Page History

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• EtherCAT Resources & Reference Material
• linuxRT PC Set-up
• EtherCAT linuxRT Configuration
• EtherCAT Template for Creating Epics Application
• Configuring EtherCAT Epics Application
• T
• Debugging Tips

EtherCAT Resources & Reference Material

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• For new users, please reference the following page: LinuxRT Quick Start-up For New Users
• Highly recommend viewing this diagram: LinuxRT_Diagram
  
  

Verification Checks of checks on linuxRT Machinesmachines:

• Please see $IOC/cpu-<bld>-<name>/README on instructions on how to power cycle machines remotely through the use of ipmi commands
• Once you set-up your linuxRT machine and boot up, log in as laci to your linuxRT system. ( ssh laci@cpu-<bld>-<name>)
• Test if your machine is running real-time linux using  uname -a

 EtherCAT linuxRT Configuration:

In the SLAC environment, we are currently running EtherCAT on industrial PC's running linux with a pre-emptive real-time patch (linuxRT).  Before configuring for EtherCAT, the very first step is to set-up a new linuxRT host.

We are currently using Etherlab's EtherCAT Master module. , which can be found under the package area

3. As the OS is set up, the linux Kernel Driver is required. For this, include the kernel module, include the port where the device is connected into the kernel-modules.cmd file. ( ref : $IOC/cpu-b34-mc23)

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EtherCAT Template for Creating Epics Application

Configuring EtherCAT Epics Application

The EtherCAT application has two parts.

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Debugging Tips