subject:"\[Emc\-developers\] Ethercat driver"

Re: [Emc-developers] Ethercat driver --> LAN9252 6 bytes in 200µs

2018-03-10 Thread Nicklas Karlsson

On Sat, 10 Mar 2018 13:53:29 -0500
Gene Heskett  wrote:

> On Saturday 10 March 2018 12:42:56 Nicklas Karlsson wrote:
> 
> > I just discovered it take about 200µs to write six bytes of process
> > data in process RAM via SPI into the LAN9252 chip! It's horrible slow.
> > I can't figure out they think about then they make SPI protocol like
> > this.
> >
> > Write adresse(s) and read/write as many bytes as needed had been the
> > most obvious, now there are several commands and wait in between.
> >
> Wow! Thats time to call a surveyor and have him set stakes!
> 
> But from what little I've fooled with spi, on a pi 3b no less, its many*2 
> faster than that. I have it writing to a Mesa 7i90HD at 41 megabaud, and 
> reading the responses back from the 7i90HD at 25 megabaud. Sending and 
> receiving in 32 bit packets.

SPI is 5 or 10Mbit/s I think and faster is possible, problem is procedure 
needed to read and write data to process ram.

Distributed clock and real time data work perfect.

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Re: [Emc-developers] Ethercat driver --> LAN9252 6 bytes in 200µs

2018-03-10 Thread Gene Heskett

On Saturday 10 March 2018 12:42:56 Nicklas Karlsson wrote:

> I just discovered it take about 200µs to write six bytes of process
> data in process RAM via SPI into the LAN9252 chip! It's horrible slow.
> I can't figure out they think about then they make SPI protocol like
> this.
>
> Write adresse(s) and read/write as many bytes as needed had been the
> most obvious, now there are several commands and wait in between.
>
Wow! Thats time to call a surveyor and have him set stakes!

But from what little I've fooled with spi, on a pi 3b no less, its many*2 
faster than that. I have it writing to a Mesa 7i90HD at 41 megabaud, and 
reading the responses back from the 7i90HD at 25 megabaud. Sending and 
receiving in 32 bit packets.

The data rate, going either direction is determined by the master, with 
errors if any determined to have occurred by a simple rx checksum. Data 
generally goes out to be latched into the slaves on the falling edge of 
the master generated clock, and comes back in the full duplex mode if 
its used, or by doing single direction at a time, in any event latched 
by the master on the riseing edge of the clock.  That last may be 
polarity inverted, its been a while since I last had a scope on the 
lines. And its difficult to see whats happening since the loading of the 
usual 7 to 8 pf + 10 megohms scope probe will generally screw the pooch 
because of its induced errors caused by the lengthening of the t=rc 
rise/fall times. My interconnecting cable is also only about 2" of 
signal path long. Longer will no doubt slow it down for the same reason.

That spi driver is rpspi.ko, and at the present time, runs ONLY on the 
pi, and in fact has init code in it that prevents it from running on 
anything but the pi's. The src code is now in LinuxCNC's src tree, and I 
believe professor Bertho Stultans, who wrote it, is about burned out 
because it turned into a much bigger project than he had in mind when he 
volunteered to see what he could do with it after the original author 
took a random remark wrong and bailed out.

In any event, I'd like to see the pi only stuff expunged from that 
driver, as it could then be built to run on the arm64's like the rock64, 
a considerably faster teeny card than the pi will ever be.

And now you know as much about the spi bus as I do, IOW not that much...

What I've been able to deduce, running on the pi, is that the spi data 
does NOT have to go thru the pi's internal usb2 hub, something the mouse 
and keyboard MUST do, and that results in input events being thrown away 
in the traffic jam caused by this internal hub. There is NO data loss in 
the spi bus, it Just Works(TM).

