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<This page is currently under reviewactive development/revision.  Please contact Alisha Babbitt (ababbitt@slaccontact  Jesus Vasquez <jvasquez@slac.stanford.edu) > for more information or questions.>

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• EtherCAT Resources & Reference Material
• linuxRT PC Set-up
• Configuring the $IOC/vioc-<>-<> Directorysioc-<area>-<subsystem##> Directory where ## is a 2-digit number 01-99.
  
• EtherCAT linuxRT Configuration
• EtherCAT Template for Creating Epics Application
• Configuring EtherCAT Epics Application
• Debugging Tips

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• For new users, please reference the following page: Diskless Boot of LinuxRT or Centos7 - Quick Start-up For New UsersHighly  Highly recommend viewing this diagram: LinuxRT_Diagram
  

Verification checks on linuxRT machines:

• 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

We are currently using Etherlab's EtherCAT Master module, which can be found under the package area.  The kernel-modules.cmd file needs to be updated to include the following:

1. Location of EtherCAT kernel drivers
2. Install kernel drivers
3. Network configuration
4. EtherCAT system configuration & set-up
5. Start scanner process

Update the following lines of code in your $IOC/cpu-<>-<>/kernel-modules.cmd.  The following code excerpts are from $IOC/cpu-b084-hp03/kernel-modules.cmd

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  Table 1

  Facility	LinuxRT Account	LinuxRT  Group	Comment
  Development	laci	lcls
  LCLS	laci	lcls
  LCLS-II			not yet available
  FACET	flaci	facet	linuxRT is built with laci as the default account, users must add  facet group, user and  password
  Test-Facility	acctf	?	linuxRT is built with laci as the default account, users must add  test-facility group, user and password

Verification checks on linuxRT machines:

• 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 on development for instance, log into laci on your linuxRT system (ref: Table 1). ( ssh laci@cpu-<bld>-<name>)
• Test if your machine is running real-time linux using  uname -a

EtherCAT linuxRT Configuration

We are currently using Etherlab's EtherCAT Master module, which can be found under the package area.  The kernel-modules.cmd file needs to be updated to include the following:

1. Location of EtherCAT kernel drivers
2. Install kernel drivers
3. Network configuration
4. EtherCAT system configuration & set-up
5. Start scanner process

Update the following lines of code in your $IOC/cpu-<>-<>/kernel-modules.cmd.  The following code excerpts are from $IOC/cpu-b084-hp03/kernel-modules.cmd

This current code This current code stanza  defines the location for the EtherCAT kernel drivers.

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• If the slaves are connected with the setup, the ethercat command line tool can help visualize it.

• Another helpful ethercat command line took is ethercat master

Configuring the $IOC/vioc-<>-<> Directory

The $IOC/vioc-<>-<> directory created for this EtherCAT application needs the follow items:

• If the slaves are connected with the setup, the ethercat command line tool can help visualize it.

• Another helpful ethercat command line took is ethercat master

Configuring the $IOC/sioc-<>-<> Directory

The $IOC/vioc-<>-<> directory created for this EtherCAT application needs the follow items:

• scannerStartup.sh (where should we put a "master" scannerStartup.sh for people to copy/point to)
•  Proposal: put generic scannerStartup.sh under $IOC/common/ethercat.  Script has been modified to pass in the vioc name from when the script is called from the kernel-modules.cmd
  
  • so vioc specific information (for vioc-ltu0-mc01) was moved to the kernel-modules.cmd  => have to think about use case where multiple subsystems share cpu  (see above solution)
    
  • OR do we keep it in kernel-modules.cmd (this should be apart of the linuxRT discussion)
    
• Create a bin directory  (currently under discussion to rename this "bin" directory to avoid confusion)
• scannerStartup.sh (where should we put a "master" scannerStartup.sh for people to copy)
• Create a bin directoryProposal: rename "bin" to "scanner" and use symbolic links to point to scanner binary and scanner.xml in epics application
  
• In the bin directory, create a symbolic link "scanner" that points to your scanner binary in your epics application (<top>/bin/linuxRT_glibc-x68_64/scanner)
  • OH! scanner binary is NOT specific to your application.  Should point to the package area.
    
• In the bin directory, create a symbolic link "scanner.xml" that points to your scanner.xml in your epics application (<top>/etc/scanner.xml)
  

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Generate a vioc for your application.  We are using the following format for linuxRT IOC's:  vioc-<area>-<subsystem>

Choose your target architecture:

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Any new devices should be integrated into the EtherCAT module.  Please contact the EtherCAT module owners:owner:

• Who wants to be the EtherCAT module owner? Jesus Vasquez: jvasquez@slac.stanford.edu
  

Now that the chain.xml file has been created to generate the scanner.xml file, the second part is to configure and clean-up your epics application to only include the elements that you need.

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