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</o:shapelayout></xml><![endif]--></head><body lang=DA link=blue vlink=purple><div class=WordSection1><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US'><o:p> </o:p></span></p><p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US'>Applied exactly this successfully.<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US'><o:p> </o:p></span></p><p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US'>Next step is the con<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US'>We are heading the add 4x Bosch-rexorth ( and JVL . MAC400) 400W servo drives for our Ragnar Robot ™ High dynamics version. We run the Master on a NUC .<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US'>We would like to hire in a consultancy work to get us up to speed, and we also have 2 open positions for Robotics control based on this architecture.<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US'><o:p> </o:p></span></p><p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US'>Please contact me if you know someone who would like to join us, and head this R&D work.<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US'><o:p> </o:p></span></p><div><p class=MsoNormal><span lang=EN-US style='font-family:"Franklin Gothic Medium",sans-serif;color:#1F497D'>Best regards / med venlig hilsen /</span><span style='font-family:"Times New Roman",serif;color:#1F497D'>真</span><span style='font-family:MingLiU;color:#1F497D'>诚</span><span lang=EN-US style='font-family:"Franklin Gothic Medium",sans-serif;color:#1F497D'><o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='font-family:"Franklin Gothic Medium",sans-serif;color:#1F497D'><o:p> </o:p></span></p><p class=MsoNormal><span lang=EN-US style='font-family:"Franklin Gothic Medium",sans-serif;color:#1F497D'>CEO, Preben Hjørnet<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='font-family:"Franklin Gothic Medium",sans-serif;color:#1F497D'>Blue Workforce A/S CVR34715335<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='font-family:"Franklin Gothic Medium",sans-serif;color:#1F497D'>Fiskerihavngade 23 –</span><span lang=EN-US style='font-family:"Franklin Gothic Medium",sans-serif;color:blue'> </span><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D'><a href="http://maps.google.dk/maps?f=q&source=s_q&hl=da&geocode=&q=fiskerihavnsgade+23&aq=&sll=57.151074,9.706046&sspn=2.339141,7.13562&vpsrc=0&ie=UTF8&hq=&hnear=Fiskerihavnsgade+23,+9900+Frederikshavn&t=m&z=16"><span style='font-size:10.0pt;font-family:"Franklin Gothic Medium",sans-serif'>google.map.link</span></a></span><span lang=EN-US style='font-family:"Franklin Gothic Medium",sans-serif;color:#1F497D'><o:p></o:p></span></p><p class=MsoNormal><span style='font-family:"Franklin Gothic Medium",sans-serif;color:#1F497D'>9900 Frederikshavn - Denmark<o:p></o:p></span></p><p class=MsoNormal><span style='font-family:"Franklin Gothic Medium",sans-serif;color:#1F497D'><a href="http://www.blueworkforce.com">www.blueworkforce.com</a> – <a href="http://www.roboneer.net">www.roboneer.net</a> <o:p></o:p></span></p><p class=MsoNormal><span style='font-family:"Franklin Gothic Medium",sans-serif;color:#FD0000'>Moble</span><span style='font-family:"Franklin Gothic Medium",sans-serif;color:black'> +45 2460 9899 </span><span style='font-family:"Franklin Gothic Medium",sans-serif;color:#FE0000'>skype</span><span style='font-family:"Franklin Gothic Medium",sans-serif;color:black'> preben.hjornet </span><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D'><a href="http://www.linkedin.com/pub/preben-hj%C3%B8rnet/5/b88/126"><span lang=DA style='font-size:10.0pt;font-family:"Franklin Gothic Medium",sans-serif'>LinkedIn.