ethercat

admin

sudo apt update
sudo apt install  linuxcnc-ethercat

sudo apt install ethercat-master libethercat-dev  linuxcnc-ethercat

ip a

sudo geany /etc/ethercat.conf

MASTER0_DEVICE="xx:aa:yy:zz:bb:cc"
DEVICE_MODULES="generic"

sudo systemctl enable ethercat.service
sudo systemctl start ethercat.service
sudo systemctl status ethercat.service
sudo chmod 666 /dev/EtherCAT0

ethercat slaves

sudo geany /etc/udev/rules.d/99-ethercat.rules

KERNEL=="EtherCAT[0-9]", MODE="0777"

sudo udevadm control --reload-rules



cd ~/dev
git clone https://github.com/dbraun1981/hal-cia402
cd hal-cia402
sudo halcompile --install cia402.comp

Giuly

终于更新了