Files:

• ethercat.tar.bz2.00 - IgH EtherCAT master, part 1
• ethercat.tar.bz2.01 - IgH EtherCAT master, part 2
• main.c - IgH EtherCAT master modifyed example for EasyCAT slave, overwrite with main.c file in /ethercat/examples/dc_user and compile there with "make"
• ethercat - config file for ethercat master, copy it to /etc/sysconfig, change lan mac and name (look installed lan for ethercat master)

Combine IgH EtherCAT master source code to one file with

• cat ethercat.tar.bz2.?? > ethercat.tar.bz2

Unpack IgH EtherCAT master source code with

• tar -xvjf ethercat.tar.bz2

Try to use ./configure --disable-8139too instead of ./configure if error occurs, read /ethercat/INSTALL for details, The IgH EtherCAT master source code has been tested to compile with kernel version 5.4.80-gentoo-x86_64.

After IgH EtherCAT master installed, check ethercat service settings /etc/sysconfig/ethercat, example

• ifconfig

  enp3s0u1: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
          inet 169.254.124.186  netmask 255.255.0.0  broadcast 169.254.255.255
          ether 70:88:6b:84:2d:b4  txqueuelen 1000  (Ethernet)
          RX packets 358799  bytes 28470392 (27.1 MiB)
          RX errors 0  dropped 0  overruns 0  frame 0
          TX packets 358978  bytes 33531024 (31.9 MiB)
          TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0
  

  where the interface name is enp3s0u1, mac is 70:88:6b:84:2d:b4

• lsusb # (use lspci -nn in case of lan is on PCI)

  Bus 004 Device 002: ID 0bda:8153 Realtek Semiconductor Corp. RTL8153 Gigabit Ethernet Adapter
  

  where LAN with chipset RTL8153 (0bda:8153), the IgH EtherCAT master source code does not include Ethernet driver module specially for RTL8153 (0bda:8153) to use it for EtherCAT operation, ethercat master "generic" lan driver is going to be used.

  for this example, in /etc/sysconfig/ethercat file:

  MASTER0_DEVICE="70:88:6b:84:2d:b4"

  DEVICE_MODULES="generic"

  LINK_DEVICES="enp3s0u1"

Start ethercat service with

• /etc/init.d/ethercat start

It might be helpful to check ethercat service messages with

• dmesg
• cat /var/log/messages

Check connected EasyCAT slave with

• cd /usr/local/bin
• ./ethercat slave -m0
• ./ethercat pdos -m0

Expected output of "./ethercat slave -m0":

0  0:0  PREOP  +  Generic 32+32 bytes rev 1

Expected output of "./ethercat pdos -m0":

SM0: PhysAddr 0x1000, DefaultSize    0, ControlRegister 0x64, Enable 1 RxPDO 0x1600 "Outputs"

 PDO entry 0x0005:01,  8 bit, "Byte0"

   ::::::::::::::::::::::::::::::

 PDO entry 0x0005:20,  8 bit, "Byte31"
 
SM1: PhysAddr 0x1200, DefaultSize    0, ControlRegister 0x20, Enable 1 TxPDO 0x1a00 "Inputs"

 PDO entry 0x0006:01,  8 bit, "Byte0"

   ::::::::::::::::::::::::::::::

 PDO entry 0x0006:20,  8 bit, "Byte31"

Copy main.c file to /ethercat/examples/dc_user (/ethercat is IgH EtherCAT master source code)

Go to "/ethercat/examples/dc_user", compile "main.c" there with "make", the output file will be "ec_dc_user_example"

Start EasyCAT slave example in "/ethercat/examples/dc_user" with

• ./ec_dc_user_example

Example code (main.c) creates files to use bash script or console to send/display received data to/from EasyCAT slave

/run/ethercat/EasyCAT/pdoin0

::::::::::::::::::::::::::::

/run/ethercat/EasyCAT/pdoin31


/run/ethercat/EasyCAT/pdoout0

:::::::::::::::::::::::::::::

/run/ethercat/EasyCAT/pdoout31

Example to display received byte from input 1

• cat /run/ethercat/EasyCAT/pdoin1

Example to send byte 255 to output 10

• echo 255 > /run/ethercat/EasyCAT/pdoout10