</span></a></span><span lang=EN-US style='font-family:"Franklin Gothic Medium",sans-serif;color:black'> </span><span lang=EN-US style='font-family:"Franklin Gothic Medium",sans-serif;color:black'>Profile </span><span lang=EN-US style='font-family:"Franklin Gothic Medium",sans-serif;color:#FD0000'>email</span><span lang=EN-US style='font-family:"Franklin Gothic Medium",sans-serif;color:black'> </span><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D'><a href="mailto:ph@blueworkforce.com"><span lang=DA style='font-size:10.0pt;font-family:"Franklin Gothic Medium",sans-serif'>ph@blueworkforce.com</span></a></span><span lang=EN-US style='font-family:"Franklin Gothic Medium",sans-serif;color:#1F497D'> </span><span lang=EN-US style='font-family:"Franklin Gothic Medium",sans-serif;color:black'><o:p></o:p></span></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Franklin Gothic Medium Cond",sans-serif;color:#1F497D'><img border=0 width=832 height=220 id="Billede_x0020_1" src="cid:image001.jpg@01D12300.FD238270" alt="BWF logo e-mail"></span><span style='font-family:"Franklin Gothic Medium",sans-serif;color:#1F497D'><o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US style='font-family:"Franklin Gothic Medium",sans-serif;color:#1F497D'><o:p> </o:p></span></p><p class=MsoNormal><span lang=EN-US style='font-size:12.0pt;font-family:"Calibri",sans-serif;color:#1F497D'><o:p> </o:p></span></p></div><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US'><o:p> </o:p></span></p><div><div style='border:none;border-top:solid #E1E1E1 1.0pt;padding:3.0pt 0cm 0cm 0cm'><p class=MsoNormal><b><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri",sans-serif'>From:</span></b><span lang=EN-US style='font-size:11.0pt;font-family:"Calibri",sans-serif'> Thomas Bitsky Jr [mailto:tbj@automateddesign.com] <br><b>Sent:</b> 19. november 2015 19:06<br><b>To:</b> Preben Hjørnet <ph@blueworkforce.com>; John Hubbard <jhubbard@noao.edu><br><b>Cc:</b> etherlab-users@etherlab.org<br><b>Subject:</b> Re: [etherlab-users] Etherlab installation issue [ubuntu 14]<o:p></o:p></span></p></div></div><p class=MsoNormal><o:p> </o:p></p><div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri",sans-serif;color:black'>John,<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri",sans-serif;color:black'><o:p> </o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri",sans-serif;color:black'>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.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri",sans-serif;color:black'><o:p> </o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri",sans-serif;color:black'>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.<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri",sans-serif;color:black'><o:p> </o:p></span></p></div><h1>EtherLab EtherCAT Master installation<o:p></o:p></h1><p class=MsoNormal><span style='color:black'> <o:p></o:p></span></p><p class=MsoNormal style='text-indent:9.0pt'><span style='color:black'>MAKE SURE YOU HAVE BOOTED UNDER THE TARGET KERNEL<o:p></o:p></span></p><p class=MsoNormal><span style='color:black'> <o:p></o:p></span></p><p class=MsoNormal><span style='color:black'>1. in a subdirectory (usually ~/srcroot/etherlab):<o:p></o:p></span></p><div style='mso-element:para-border-div;border:solid windowtext 1.0pt;padding:1.0pt 4.0pt 1.0pt 4.0pt;background:#E7E6E6;margin-left:18.0pt;margin-right:18.0pt'><p class=CodeCxSpFirst style='mso-margin-top-alt:6.0pt;margin-right:0cm;margin-bottom:6.0pt;margin-left:0cm;mso-add-space:auto;background:#E7E6E6'><span style='color:black'>$ wget <a href="http://etherlab.org/download/ethercat/ethercat-1.5.2.patched.tar.bz2">http://etherlab.org/download/ethercat/ethercat-1.5.2.patched.tar.bz2</a><o:p></o:p></span></p><p class=CodeCxSpLast style='mso-margin-top-alt:6.0pt;margin-right:0cm;margin-bottom:6.0pt;margin-left:0cm;mso-add-space:auto;background:#E7E6E6'><span style='color:black'>$ tar xjf ethercat-1.5.2.patched.tar.bz2<o:p></o:p></span></p></div><p class=MsoNormal><span style='font-family:"F55",sans-serif;color:black'> </span><span style='color:black'><o:p></o:p></span></p><p class=MsoNormal><span style='color:black'> <o:p></o:p></span></p><p class=MsoNormal><span style='color:black'>Move the source working directory to /usr/local/src<o:p></o:p></span></p><p class=MsoNormal><span style='color:black'>(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></span></p><div style='mso-element:para-border-div;border:solid windowtext 1.0pt;padding:1.0pt 4.0pt 1.0pt 4.0pt;background:#E7E6E6;margin-left:18.0pt;margin-right:18.0pt'><p class=Code style='mso-margin-top-alt:6.0pt;margin-right:0cm;margin-bottom:6.0pt;margin-left:0cm;mso-add-space:auto;background:#E7E6E6'><span style='color:black'>$ sudo mv ethercat-1.5.2 /usr/local/src/<o:p></o:p></span></p></div><p class=MsoNormal><span style='font-family:"F55",sans-serif;color:black'> </span><span style='color:black'><o:p></o:p></span></p><p class=MsoNormal><span style='color:black'>Move to that location<o:p></o:p></span></p><div style='mso-element:para-border-div;border:solid windowtext 1.0pt;padding:1.0pt 4.0pt 1.0pt 4.0pt;background:#E7E6E6;margin-left:18.0pt;margin-right:18.0pt'><p class=Code style='mso-margin-top-alt:6.0pt;margin-right:0cm;margin-bottom:6.0pt;margin-left:0cm;mso-add-space:auto;background:#E7E6E6'><span style='color:black'>$ cd /usr/local/src/<o:p></o:p></span></p></div><p class=MsoNormal><span style='color:black'>Make a link to the source directory called Ethercat<o:p></o:p></span></p><div style='mso-element:para-border-div;border:solid windowtext 1.0pt;padding:1.0pt 4.0pt 1.0pt 4.0pt;background:#E7E6E6;margin-left:18.0pt;margin-right:18.0pt'><p class=Code style='mso-margin-top-alt:6.0pt;margin-right:0cm;margin-bottom:6.0pt;margin-left:0cm;mso-add-space:auto;background:#E7E6E6'><span style='color:black'>$ sudo ln -s ethercat-1.5.2 ethercat<o:p></o:p></span></p></div><p class=MsoNormal><span style='color:black'> <o:p></o:p></span></p><p class=MsoNormal><span style='color:black'>Move into the source directory<o:p></o:p></span></p><div style='mso-element:para-border-div;border:solid windowtext 1.0pt;padding:1.0pt 4.0pt 1.0pt 4.0pt;background:#E7E6E6;margin-left:18.0pt;margin-right:18.0pt'><p class=CodeCxSpFirst style='mso-margin-top-alt:6.0pt;margin-right:0cm;margin-bottom:6.0pt;margin-left:0cm;mso-add-space:auto;background:#E7E6E6'><span style='color:black'>$ cd ethercat<o:p></o:p></span></p><p class=CodeCxSpLast style='mso-margin-top-alt:6.0pt;margin-right:0cm;margin-bottom:6.0pt;margin-left:0cm;mso-add-space:auto;background:#E7E6E6'><span style='color:black'>$ ./configure --enable-generic –disable-8139too<o:p></o:p></span></p></div><p class=MsoNormal><span style='color:black'> <i>Note: If you’re building for use in a VM, only --enable-generic and --disable-8139too</i><o:p></o:p></span></p><p class=MsoNormal><i><span style='color:black'> </span></i><span style='color:black'><o:p></o:p></span></p><p class=MsoNormal style='text-indent:9.0pt'><span style='color:black'>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></span></p><div style='mso-element:para-border-div;border:solid windowtext 1.0pt;padding:1.0pt 4.0pt 1.0pt 4.0pt;background:#E7E6E6;margin-left:18.0pt;margin-right:18.0pt'><p class=CodeCxSpFirst style='mso-margin-top-alt:6.0pt;margin-right:0cm;margin-bottom:6.0pt;margin-left:0cm;mso-add-space:auto;background:#E7E6E6'><span style='color:black'>$ sudo -s<o:p></o:p></span></p><p class=CodeCxSpMiddle style='mso-margin-top-alt:6.0pt;margin-right:0cm;margin-bottom:6.0pt;margin-left:0cm;mso-add-space:auto;background:#E7E6E6'><span style='color:black'>$ make <o:p></o:p></span></p><p class=CodeCxSpMiddle style='mso-margin-top-alt:6.0pt;margin-right:0cm;margin-bottom:6.0pt;margin-left:0cm;mso-add-space:auto;background:#E7E6E6'><span style='color:black'>$ make modules <o:p></o:p></span></p><p class=CodeCxSpMiddle style='mso-margin-top-alt:6.0pt;margin-right:0cm;margin-bottom:6.0pt;margin-left:0cm;mso-add-space:auto;background:#E7E6E6'><span style='color:black'>$ sudo make install <o:p></o:p></span></p><p class=CodeCxSpLast style='mso-margin-top-alt:6.0pt;margin-right:0cm;margin-bottom:6.0pt;margin-left:0cm;mso-add-space:auto;background:#E7E6E6'><span style='color:black'>$ sudo make modules_install <o:p></o:p></span></p></div><p class=MsoNormal><span style='color:black'> <o:p></o:p></span></p><p class=MsoNormal><span style='color:black'>When we've completed installing all the modules we want to use, we need to do a final depmod:<o:p></o:p></span></p><pre><span style='font-size:13.5pt;color:black'> </span><span style='color:black'><o:p></o:p></span></pre><div style='mso-element:para-border-div;border:solid windowtext 1.0pt;padding:1.0pt 4.0pt 1.0pt 4.0pt;background:#E7E6E6;margin-left:18.0pt;margin-right:18.0pt'><p class=Code style='mso-margin-top-alt:6.0pt;margin-right:0cm;margin-bottom:6.0pt;margin-left:0cm;mso-add-space:auto;background:#E7E6E6'><span style='color:black'># sudo depmod<o:p></o:p></span></p></div><pre><span style='font-size:13.5pt;color:black'> </span><span style='color:black'><o:p></o:p></span></pre><h3>Configure the EtherCAT Master<o:p></o:p></h3><pre><span style='font-size:13.5pt;color:black'> </span><span style='color:black'><o:p></o:p></span></pre><p class=MsoNormal><span style='color:black'>Now, we do some configuration work. We start by finding the MAC address we want to use.<o:p></o:p></span></p><pre><span style='font-size:13.5pt;color:black'> </span><span style='color:black'><o:p></o:p></span></pre><div style='mso-element:para-border-div;border:solid windowtext 1.0pt;padding:1.0pt 4.0pt 1.0pt 4.0pt;background:#E7E6E6;margin-left:18.0pt;margin-right:18.0pt'><p class=Code style='mso-margin-top-alt:6.0pt;margin-right:0cm;margin-bottom:6.0pt;margin-left:0cm;mso-add-space:auto;background:#E7E6E6'><span style='color:black'>$ ifconfig<o:p></o:p></span></p></div><pre><span style='color:black'> <o:p></o:p></span></pre><p class=MsoNormal style='text-indent:9.0pt'><span style='color:black'>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></span></p><pre><span style='font-size:11.0pt;font-family:"Calibri",sans-serif;color:black'> </span><span style='color:black'><o:p></o:p></span></pre><p class=MsoNormal style='text-indent:9.0pt'><span style='color:black'>Now let's copy in the configuration to the location that the EtherCAT Master will be expecting it.