Install LinuxCNC 64bit from http://www.linuxcnc.org/testing-stretch-rtpreempt/linuxcnc-stretch-uspace-amd64-r13.iso

Open terminal in your home directory.

$ sudo apt-get install dist-upgrade

$ sudo apt-get install git

$ sudo apt-get install mercurial

$ git clone https://github.com/LinuxCNC/linuxcnc.git

https://github.com/nguyenanhtucom/LinuxCNC-2.9.git

$ git clone https://github.com/sittner/linuxcnc-ethercat.git

https://github.com/nguyenanhtucom/sittner-linuxcnc-ethercat.git

1. Build linuxcnc

$ cd linuxcnc/debian

$ ./configure uspace

$ cd .. (linuxcnc/debian$ to linuxcnc$)

$ dpkg-checkbuilddeps

$ sudo apt-get install ..... until you are done.

$ cd src (to $linuxcnc/src )

$ ./autogen.sh

$ ./configure

$ make -j4 ( j2 = dual processor speed )

$ sudo make setuid

$. ../scripts/rip-environment (to linuxcnc/src)

$linuxcnc

2. Build IgH-EtherCAT-Master_Debian-9x64

https://github.com/nguyenanhtucom/IgH-EtherCAT-Master_Debian-9x64

3. Build linuxcnc-ethercat (LinuxCNC EtherCAT HAL driver)

$ cd linuxcnc-ethercat

$ sudo make

$ sudo make install

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

$ cp linuxcnc-ethercat/src/lcec_conf ...

copy lcec_so to linuxcnc/rtlib

$ cp linuxcnc-ethercat/src/lcec.so linuxcnc/rtlib

4. Test 1

List slave

$ ethercat slaves

Create file ethercat-conf.xml

$ sudo nano ethercat-conf.xml

$ halrun show pin

loadrt trivkins

loadrt motmod servo_period_nsec=1000000 num_joints=3

loadusr -W lcec_conf ethercat-conf.xml

loadrt lcec

addf lcec.read-all servo-thread

addf lcec.write-all servo-thread

setp lcec.0.D2.dout-0 1

start

5. Test 2

Create file test.hal

$ sudo nano test.hal

show pin

loadrt trivkins

loadrt motmod servo_period_nsec=1000000 num_joints=3

loadusr -W lcec_conf ethercat-conf.xml

loadrt lcec

addf lcec.read-all servo-thread

addf lcec.write-all servo-thread

start

$halrun -I test.hal

setp lcec.0.D2.dout-0 1

6. Error

/dev/EtherCAT0: Permission denied

$sudo chmod 7777 /dev/EtherCAT0