> On Fri, 2 Mar 2018 08:07:33 -0500
>
> Kenneth Lerman  wrote:
> > Change the species.
> >
> > etherCAT becomes etherDOG
> >
> > Ken
> >
> > Kenneth Lerman
> > 55 Main Street
> > Newtown, CT 06470
> >
> >
> > On Wed, Feb 21, 2018 at 4:51 PM, Nicklas Karlsson <
> >
> > nicklas.karlsso...@gmail.com> wrote:
> > > On Tue, 23 Jan 2018 08:17:52 -0500
> > >
> > > Gene Heskett  wrote:
> > > > On Tuesday 23 January 2018 08:01:01 andy pugh wrote:
> > > > > On 23 January 2018 at 03:26, Rod Webster
> > > > > 
> > > >
> > > > wrote:
> > > > > > This link seems to confirm the Etherlab invocation is GPLv2
> > > > > > so you may be right!
> > > > > > https://etherlab.org/en/ethercat/index.php
> > > > >
> > > > > Etherlab and SOEM are both GPL (or want to be)
> > > > >
> > > > > The problem is with Beckhoff who own the EtherCAT trademark
> > > > > and technology.
> > > >
> > > > Then we need to come up with a new name for it, and this
> > > > interface chip Nicklas has used offloads the technology aspect.
> > > > So it seems to me that should cover those 2 items of concern. I
> > > > haven't a clue what to use for a name and anything I would
> > > > suggest would disqualify itself based on the clean room
> > > > principle.
> > >
> > > I could name the file "ethercat.c", soem is in a sub folder and
> > > set up a new repository on github? Or could I push somewhere else?
> > >
> > > I created a local fork but needed some method to configure devices
> > > and decided a CANopen gateway may be a good solution, it is CiA
> > > 309 if I remember correct.
> > >
> > >
> > > Nicklas Karlsson
> > >
> > > 
> > > --
> > > Check out the vibrant tech community on one of the world's most
> > > engaging tech sites, Slashdot.org! http://sdm.link/slashdot
> > > ___
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> > > https://lists.sourceforge.net/lists/listinfo/emc-developers
> >
> > 
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> >

Re: [Emc-developers] Ethercat driver --> LAN9252 6 bytes in 200µs

2018-03-10 Thread Nicklas Karlsson

I just discovered it take about 200µs to write six bytes of process data in 
process RAM via SPI into the LAN9252 chip! It's horrible slow. I can't figure 
out they think about then they make SPI protocol like this.

Write adresse(s) and read/write as many bytes as needed had been the most 
obvious, now there are several commands and wait in between.


On Fri, 2 Mar 2018 08:07:33 -0500
Kenneth Lerman  wrote:

> Change the species.
> 
> etherCAT becomes etherDOG
> 
> Ken
> 
> Kenneth Lerman
> 55 Main Street
> Newtown, CT 06470
> 
> 
> On Wed, Feb 21, 2018 at 4:51 PM, Nicklas Karlsson <
> nicklas.karlsso...@gmail.com> wrote:
> 
> > On Tue, 23 Jan 2018 08:17:52 -0500
> > Gene Heskett  wrote:
> >
> > > On Tuesday 23 January 2018 08:01:01 andy pugh wrote:
> > >
> > > > On 23 January 2018 at 03:26, Rod Webster 
> > > wrote:
> > > > > This link seems to confirm the Etherlab invocation is GPLv2 so you
> > > > > may be right!
> > > > > https://etherlab.org/en/ethercat/index.php
> > > >
> > > > Etherlab and SOEM are both GPL (or want to be)
> > > >
> > > > The problem is with Beckhoff who own the EtherCAT trademark and
> > > > technology.
> > >
> > > Then we need to come up with a new name for it, and this interface chip
> > > Nicklas has used offloads the technology aspect. So it seems to me that
> > > should cover those 2 items of concern. I haven't a clue what to use for
> > > a name and anything I would suggest would disqualify itself based on the
> > > clean room principle.
> >
> > I could name the file "ethercat.c", soem is in a sub folder and set up a
> > new repository on github? Or could I push somewhere else?
> >
> > I created a local fork but needed some method to configure devices and
> > decided a CANopen gateway may be a good solution, it is CiA 309 if I
> > remember correct.
> >
> >
> > Nicklas Karlsson
> >
> > 
> > --
> > Check out the vibrant tech community on one of the world's most
> > engaging tech sites, Slashdot.org! http://sdm.link/slashdot
> > ___
> > Emc-developers mailing list
> > Emc-developers@lists.sourceforge.net
> > https://lists.sourceforge.net/lists/listinfo/emc-developers
> >
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Re: [Emc-developers] Ethercat driver

2018-03-05 Thread andy pugh

On 5 March 2018 at 12:06, Nicklas Karlsson  wrote:
> Smart serial is UART?

It is serial. I don't know if it uses a UART.
It is not the same as the Mesa UART Hostmot2 module.