<o:p></o:p></span></p><pre><span style='color:black'> <o:p></o:p></span></pre><div style='mso-element:para-border-div;border:solid windowtext 1.0pt;padding:1.0pt 4.0pt 1.0pt 4.0pt;background:#E7E6E6;margin-left:18.0pt;margin-right:18.0pt'><p class=CodeCxSpFirst style='mso-margin-top-alt:6.0pt;margin-right:0cm;margin-bottom:6.0pt;margin-left:0cm;mso-add-space:auto;background:#E7E6E6'><span style='color:black'># sudo mkdir /etc/sysconfig/<o:p></o:p></span></p><p class=CodeCxSpLast style='mso-margin-top-alt:6.0pt;margin-right:0cm;margin-bottom:6.0pt;margin-left:0cm;mso-add-space:auto;background:#E7E6E6'><span style='color:black'># sudo cp /opt/etherlab/etc/sysconfig/ethercat /etc/sysconfig/<o:p></o:p></span></p></div><pre><span style='font-size:13.5pt;color:black'> </span><span style='color:black'><o:p></o:p></span></pre><pre><span style='font-size:11.0pt;font-family:"Calibri",sans-serif;color:black'> </span><span style='color:black'><o:p></o:p></span></pre><p class=MsoNormal style='text-indent:9.0pt'><span style='color:black'>Edit the configuration file using the nano text editor.<o:p></o:p></span></p><pre><span style='font-size:13.5pt;color:black'> </span><span style='color:black'><o:p></o:p></span></pre><div style='mso-element:para-border-div;border:solid windowtext 1.0pt;padding:1.0pt 4.0pt 1.0pt 4.0pt;background:#E7E6E6;margin-left:18.0pt;margin-right:18.0pt'><p class=Code style='mso-margin-top-alt:6.0pt;margin-right:0cm;margin-bottom:6.0pt;margin-left:0cm;mso-add-space:auto;background:#E7E6E6'><span style='color:black'># sudo nano /etc/sysconfig/ethercat<o:p></o:p></span></p></div><p class=MsoNormal><span style='font-family:"F55",sans-serif;color:black'> </span><span style='color:black'><o:p></o:p></span></p><p class=MsoNormal style='text-indent:9.0pt'><span style='color:black'>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></span></p><p class=MsoNormal><span style='color:black'> <o:p></o:p></span></p><p class=MsoNormal style='text-indent:9.0pt'><span style='color:black'>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></span></p><p class=MsoNormal style='text-indent:9.0pt'><span style='color:black'> <o:p></o:p></span></p><p class=MsoNormal style='text-indent:9.0pt'><span style='color:black'>Example:<o:p></o:p></span></p><div style='mso-element:para-border-div;border:solid windowtext 1.0pt;padding:1.0pt 4.0pt 1.0pt 4.0pt;background:#E7E6E6;margin-left:18.0pt;margin-right:18.0pt'><p class=CodeCxSpFirst style='mso-margin-top-alt:6.0pt;margin-right:0cm;margin-bottom:6.0pt;margin-left:0cm;mso-add-space:auto;background:#E7E6E6'><span style='color:black'>MASTER0_DEVICE=“??:??:??:??:??:??"<o:p></o:p></span></p><p class=CodeCxSpLast style='mso-margin-top-alt:6.0pt;margin-right:0cm;margin-bottom:6.0pt;margin-left:0cm;mso-add-space:auto;background:#E7E6E6'><span style='color:black'>DEVICE_MODULES=“generic"<o:p></o:p></span></p></div><p class=MsoNormal><span style='color:black'> <o:p></o:p></span></p><p class=MsoNormal style='text-indent:9.0pt'><span style='color:black'>(For a Development or VM-based system: DEVICE_MODULES="generic" )<o:p></o:p></span></p><h3><a name="_Toc434386279"> </a><o:p></o:p></h3><h3>Install the EtherCAT driver as a startup service.