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<![endif]-->
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<div>
<div>John,</div>
<div><br>
</div>
<div>I’m using Ubuntu 14.04 in a robot right now with the e1000e driver, and it works great. The one caveat is that I had to modify the e1000 driver source code for the newer kernel. I submitted instructions for doing the same to the message board awhile ago,
so you should be able to find it easily. For development work, however, the generic driver works fine.</div>
<div><br>
</div>
<div>The EtherLAB manual is excellent (and contains almost all of what I’m about to include in this email), but here are the steps I documented at my company for newbies installing on Ubuntu 14.04, modified to remove the e1000e driver. Should get you up and
running.</div>
<div><br>
</div>
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<h1>EtherLab EtherCAT Master installation<o:p></o:p></h1>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal" style="text-indent:9.0pt">MAKE SURE YOU HAVE BOOTED UNDER THE TARGET KERNEL<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">1. in a subdirectory (usually ~/srcroot/etherlab):<o:p></o:p></p>
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<p class="CodeCxSpFirst" style="margin-right: 0in; margin-bottom: 6pt; margin-left: 0in;">
$ wget http://etherlab.org/download/ethercat/ethercat-1.5.2.patched.tar.bz2<o:p></o:p></p>
<p class="CodeCxSpLast" style="margin-top: 6pt; margin-right: 0in; margin-left: 0in;">
$ tar xjf ethercat-1.5.2.patched.tar.bz2<o:p></o:p></p>
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<p class="MsoNormal"><span style="font-family: F55, sans-serif;"> </span></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Move the source working directory to /usr/local/src<o:p></o:p></p>
<p class="MsoNormal">(We would be running this command from the directory containing the source directory. My usual is ~/srcroot/etherlab/, which would then contain ethercat-1.5.2)<o:p></o:p></p>
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<p class="Code" style="margin-right: 0in; margin-left: 0in;">$ sudo mv ethercat-1.5.2 /usr/local/src/<o:p></o:p></p>
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<p class="MsoNormal"><span style="font-family: F55, sans-serif;"> </span></p>
<p class="MsoNormal">Move to that location<o:p></o:p></p>
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<p class="Code" style="margin-right: 0in; margin-left: 0in;">$ cd /usr/local/src/<o:p></o:p></p>
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<p class="MsoNormal">Make a link to the source directory called Ethercat<o:p></o:p></p>
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<p class="Code" style="margin-right: 0in; margin-left: 0in;">$ sudo ln -s ethercat-1.5.2 ethercat<o:p></o:p></p>
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<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Move into the source directory<o:p></o:p></p>
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<p class="CodeCxSpFirst" style="margin-right: 0in; margin-bottom: 6pt; margin-left: 0in;">
$ cd ethercat<o:p></o:p></p>
<p class="CodeCxSpLast" style="margin-top: 6pt; margin-right: 0in; margin-left: 0in;">
$ ./configure --enable-generic –disable-8139too<o:p></o:p></p>
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<p class="MsoNormal"> <i>Note: If you’re building for use in a VM, only --enable-generic and --disable-8139too<o:p></o:p></i></p>
<p class="MsoNormal"><i> </i></p>
<p class="MsoNormal" style="text-indent:9.0pt">The Makefiles assume a default destination of /lib/modules/. However, the actual target location of modules on an Ubuntu system is /lib/modules/`uname -r` (this command will automatically adapt to the kernel version).
Therefore, we need to provide the DESTDIR argument to the make commands.<o:p></o:p></p>
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<p class="CodeCxSpFirst" style="margin-right: 0in; margin-bottom: 6pt; margin-left: 0in;">
$ sudo -s<o:p></o:p></p>
<p class="CodeCxSpMiddle" style="margin: 6pt 0in;">$ make <o:p></o:p></p>
<p class="CodeCxSpMiddle" style="margin: 6pt 0in;">$ make modules <o:p></o:p></p>
<p class="CodeCxSpMiddle" style="margin: 6pt 0in;">$ sudo make install <o:p></o:p></p>
<p class="CodeCxSpLast" style="margin-top: 6pt; margin-right: 0in; margin-left: 0in;">
$ sudo make modules_install <o:p></o:p></p>
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<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">When we've completed installing all the modules we want to use, we need to do a final depmod:<o:p></o:p></p>
<pre><span style="font-size: 13.5pt;"> </span></pre>
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<p class="Code" style="margin-right: 0in; margin-left: 0in;"># sudo depmod<o:p></o:p></p>
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<pre><span style="font-size: 13.5pt;"> </span></pre>
<h3>Configure the EtherCAT Master<o:p></o:p></h3>
<pre><span style="font-size: 13.5pt;"> </span></pre>
<p class="MsoNormal">Now, we do some configuration work. We start by finding the MAC address we want to use.<o:p></o:p></p>
<pre><span style="font-size: 13.5pt;"> </span></pre>
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<p class="Code" style="margin-right: 0in; margin-left: 0in;">$ ifconfig<o:p></o:p></p>