-- 
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designed for the especial use of mechanical geniuses, daredevils and
lunatics."
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Re: [Emc-developers] Ethercat driver

2018-03-05 Thread Nicklas Karlsson

Smart serial is UART?

2018-01-18 9:40 GMT+01:00 andy pugh :

> On 17 January 2018 at 23:41, Gene Heskett  wrote:
>
>
> > I think this might be right up PCW's alley. He is already selling some
> > cards that expand via an rj45 jack.
>
>
> There is already at least one non-Mesa servo-drive that is controllable via
> the Mesa "Smart Serial" interface.
> Plug an STMBL drive into LinuxCNC and the HAL pins are all created
> automatically, just like for any other smart-serial device.
>
> But that isn't an answer for supporting existing EtherCAT devices with
> LinuxCNC.
>
>
> https://www.youtube.com/watch?v=seEV_i7o1NI
>
> --
> atp
> "A motorcycle is a bicycle with a pandemonium attachment and is designed
> for the especial use of mechanical geniuses, daredevils and lunatics."
> — George Fitch, Atlanta Constitution Newspaper, 1916
> 
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Re: [Emc-developers] Ethercat driver

2018-03-04 Thread andy pugh

On 2 March 2018 at 13:07, Kenneth Lerman  wrote:
> Change the species.
>
> etherCAT becomes etherDOG

ÆtherCAT

(May need Unicode)

-- 
atp
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designed for the especial use of mechanical geniuses, daredevils and
lunatics."
— George Fitch, Atlanta Constitution Newspaper, 1916

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Re: [Emc-developers] Ethercat driver

2018-03-03 Thread Kenneth Lerman

Change the species.

etherCAT becomes etherDOG

Ken

Kenneth Lerman
55 Main Street
Newtown, CT 06470


On Wed, Feb 21, 2018 at 4:51 PM, Nicklas Karlsson <
nicklas.karlsso...@gmail.com> wrote:

> On Tue, 23 Jan 2018 08:17:52 -0500
> Gene Heskett  wrote:
>
> > On Tuesday 23 January 2018 08:01:01 andy pugh wrote:
> >
> > > On 23 January 2018 at 03:26, Rod Webster 
> > wrote:
> > > > This link seems to confirm the Etherlab invocation is GPLv2 so you
> > > > may be right!
> > > > https://etherlab.org/en/ethercat/index.php
> > >
> > > Etherlab and SOEM are both GPL (or want to be)
> > >
> > > The problem is with Beckhoff who own the EtherCAT trademark and
> > > technology.
> >
> > Then we need to come up with a new name for it, and this interface chip
> > Nicklas has used offloads the technology aspect. So it seems to me that
> > should cover those 2 items of concern. I haven't a clue what to use for
> > a name and anything I would suggest would disqualify itself based on the
> > clean room principle.
>
> I could name the file "ethercat.c", soem is in a sub folder and set up a
> new repository on github? Or could I push somewhere else?
>
> I created a local fork but needed some method to configure devices and
> decided a CANopen gateway may be a good solution, it is CiA 309 if I
> remember correct.
>
>
> Nicklas Karlsson
>
> 
> --
> Check out the vibrant tech community on one of the world's most
> engaging tech sites, Slashdot.org! http://sdm.link/slashdot
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Re: [Emc-developers] Ethercat driver

2018-03-03 Thread John Morris

On 01/16/2018 07:51 PM, Jeff Epler wrote:

Our policy is that any code added to LinuxCNC has to be compatible with
the license terms "GPL version 2 or any later version".
https://www.gnu.org/licenses/license-list.html#GPLCompatibleLicenses

Anything that imposes a restriction on how the software can be used (for
example, if it is claimed that using the software requires an additional
license, as Beckhoff Automation GmbH reportedly does) cannot be
incorporated.

For a rather old thread on exactly the same topic, see this one from
2013:
https://sourceforge.net/p/emc/mailman/emc-developers/thread/20131022150751.GB2631%40unpythonic.net/

Jeff

Is that the link from our discussion a few years ago? " We're sorry --
the Sourceforge site is currently in Disaster Recovery mode. Please
check back later." Ugh.