<o:p></o:p></h3><p class=MsoNormal><span style='color:black'> <o:p></o:p></span></p><div style='mso-element:para-border-div;border:solid windowtext 1.0pt;padding:1.0pt 4.0pt 1.0pt 4.0pt;background:#E7E6E6;margin-left:18.0pt;margin-right:18.0pt'><p class=Code style='mso-margin-top-alt:6.0pt;margin-right:0cm;margin-bottom:6.0pt;margin-left:0cm;mso-add-space:auto;background:#E7E6E6'><span style='color:black'>cd /opt/etherlab<o:p></o:p></span></p></div><p class=MsoNormal><span style='color:black'> <o:p></o:p></span></p><p class=MsoNormal style='text-indent:9.0pt'><span style='color:black'>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></span></p><p class=MsoNormal><span style='font-size:11.0pt;font-family:"Calibri",sans-serif;color:black'> </span><span style='color:black'><o:p></o:p></span></p><pre><span style='font-size:13.5pt;color:black'> </span><span style='color:black'><o:p></o:p></span></pre><div style='mso-element:para-border-div;border:solid windowtext 1.0pt;padding:1.0pt 4.0pt 1.0pt 4.0pt;background:#E7E6E6;margin-left:18.0pt;margin-right:18.0pt'><p class=CodeCxSpFirst style='mso-margin-top-alt:6.0pt;margin-right:0cm;margin-bottom:6.0pt;margin-left:0cm;mso-add-space:auto;background:#E7E6E6'><span style='color:black'># sudo cp ./etc/init.d/ethercat /etc/init.d/<o:p></o:p></span></p><p class=CodeCxSpLast style='mso-margin-top-alt:6.0pt;margin-right:0cm;margin-bottom:6.0pt;margin-left:0cm;mso-add-space:auto;background:#E7E6E6'><span style='color:black'># sudo chmod a+x /etc/init.d/ethercat<o:p></o:p></span></p></div><pre><span style='font-family:Consolas;color:black'> </span><span style='color:black'><o:p></o:p></span></pre><pre><span style='font-family:Consolas;color:black'> </span><span style='color:black'><o:p></o:p></span></pre><p class=MsoNormal style='text-indent:9.0pt'><i><span style='color:black'>OPTIONAL:: This will automatically start the ethercat master on startup. Generally, </span></i><strong><span style='font-family:Lato;color:black'>we DON’T WANT TO DO THIS</span></strong><i><span style='font-family:Consolas;color:black'>.</span></i><span style='color:black'><o:p></o:p></span></p><div style='mso-element:para-border-div;border:solid windowtext 1.0pt;padding:1.0pt 4.0pt 1.0pt 4.0pt;background:#E7E6E6;margin-left:18.0pt;margin-right:18.0pt'><p class=Code style='mso-margin-top-alt:6.0pt;margin-right:0cm;margin-bottom:6.0pt;margin-left:0cm;mso-add-space:auto;background:#E7E6E6'><span style='color:black'># sudo update-rc.d ethercat defaults<o:p></o:p></span></p></div><p class=MsoNormal style='text-indent:9.0pt'><span style='color:black'>Make ethercat tool available:<o:p></o:p></span></p><p class=MsoNormal><span style='color:black'> <o:p></o:p></span></p><div style='mso-element:para-border-div;border:solid windowtext 1.0pt;padding:1.0pt 4.0pt 1.0pt 4.0pt;background:#E7E6E6;margin-left:18.0pt;margin-right:18.0pt'><p class=Code style='mso-margin-top-alt:6.0pt;margin-right:0cm;margin-bottom:6.0pt;margin-left:0cm;mso-add-space:auto;background:#E7E6E6'><span style='color:black'># sudo ln -s /opt/etherlab/bin/ethercat /usr/local/bin/ethercat<o:p></o:p></span></p></div><p class=MsoNormal><span style='color:black'> <o:p></o:p></span></p><p class=MsoNormal><span style='color:black'> <o:p></o:p></span></p><p class=MsoNormal style='text-indent:9.0pt'><span style='color:black'>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></span></p><p class=MsoNormal><span