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<pre><o:p> </o:p></pre>
<p class="MsoNormal" style="text-indent:9.0pt">Pick out the HWAddr (Hardware Address, also known as the MAC Address) of the adapter you'd like to use (example: eth0) and record it. You'll need to type it in later.<o:p></o:p></p>
<pre><span style="font-size: 11pt; font-family: Calibri;"> </span></pre>
<p class="MsoNormal" style="text-indent:9.0pt">Now let's copy in the configuration to the location that the EtherCAT Master will be expecting it.<o:p></o:p></p>
<pre><o:p> </o:p></pre>
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<p class="CodeCxSpFirst" style="margin-right: 0in; margin-bottom: 6pt; margin-left: 0in;">
# sudo mkdir /etc/sysconfig/<o:p></o:p></p>
<p class="CodeCxSpLast" style="margin-top: 6pt; margin-right: 0in; margin-left: 0in;">
# sudo cp /opt/etherlab/etc/sysconfig/ethercat /etc/sysconfig/<o:p></o:p></p>
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<pre><span style="font-size: 13.5pt;"> </span></pre>
<pre><span style="font-size: 11pt; font-family: Calibri;"> </span></pre>
<p class="MsoNormal" style="text-indent:9.0pt">Edit the configuration file using the nano text editor.<o:p></o:p></p>
<pre><span style="font-size: 13.5pt;"> </span></pre>
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<p class="Code" style="margin-right: 0in; margin-left: 0in;"># sudo nano /etc/sysconfig/ethercat<o:p></o:p></p>
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<p class="MsoNormal"><span style="font-family: F55, sans-serif;"> </span></p>
<p class="MsoNormal" style="text-indent:9.0pt">You need to setup this file as prescribed in the EtherCAT manual. You definitely need to change the values for MASTER0_DEVICE, which need the MAC address of the Ethernet card you've selected, and then the driver
you'd like to use for that device.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal" style="text-indent:9.0pt">For a development system, "generic" is fine. For a production system, the hope is that you've selected a target machine with a supported network device. We typically used cards supported by the e1000e driver, but
check the hardware specs if you’re unsure. <o:p></o:p></p>
<p class="MsoNormal" style="text-indent:9.0pt"><o:p> </o:p></p>
<p class="MsoNormal" style="text-indent:9.0pt">Example:<o:p></o:p></p>
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MASTER0_DEVICE=“??:??:??:??:??:??"<o:p></o:p></p>
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DEVICE_MODULES=“generic"<o:p></o:p></p>
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<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal" style="text-indent:9.0pt">(For a Development or VM-based system: DEVICE_MODULES="generic" )<o:p></o:p></p>
<h3><a name="_Toc434386279"> </a></h3>
<h3>Install the EtherCAT driver as a startup service.<o:p></o:p></h3>
<p class="MsoNormal"><o:p> </o:p></p>
<div style="mso-element:para-border-div;border:solid windowtext 1.0pt;
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<p class="Code" style="margin-right: 0in; margin-left: 0in;">cd /opt/etherlab<o:p></o:p></p>
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<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal" style="text-indent:9.0pt">Copy the initialization script (If this doesn't work, make sure that there isn't a /etc/init.d/ethercat already. If so, remove it), change its ownership properties, then schedule it for startup and shutdown with
the operating system. <o:p></o:p></p>
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<pre><span style="font-size: 13.5pt;"> </span></pre>
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<p class="CodeCxSpFirst" style="margin-right: 0in; margin-bottom: 6pt; margin-left: 0in;">
# sudo cp ./etc/init.d/ethercat /etc/init.d/<o:p></o:p></p>
<p class="CodeCxSpLast" style="margin-top: 6pt; margin-right: 0in; margin-left: 0in;">
# sudo chmod a+x /etc/init.d/ethercat<o:p></o:p></p>
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<pre><span style="font-family: Consolas;"> </span></pre>
<pre><span style="font-family: Consolas;"> </span></pre>
<p class="MsoNormal" style="text-indent:9.0pt"><i>OPTIONAL:: This will automatically start the ethercat master on startup. Generally,
</i><strong>we DON’T WANT TO DO THIS</strong><i><span style="font-family: Consolas;">.<o:p></o:p></span></i></p>
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<p class="Code" style="margin-right: 0in; margin-left: 0in;"># sudo update-rc.d ethercat defaults<o:p></o:p></p>
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<p class="MsoNormal" style="text-indent:9.0pt">Make ethercat tool available:<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
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<p class="Code" style="margin-right: 0in; margin-left: 0in;"># sudo ln -s /opt/etherlab/bin/ethercat /usr/local/bin/ethercat<o:p></o:p></p>
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<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal" style="text-indent:9.0pt">The ethercat command-line tool (see sec. 7.1) communicates with the master via a character device. The corresponding device nodes are created automatically, if the udev daemon is running. So “normal" users shall
have reading access, a udev rule must be created, which simply means creating the file:
