kenedy1 / ethercat_soem_linuxcnc

LinuxCNC and SOEM EtherCAT lib integrated

• Embedded SOEM EtherCAT master to LinuxCNC component.
• EtherCAT documents.

1. SOEM Test

1.1 INSTALL SOEM

git clone https://github.com/OpenEtherCATsociety/SOEM.git
mkdir build
cd build
cmake ..
sudo make install

1.2 SIMPLE TEST

• Add line to CmakeLists.txt

include_directories(/usr/local/include/soem/)
set(THREADS_PREFER_PTHREAD_FLAG ON)
find_package(Threads REQUIRED)

• Run test

sudo simple_test enp4s0f2
sudo ./slaveinfo enp4s0f2 -sdo -map
sudo ./red_test enp4s0f2 enp4s0f2 5000

1.3 CREATE OUR CODE

• Building C SOEM code

cd /home/hiep/Desktop/soem/soem_linuxcnc_embedded
mkdir build
cd build
cmake ..
make
sudo ./soem_linuxcnc_embedded

• Create lib .so

ls -l /usr/local/lib/
gcc -c -fPIC -L./lib -I./include/soem -I./include -lsoem soem_linuxcnc.c -o soem_linuxcnc.o
gcc -fPIC -shared soem_linuxcnc.o -o ./lib/libsoem_linuxcnc.so

• Create test C code using lib .so

printenv
echo $LD_LIBRARY_PATH
LD_LIBRARY_PATH=/home/hiep/Desktop/soem/hiep:$LD_LIBRARY_PATH
gcc -pthread -L./lib -I./include/soem -I./include test.c -lsoem_linuxcnc -lsoem -o test
chmod 777 test
sudo ./test

2. SOEM Linux HAL Component

2.1 Create LinuxCNC HAL component

• Copy all file in lib/ and include/ to linuxcnc-dev/ copy pthread.so to lib/ linuxcnc-dev/

source /home/hiep/linuxcnc-dev/scripts/rip-environment
halcompile --install soem_linuxcnc.comp

2.2 Test SOEM LinuxCNC HAL component

cd /home/hiep/linuxcnc-dev/bin
sudo chmod 4750 soem_linuxcnc
sudo chown root soem_linuxcnc
source /home/hiep/linuxcnc-dev/scripts/rip-environment
linuxcnc

• Machine ==> Show HAL configuration

loadusr soem_linuxcnc
show pin
setp soem-linuxcnc.0.set-joint-pos1 -150
setp soem-linuxcnc.0.led1 TRUE