style='color:black'>/etc/udev/rules.d/99-EtherCAT.rules<o:p></o:p></span></p><p class=MsoNormal><span style='color:black'> <o:p></o:p></span></p><p class=MsoNormal style='text-indent:9.0pt'><span style='color:black'>Using the text editor nano:<o:p></o:p></span></p><div style='mso-element:para-border-div;border:solid windowtext 1.0pt;padding:1.0pt 4.0pt 1.0pt 4.0pt;background:#E7E6E6;margin-left:18.0pt;margin-right:18.0pt'><p class=Code style='mso-margin-top-alt:6.0pt;margin-right:0cm;margin-bottom:6.0pt;margin-left:0cm;mso-add-space:auto;background:#E7E6E6'><span style='color:black'>$ sudo nano /etc/udev/rules.d/99-EtherCAT.rules<o:p></o:p></span></p></div><pre><span style='font-size:11.0pt;color:black'> </span><span style='color:black'><o:p></o:p></span></pre><p class=MsoNormal style='text-indent:9.0pt'><span style='color:black'>Enter the following contents:<o:p></o:p></span></p><div style='mso-element:para-border-div;border:solid windowtext 1.0pt;padding:1.0pt 4.0pt 1.0pt 4.0pt;background:#E7E6E6;margin-left:18.0pt;margin-right:18.0pt'><p class=Code style='mso-margin-top-alt:6.0pt;margin-right:0cm;margin-bottom:6.0pt;margin-left:0cm;mso-add-space:auto;background:#E7E6E6'><span style='color:black'>KERNEL=="EtherCAT[0-9]*", MODE="0664"<o:p></o:p></span></p></div><p class=MsoNormal><span style='color:black'> <o:p></o:p></span></p><p class=MsoNormal style='text-indent:9.0pt'><span style='color:black'>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></span></p><p class=MsoNormal><span style='color:black'>If non-root users shall have writing access, the following udev rule can be used instead:<o:p></o:p></span></p><div style='mso-element:para-border-div;border:solid windowtext 1.0pt;padding:1.0pt 4.0pt 1.0pt 4.0pt;background:#E7E6E6;margin-left:18.0pt;margin-right:18.0pt'><p class=Code style='mso-margin-top-alt:6.0pt;margin-right:0cm;margin-bottom:6.0pt;margin-left:0cm;mso-add-space:auto;background:#E7E6E6'><span style='color:black'>KERNEL=="EtherCAT[0-9]*", MODE="0664", GROUP="users"<o:p></o:p></span></p></div><pre><span style='font-size:13.5pt;color:black'> </span><span style='color:black'><o:p></o:p></span></pre><pre><span style='font-size:13.5pt;color:black'> </span><span style='font-family:Lato;color:black'>Now we can start the master:</span><span style='color:black'><o:p></o:p></span></pre><div style='margin-left:18.0pt;margin-right:18.0pt'><div style='mso-element:para-border-div;border:solid windowtext 1.0pt;padding:1.0pt 4.0pt 1.0pt 4.0pt;background:#E7E6E6'><p class=Code style='mso-margin-top-alt:6.0pt;margin-right:0cm;margin-bottom:6.0pt;margin-left:0cm;mso-add-space:auto;background:#E7E6E6'><span style='color:black'>$ sudo /etc/init.d/ethercat start<o:p></o:p></span></p></div></div><p class=MsoNormal><span style='color:black'> <o:p></o:p></span></p><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri",sans-serif;color:black'><o:p> </o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri",sans-serif;color:black'>Thanks!