I actually revisited this again a few months ago myself. As mentioned
in the earlier thread, the sticking point with Beckhoff seems to be the
EtherCAT name. They're worried that EtherCAT master implementations
floating around that don't work properly will soil the technology's
reputation, and they think that this license restriction will somehow
address that.

We talked to a lawyer who suggested simply don't use the name EtherCAT.
That may not be OK with the LCNC project, but might be ok for someone
wanting to ship a product running LCNC and containing EtherCAT slave
devices.

Another possibility is for someone else to host the code elsewhere and
make it able to build out of tree against the LCNC devel packages. That
would insulate the project, and some risk-tolerant person might decide
the benefits make it worthwhile.

John (not a lawyer)

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Re: [Emc-developers] Ethercat driver

2018-02-21 Thread Nicklas Karlsson

On Tue, 23 Jan 2018 08:17:52 -0500
Gene Heskett  wrote:

> On Tuesday 23 January 2018 08:01:01 andy pugh wrote:
> 
> > On 23 January 2018 at 03:26, Rod Webster  
> wrote:
> > > This link seems to confirm the Etherlab invocation is GPLv2 so you
> > > may be right!
> > > https://etherlab.org/en/ethercat/index.php
> >
> > Etherlab and SOEM are both GPL (or want to be)
> >
> > The problem is with Beckhoff who own the EtherCAT trademark and
> > technology.
> 
> Then we need to come up with a new name for it, and this interface chip 
> Nicklas has used offloads the technology aspect. So it seems to me that 
> should cover those 2 items of concern. I haven't a clue what to use for 
> a name and anything I would suggest would disqualify itself based on the 
> clean room principle.

I could name the file "ethercat.c", soem is in a sub folder and set up a new 
repository on github? Or could I push somewhere else?

I created a local fork but needed some method to configure devices and decided 
a CANopen gateway may be a good solution, it is CiA 309 if I remember correct.


Nicklas Karlsson

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Re: [Emc-developers] Ethercat driver

2018-02-05 Thread Jeff Epler

On Sun, Feb 04, 2018 at 08:29:53PM +0100, Nicklas Karlsson wrote:
> https://openethercatsociety.github.io/doc/soem/index.html
> ...
> Features as of 1.2.0 :
> Changed license to GPLv2 only. Adresses leagal concerns about master 
> licensing.
> ...
> 
> So I guess it is OK.
> 

On this date, that page still contains the text

| You can use SOEM for the sole purpose of creating, using and/or
| selling or otherwise distributing an EtherCAT network master provided
| that an EtherCAT Master License is obtained from Beckhoff Automation
| GmbH.

restricting how the software may be used, modified, and distribured in
contradiciton of other terms of the GPL.

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Re: [Emc-developers] Ethercat driver

2018-02-04 Thread Nicklas Karlsson

https://openethercatsociety.github.io/doc/soem/index.html
...
Features as of 1.2.0 :
Changed license to GPLv2 only. Adresses leagal concerns about master 
licensing.
...

So I guess it is OK.


On Wed, 17 Jan 2018 09:27:25 -0500
Dave Cole  wrote:

