New experimental ethercat layer

I am working on a new, experimental EtherCAT layer for LinuxCNC.

You might be interested in the tool ecatsetup even if you don’t want to commit to this idea just yet.
ecatsetup is a tool to commission EtherCAT slaves/drives, test-drive, connect in hal and more.
It doesn't generate a XML file and never will. But you can find the necessary info you need in the tool.
Start here github.com/MetalMusings/ecat, find Getting started and try it.

The complete kit includes
- user space EtherCAT master, derived from IgH master 1.6.8
- the ecat.so hal module (replaces lcec), between linuxcnc and the ethercat master, and between ecatsetup and the ethercat master.
- ecatsetup graphical tool for commissioning of EtherCAT drives, test drive, troubleshoot, connect to hal pins, monitor and record EtherCAT master and slave behavior of a running LinuxCNC machine..

It completely replaces the current EtherCAT kernel master and lcec and tools.
Slave support builds on support of profiles, currently CiA402, mdp and generic. Deviations and specials are handled via "quirks".
CiA402 has support for csp, csv, pp, pv and hm. One only or shift between two or more. All homing methods,  35 and 36 are tested and the other methods await testing..
A new markup-file is used to communicate settings between ecat and ecatsetup. You are not supposed to read the file; you are not supposed to write it either. ecatsetup reads and writes it. ecat reads and uses it. There is a one-time conversion possible from existing XML files. Writing XML will never be supported.

You can use ecatsetup on any LinuxCNC version, that's the intention.
ecat and user space EtherCAT master is built using 2.9.4 and you will need that. Support for LinuxCNC 2.10 is planned and will happen sooner with shown interest.

For more info (and there is a lot!), visit github.com/MetalMusings/ecat
 

 

I've made a new release after working through all steps to bring a
config from linuxcnc simulator into operation with EtherCAT drives,
IO and encoder. I run it myself on a plasma cutter and a lathe.

I could try to write how great is is, but just try for yourself.
github.com/MetalMusings/ecat for releases, now only 2.10.
Unfortunately you may to build it yourself since there is no released 2.10 to rely on.
I can back-port it to 2.9 and make a deb package if more than one person wants it

Development has been at the speed of light,but it's slowing down now.
The tools feel somewhat useful so development will be more on my own usage, try use cases.


 

Thank you for your work, it's fun to experiment with it! I'm playing around with a mini milling machine. All I need now is a VFD for EtherCAT, as the EL6021 doesn't seem to be supported yet. I'll try that out when the function with the ESI files is implemented. But I have one more question: is there a way to output it inverted, except via " not.N "?