<o:p></o:p></span></p></div><div><div id=""><p class=MsoNormal><span style='font-size:9.0pt;font-family:"Helvetica Neue",serif;color:black'>Thomas C. Bitsky Jr. | Lead Developer</span><span style='color:black'><o:p></o:p></span></p><p class=MsoNormal><span style='font-size:9.0pt;font-family:"Helvetica Neue",serif;color:#660000'>ADC | <a href="http://automateddesign.com/" target="_blank">automateddesign.com</a></span><span style='color:black'><o:p></o:p></span></p><p class=MsoNormal><span style='color:black'><o:p> </o:p></span></p><p class=MsoNormal><span style='color:black'><o:p> </o:p></span></p><p class=MsoNormal><span style='font-size:9.0pt;font-family:"Helvetica Neue",serif;color:black'>Follow ADC news and media:</span><span style='font-size:12.0pt;font-family:"Times New Roman",serif;color:black'><o:p></o:p></span></p><p class=MsoNormal><span style='font-size:9.0pt;font-family:"Helvetica Neue",serif;color:black'><a href="https://facebook.com/automateddesigncorp">Facebook</a> | <a href="https://twitter.com/ADCSportsLogic">Twitter</a> | <a href="https://www.youtube.com/user/ADCSportsLogic">YouTube</a></span><span style='font-size:12.0pt;font-family:"Times New Roman",serif;color:black'><o:p></o:p></span></p><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri",sans-serif;color:black'><o:p> </o:p></span></p></div><p class=MsoNormal><span style='color:black'><o:p> </o:p></span></p></div></div></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri",sans-serif;color:black'><o:p> </o:p></span></p></div><div style='border:none;border-top:solid #B5C4DF 1.0pt;padding:3.0pt 0cm 0cm 0cm'><p class=MsoNormal><b><span style='font-size:12.0pt;font-family:"Calibri",sans-serif;color:black'>From: </span></b><span style='font-size:12.0pt;font-family:"Calibri",sans-serif;color:black'>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><b>Date: </b>Thursday, November 19, 2015 at 11:06 AM<br><b>To: </b>John Hubbard <<a href="mailto:jhubbard@noao.edu">jhubbard@noao.edu</a>><br><b>Cc: </b>"<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><b>Subject: </b>Re: [etherlab-users] Etherlab installation issue [ubuntu 14]<o:p></o:p></span></p></div><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri",sans-serif;color:black'><o:p> </o:p></span></p></div><div><div><p><span style='font-size:10.5pt;font-family:"Calibri",sans-serif;color:black'>We are hiring EtherCAT robotics control engineers .<o:p></o:p></span></p><p><span style='font-size:10.5pt;font-family:"Calibri",sans-serif;color:black'>venligst <br>Preben Hjørnet <br>Blue Workforce A/S<br>24609899<o:p></o:p></span></p><div><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri",sans-serif;color:black'>Den 19/11/2015 16.55 skrev "John Hubbard" <<a href="mailto:jhubbard@noao.edu">jhubbard@noao.edu</a>>:<o:p></o:p></span></p><blockquote style='border:none;border-left:solid #CCCCCC 1.0pt;padding:0cm 0cm 0cm 6.0pt;margin-left:4.8pt;margin-right:0cm'><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri",sans-serif;color:black'>On 11/18/2015 11:19 PM, Tommaso wrote:<o:p></o:p></span></p><blockquote style='border:none;border-left:solid #CCCCCC 1.0pt;padding:0cm 0cm 0cm 6.0pt;margin-left:4.8pt;margin-right:0cm'><p class=MsoNormal><span style='font-size:10.5pt;font-family:"Calibri",sans-serif;color:black'>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.<o:p></o:p></span></p></blockquote><p class=MsoNormal style='margin-bottom:12.0pt'><span style='font-size:10.5pt;font-family:"Calibri",sans-serif;color:black'><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>_______________________________________________<br>etherlab-users mailing list<br><a href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><br><a href="http://lists.etherlab.org/mailman/listinfo/etherlab-users" target="_blank">http://lists.etherlab.org/mailman/listinfo/etherlab-users</a><o:p></o:p></span></p></blockquote></div></div></div></div></body></html>