> The text below is at the end of the SOEM page from the link below.
> https://openethercatsociety.github.io/doc/soem/index.html
> 
> So how does this work??   The SOEM software itself is GPL, but if you 
> implement an Ethercat master, you need to get a license ??
> 
> That's an interesting approach.
> 
> If the SOEM code is all GPL, then how could adding GPL code to GPL code 
> result in something other than GPL code ?
> 
>  From a practical standpoint, I think we need to figure out how to get 
> networked drives connected to LinuxCNC if we want LinuxCNC to live on.
> At some point analog servo drive interfaces will become like 5 1/4" 
> floppy drives...    They were once common.
> 
> Dave
> 
>  >
> 
> SOEM is free software; you can redistribute it and/or modify it under 
> the terms of the GNU General Public License version 2 as published by 
> the Free Software Foundation.
> 
> SOEM is distributed in the hope that it will be useful, but WITHOUT ANY 
> WARRANTY; without even the implied warranty of MERCHANTABILITY or 
> FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for 
> more details.
> 
> As a special exception, if other files instantiate templates or use 
> macros or inline functions from this file, or you compile this file and 
> link it with other works to produce a work based on this file, this file 
> does not by itself cause the resulting work to be covered by the GNU 
> General Public License. However the source code for this file must still 
> be made available in accordance with section (3) of the GNU General 
> Public License.
> 
> This exception does not invalidate any other reasons why a work based on 
> this file might be covered by the GNU General Public License.
> 
> The EtherCAT Technology, the trade name and logo "EtherCAT" are the 
> intellectual property of, and protected by Beckhoff Automation GmbH. You 
> can use SOEM for the sole purpose of creating, using and/or selling or 
> otherwise distributing an EtherCAT network master provided that an 
> EtherCAT Master License is obtained from Beckhoff Automation GmbH.
> 
> In case you did not receive a copy of the EtherCAT Master License along 
> with SOEM write to Beckhoff Automation GmbH, Eiserstrasse 5, D-33415 
> Verl, Germany (www.beckhoff.com).
> 
> 
> 
> 
> On 1/16/2018 8:51 PM, Jeff Epler wrote:
> > Our policy is that any code added to LinuxCNC has to be compatible with
> > the license terms "GPL version 2 or any later version".
> > https://www.gnu.org/licenses/license-list.html#GPLCompatibleLicenses
> >
> > Anything that imposes a restriction on how the software can be used (for
> > example, if it is claimed that using the software requires an additional
> > license, as Beckhoff Automation GmbH reportedly does) cannot be
> > incorporated.
> >
> > For a rather old thread on exactly the same topic, see this one from
> > 2013:
> > https://sourceforge.net/p/emc/mailman/emc-developers/thread/20131022150751.GB2631%40unpythonic.net/
> >
> > Jeff
> >
> > --
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Re: [Emc-developers] Ethercat driver

2018-01-23 Thread Rod Webster

If all that Linuxcnc does is talk to the GPL'ed EtherLab library, how is it
then you need to worry about trademarks and the like? Isn't that an issue
for the EtherLab team?
The LinuxCNC team has nothing to do with licensed material. The onus is on
the integrator to comply with any requirements just as he has to comply
with the requirements of the servos etc selected to go with his system.
Trademarks only give you protection if somebody attempts to pass off their
product as yours. You can still refer to a trademarked product in written
material but it is prudent to acknowledge the trademark.


Rod Webster
+61 435 765 611
Vehicle Modifications Network
www.vehiclemods.net.au


On 24 January 2018 at 04:48, Nicklas Karlsson 
wrote:

> > On 13 January 2018 at 15:06, Nicklas Karlsson <
> nicklas.karlsso...@gmail.com>
> > wrote:
> >
> > >
> > > I checked out via git, how do I procede if I want to commit via git?
> >
> >
> > You would push it to your own repository on github, then press the
>
> I make my own repository, it's not enought with a personal fork?
>
> > pull-request button on the LinuxCNC github.
>
> You know there this button is?
>
> > Though there are other ways, I believe.
> >
> > Are you sure that your driver isn't limited in it's GPL-compliance by the
> > terms of the EtherCAT license?
>
> I decided since it already is freely available I would probably not be
> sued in case I push it with my personal changes as part of Linuxcnc.
>
>
> 
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Re: [Emc-developers] Ethercat driver

2018-01-23 Thread Nicklas Karlsson

> On 13 January 2018 at 15:06, Nicklas Karlsson 
> wrote:
> 
> >
> > I checked out via git, how do I procede if I want to commit via git?
> 
> 
> You would push it to your own repository on github, then press the

I make my own repository, it's not enought with a personal fork?

> pull-request button on the LinuxCNC github.

You know there this button is?

> Though there are other ways, I believe.
> 
> Are you sure that your driver isn't limited in it's GPL-compliance by the
> terms of the EtherCAT license?

I decided since it already is freely available I would probably not be sued in 
case I push it with my personal changes as part of Linuxcnc.


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Re: [Emc-developers] Ethercat driver

2018-01-23 Thread Nicklas Karlsson

> On Tuesday 23 January 2018 08:01:01 andy pugh wrote:
> 
> > On 23 January 2018 at 03:26, Rod Webster  
> wrote:
> > > This link seems to confirm the Etherlab invocation is GPLv2 so you
> > > may be right!
> > > https://etherlab.org/en/ethercat/index.php
> >
> > Etherlab and SOEM are both GPL (or want to be)
> >
> > The problem is with Beckhoff who own the EtherCAT trademark and
> > technology.
> 
> Then we need to come up with a new name for it, and this interface chip 
> Nicklas has used offloads the technology aspect. So it seems to me that 
> should cover those 2 items of concern. I haven't a clue what to use for 
> a name and anything I would suggest would disqualify itself based on the 
> clean room principle.
> 
> Cheers, Gene Heskett

Ethernet cascaded shiftregister routing? Did not read the details but guess it 
come closes.

