 by Mehta_123
Hello !!Thanks for the detailed steps, I have installed ethercat and able to detect slaves. As I am totally new to this I am not able to start LCNC.I have followed steps of xml and hal file from youtube (attaching hal file and error for your reference) 
 
 

I am aware that its the issue of xml file as I am using different driver (panasonic MBDLN25BE)
Can you please guide me what type of changes I need to do in xml file ?

Thanks and Regards,
Mehta
Attachments:
Last edit: 16 Apr 2024 07:07 by Mehta_123.

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19 May 2024 17:12 #300972 by sevketsakinc
Hello, first of all, thank you for your descriptive shares.
I used a servo with ethercat using "Debian 9" 4 years ago and it has been working since then.

PC: INTEL 9TH GENERATION I3
Ethercat version is 1.5.2.
Servo: Panasonic A6

Now I wanted to use Debian 12, Ethercat version 1.6.0 and LinuxCNC 2.9.2, which has been updated according to your shares.
PC: INTEL 12th GENERATION i3
When I close the Linuxcnc interface, the servos get a synchronization error. This did not happen in the old version.
The servo is still the same servo (PANASONIC A6) but I was getting 80.4 synchronization error.
This error ( <dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="0"/>
<watchdog divider="2498" intervals="5000"/>
)
I solved it by doing .

But now, when I restart it, some of the servos do not switch to OP mode on the first try.

Can you help me ?

I am grateful.

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21 May 2024 19:12 #301107 by sevketsakinc
After installing Debian 12, this time I installed ethercat 1.5.2 version.
The problem is still the same.
I suspect it's from Debian 12 or Linuxcnc 2.9.2.
Ethercat protocol does not work properly on servos.

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