<o:p></o:p></p>
<p class="MsoNormal">/etc/udev/rules.d/99-EtherCAT.rules<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal" style="text-indent:9.0pt">Using the text editor nano:<o:p></o:p></p>
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<p class="Code" style="margin-right: 0in; margin-left: 0in;">$ sudo nano /etc/udev/rules.d/99-EtherCAT.rules<o:p></o:p></p>
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<pre><span style="font-size: 11pt;"> </span></pre>
<p class="MsoNormal" style="text-indent:9.0pt">Enter the following contents:<o:p></o:p></p>
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<p class="Code" style="margin-right: 0in; margin-left: 0in;">KERNEL=="EtherCAT[0-9]*", MODE="0664"<o:p></o:p></p>
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<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal" style="text-indent:9.0pt">Start or Restart the EtherCAT master (example: /etc/init.d/ethercat restart) and the device node will be automatically created with the desired rights.<o:p></o:p></p>
<p class="MsoNormal">If non-root users shall have writing access, the following udev rule can be used instead:<o:p></o:p></p>
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<p class="Code" style="margin-right: 0in; margin-left: 0in;">KERNEL=="EtherCAT[0-9]*", MODE="0664", GROUP="users"<o:p></o:p></p>
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<pre><span style="font-size: 13.5pt;"> </span></pre>
<pre><span style="font-size: 13.5pt;"> </span><span style="font-family: Lato; font-size: 10pt; text-indent: 9pt;">Now we can start the master:</span></pre>
<p class="MsoNormal" style="text-indent: 9pt;"><o:p></o:p></p>
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<p class="Code" style="margin-right: 0in; margin-left: 0in;">$ sudo /etc/init.d/ethercat start<o:p></o:p></p>
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<p class="MsoNormal"><o:p> </o:p></p>
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<div>Thanks!</div>
<div>
<div id="">
<p class="MsoNormal" style="margin: 0in 0in 0.0001pt;"><font face="Helvetica Neue"><span style="font-size: 12px;">Thomas C. Bitsky Jr. | Lead Developer</span></font></p>
<p class="MsoNormal" style="margin: 0in 0in 0.0001pt;"><font face="Helvetica Neue"><span style="font-size: 12px;"><span style="color: rgb(102, 0, 0);">ADC | <a href="http://automateddesign.com/" target="_blank" style="color: rgb(149, 79, 114);"><span style="color: blue;">automateddesign.com</span></a></span><o:p></o:p></span></font></p>
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<font face="Helvetica Neue"><span style="font-size: 12px;">Follow ADC news and media:</span></font></p>
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<font face="Helvetica Neue"><span style="font-size: 12px;"><a href="https://facebook.com/automateddesigncorp">Facebook</a> |
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<span style="font-weight:bold">From: </span>etherlab-users <<a href="mailto:etherlab-users-bounces@etherlab.org">etherlab-users-bounces@etherlab.org</a>> on behalf of Preben Hjørnet <<a href="mailto:ph@blueworkforce.com">ph@blueworkforce.com</a>><br>
<span style="font-weight:bold">Date: </span>Thursday, November 19, 2015 at 11:06 AM<br>
<span style="font-weight:bold">To: </span>John Hubbard <<a href="mailto:jhubbard@noao.edu">jhubbard@noao.edu</a>><br>
<span style="font-weight:bold">Cc: </span>"<a href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a>" <<a href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a>><br>
<span style="font-weight:bold">Subject: </span>Re: [etherlab-users] Etherlab installation issue [ubuntu 14]<br>
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<div>
<p dir="ltr">We are hiring EtherCAT robotics control engineers .<br>
</p>
<p dir="ltr">venligst <br>
Preben Hjørnet <br>
Blue Workforce A/S<br>
24609899</p>
<div class="gmail_quote">Den 19/11/2015 16.55 skrev "John Hubbard" <<a href="mailto:jhubbard@noao.edu">jhubbard@noao.edu</a>>:<br type="attribution">
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">
On 11/18/2015 11:19 PM, Tommaso wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">
Good morning,<br>
<br>
I'm a student interested in programming with etherlab but I've encountered some problems during the installation.<br>
<br>
Could you give me a detailed guide in order to install all the elements in boundle 2.1 with Ubuntu 14?<br>
<br>
Thank you for your help.<br>
</blockquote>
<br>
I just recently installed on an Ubuntu 14.04 system running the 3.16 kernel. I've attached some notes from my installation. I largely followed the instructions from the pdf documentation. For me the major key was disabling the realtek driver during the configure
step. For my system (non-real time) the generic driver seems to work fine. Hope this helps.<br>
<br>
p.s.<br>
Including the error message(s) that you got from your install will generally allow the community to better assist you.<br>
<br>
-- <br>
-john<br>
<br>
To be or not to be, that is the question<br>
2b || !2b<br>
(0b10)*(0b1100010) || !(0b10)*(0b1100010)<br>
0b11000100 || !0b11000100<br>
0b11000100 || 0b00111011<br>
0b11111111<br>
255, that is the answer.<br>
<br>
<br>
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<br>
</blockquote>
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