I made some local change so I guess I have to clone and start from a fresh copy 
before I could fork and commit. I feel relatively confident I should have 
nothing to fear so I should try to get it done soon.

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Re: [Emc-developers] Ethercat driver

2018-01-23 Thread Dave Cole

On 1/23/2018 8:01 AM, andy pugh wrote:

On 23 January 2018 at 03:26, Rod Webster wrote:

This link seems to confirm the Etherlab invocation is GPLv2 so you may be
right!
https://etherlab.org/en/ethercat/index.php

Etherlab and SOEM are both GPL (or want to be)

The problem is with Beckhoff who own the EtherCAT trademark and
technology.

Yes, but you can't patent or protect "technology". You can protect an
implementation of technology via a patent and you can restrict the use
of a Trademark in the marketing or sale of something. If you
acknowledge the trademark when used (you see that all of the time as
notes at the end of documents) then I think that keeps you in the clear
of the Trademark.

http://www.ipwatchdog.com/2014/02/15/protecting-ideas-can-ideas-be-protected-or-patented/id=48009/

LinuxCNC is not for sale, so I think that all we are concerned about is
the freedom of the software to be used and altered without
restrictions. I don't see how a Trademark could do that. LinuxCNC
only needs to say something like "EtherCat is a Trademark of
Beckhoff" in the docs someplace. Heck, stick it in the source code
and be done with it.

Hey, we are already doing that on this webpage >
http://linuxcnc.org/community/

>>>

LINUX® is the registered trademark of Linus Torvalds in the U.S. and
other countries. The registered trademark Linux® is used pursuant to a
sublicense from LMI, the exclusive licensee of Linus Torvalds, owner of
the mark on a world-wide basis.

The LinuxCNC project is not affiliated with Debian. Debian is a
registered trademark owned by Software in the Public Interest, Inc.

The LinuxCNC project is not affiliated with UBUNTU. UBUNTU is a
registered trademark owned by Canonical Limited.

And we are already dealing with Licenses as well as you can see. :-)

Dave

Re: [Emc-developers] Ethercat driver

2018-01-23 Thread Gene Heskett

On Tuesday 23 January 2018 08:01:01 andy pugh wrote:

> On 23 January 2018 at 03:26, Rod Webster  
wrote:
> > This link seems to confirm the Etherlab invocation is GPLv2 so you
> > may be right!
> > https://etherlab.org/en/ethercat/index.php
>
> Etherlab and SOEM are both GPL (or want to be)
>
> The problem is with Beckhoff who own the EtherCAT trademark and
> technology.

Then we need to come up with a new name for it, and this interface chip 
Nicklas has used offloads the technology aspect. So it seems to me that 
should cover those 2 items of concern. I haven't a clue what to use for 
a name and anything I would suggest would disqualify itself based on the 
clean room principle.

Cheers, Gene Heskett
-- 
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 soap, ballot, jury, and ammo. Please use in that order."
-Ed Howdershelt (Author)
Genes Web page 

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Re: [Emc-developers] Ethercat driver

2018-01-23 Thread andy pugh

On 23 January 2018 at 03:26, Rod Webster  wrote:

> This link seems to confirm the Etherlab invocation is GPLv2 so you may be
> right!
> https://etherlab.org/en/ethercat/index.php


Etherlab and SOEM are both GPL (or want to be)

The problem is with Beckhoff who own the EtherCAT trademark and
technology.

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Re: [Emc-developers] Ethercat driver

2018-01-22 Thread Rod Webster

This link seems to confirm the Etherlab invocation is GPLv2 so you may be
right!
https://etherlab.org/en/ethercat/index.php

Rod Webster
+61 435 765 611
Vehicle Modifications Network
www.vehiclemods.net.au


On 23 January 2018 at 11:06, Gene Heskett  wrote:

> On Monday 22 January 2018 15:14:34 Rod Webster wrote:
>
> > Hi,
> >
> > Its been a long time but many years ago when working with Ghostscript
> > and commercial interfaces to it. The solution was (under their
> > license) to build an interface to the external library in such a way
> > if the external library/DLL wasn't there the software did not fail and
> > if another library with an identical interface to the published
> > interface was installed, the software would operate as normal. If the
> > library was not found, the software did not crash but it was not
> > functional. This required a bit more work on the part of the developer
> > as the DLL required to be loaded at runtime dynamically rather than
> > being linked statically at compile time.
> >
> > If such an approach was allowable under the LinuxCNC license, from the
> > users perspective all that he would need to do would be to install an
> > ethercat binary and ethercat protocol would be enabled as LinuxCNC's
> > code is totally compartmentalised from the commercial license. (kinda
> > like a software version of plugging in a Mesa Smart Serial device.)
> >
> > Rod Webster
> > +61 435 765 611
> > Vehicle Modifications Network
> > www.vehiclemods.net.au
> >
> > On 23 January 2018 at 05:38, Darren Conway 
> wrote:
> > > Hi
> > >
> > > Has anyone considered asking Bekhoff for their view on this issue?
> > >
> > > They might grant a GPL compatible license for LinuxCNC.
> > >
> > > Regards
> > >
> > > Darren Conway
> > >
> > > On 23.01.18 8:27 AM, Andy Pugh wrote:
> > >> On 22 Jan 2018, at 21:08, Nicklas Karlsson
> > >> 
> > >>
> > >>> wrote:
> > >>>
> > >>> In source code I got from soem there is GNU license but somewhere
> > >>> I also found an exception, below so I am a little bit confused.
> > >>
> > >> I have always been confused by this too.
> > >>
> > >> The worry is that if we distribute anything EtherCAT with LinuxCNC
> > >> then we obligate anyone who uses it to also seek a Bekhoff license.
> > >> So that would make our distribution not-GPL
> > >>
> > >> I think that the Free Software Foundation has lawyers, but can’t
> > >> recall if we asked them about this.
> > >>
> > >> Then you get into the murky shadows that allow Wine to exist.
>
> I can't seem to understand the problem. GPLv2 specifically prohibits any
> further restrictions. They have stated its GPLv2, so any further
> restrictions either remove it from GPLv2 coverage, or are illegal to
> apply to a GPLv2 license. I'd ask the question at the FSF.
>
> And how many of the court cases have been dropped once the plaintiff
> actually read the license vs how many times the plaintiff has been
> awarded the win against the GPLv2. That balance historically has been
> almost exclusively in favor of the GPLv2.
>
> Cheers, Gene Heskett
> --
> "There are four boxes to be used in defense of liberty:
>  soap, ballot, jury, and ammo. Please use in that order."
> -Ed Howdershelt (Author)
> Genes Web page 
>
> 
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Re: [Emc-developers] Ethercat driver

2018-01-22 Thread Gene Heskett

On Monday 22 January 2018 15:14:34 Rod Webster wrote:

> Hi,
>
> Its been a long time but many years ago when working with Ghostscript
> and commercial interfaces to it. The solution was (under their
> license) to build an interface to the external library in such a way
> if the external library/DLL wasn't there the software did not fail and
> if another library with an identical interface to the published
> interface was installed, the software would operate as normal. If the
> library was not found, the software did not crash but it was not
> functional. This required a bit more work on the part of the developer
> as the DLL required to be loaded at runtime dynamically rather than
> being linked statically at compile time.
>
> If such an approach was allowable under the LinuxCNC license, from the
> users perspective all that he would need to do would be to install an
> ethercat binary and ethercat protocol would be enabled as LinuxCNC's
> code is totally compartmentalised from the commercial license. (kinda
> like a software version of plugging in a Mesa Smart Serial device.)
>
> Rod Webster
> +61 435 765 611
> Vehicle Modifications Network
> www.vehiclemods.net.au
>
> On 23 January 2018 at 05:38, Darren Conway  
wrote:
> > Hi
> >
> > Has anyone considered asking Bekhoff for their view on this issue?
> >
> > They might grant a GPL compatible license for LinuxCNC.
> >
> > Regards
> >
> > Darren Conway
> >
> > On 23.01.18 8:27 AM, Andy Pugh wrote:
> >> On 22 Jan 2018, at 21:08, Nicklas Karlsson
> >> 
> >>
> >>> wrote:
> >>>
> >>> In source code I got from soem there is GNU license but somewhere
> >>> I also found an exception, below so I am a little bit confused.
> >>
> >> I have always been confused by this too.
> >>
> >> The worry is that if we distribute anything EtherCAT with LinuxCNC
> >> then we obligate anyone who uses it to also seek a Bekhoff license.
> >> So that would make our distribution not-GPL
> >>
> >> I think that the Free Software Foundation has lawyers, but can’t
> >> recall if we asked them about this.
> >>
> >> Then you get into the murky shadows that allow Wine to exist.

I can't seem to understand the problem. GPLv2 specifically prohibits any 
further restrictions. They have stated its GPLv2, so any further 
restrictions either remove it from GPLv2 coverage, or are illegal to 
apply to a GPLv2 license. I'd ask the question at the FSF.

And how many of the court cases have been dropped once the plaintiff 
actually read the license vs how many times the plaintiff has been 
awarded the win against the GPLv2. That balance historically has been 
almost exclusively in favor of the GPLv2.

Cheers, Gene Heskett
-- 
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 soap, ballot, jury, and ammo. Please use in that order."
-Ed Howdershelt (Author)
Genes Web page 

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Re: [Emc-developers] Ethercat driver

2018-01-22 Thread Rod Webster

Hi,

Its been a long time but many years ago when working with Ghostscript and
commercial interfaces to it. The solution was (under their license) to
build an interface to the external library in such a way if the external
library/DLL wasn't there the software did not fail and if another library
with an identical interface to the published interface was installed, the
software would operate as normal. If the library was not found, the
software did not crash but it was not functional. This required a bit more
work on the part of the developer as the DLL required to be loaded at
runtime dynamically rather than being linked statically at compile time.

If such an approach was allowable under the LinuxCNC license, from the
users perspective all that he would need to do would be to install an
ethercat binary and ethercat protocol would be enabled as LinuxCNC's code
is totally compartmentalised from the commercial license. (kinda like a
software version of plugging in a Mesa Smart Serial device.)

Rod Webster
+61 435 765 611
Vehicle Modifications Network
www.vehiclemods.net.au

On 23 January 2018 at 05:38, Darren Conway  wrote:

> Hi
>
> Has anyone considered asking Bekhoff for their view on this issue?
>
> They might grant a GPL compatible license for LinuxCNC.
>
> Regards
>
> Darren Conway
>
>
> On 23.01.18 8:27 AM, Andy Pugh wrote:
>
>>
>> On 22 Jan 2018, at 21:08, Nicklas Karlsson 
>>> wrote:
>>>
>>> In source code I got from soem there is GNU license but somewhere I also
>>> found an exception, below so I am a little bit confused.
>>>
>> I have always been confused by this too.
>>
>> The worry is that if we distribute anything EtherCAT with LinuxCNC then
>> we obligate anyone who uses it to also seek a Bekhoff license. So that
>> would make our distribution not-GPL
>>
>> I think that the Free Software Foundation has lawyers, but can’t recall
>> if we asked them about this.
>>
>> Then you get into the murky shadows that allow Wine to exist.
>>
>>
>> 
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Re: [Emc-developers] Ethercat driver

2018-01-22 Thread Nicklas Karlsson

On Tue, 23 Jan 2018 08:38:43 +1300
Darren Conway  wrote:

> Hi
> 
> Has anyone considered asking Bekhoff for their view on this issue?

As is now I use LAN9252, maybe that will not get them in the right mood. 
Anybody with an Beckhoff device?

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Re: [Emc-developers] Ethercat driver

2018-01-22 Thread Darren Conway


Hi

Has anyone considered asking Bekhoff for their view on this issue?

They might grant a GPL compatible license for LinuxCNC.

Regards

Darren Conway

On 23.01.18 8:27 AM, Andy Pugh wrote:



On 22 Jan 2018, at 21:08, Nicklas Karlsson  wrote:

In source code I got from soem there is GNU license but somewhere I also found 
an exception, below so I am a little bit confused.

I have always been confused by this too.

The worry is that if we distribute anything EtherCAT with LinuxCNC then we 
obligate anyone who uses it to also seek a Bekhoff license. So that would make 
our distribution not-GPL

I think that the Free Software Foundation has lawyers, but can’t recall if we 
asked them about this.

Then you get into the murky shadows that allow Wine to exist.


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Re: [Emc-developers] Ethercat driver

2018-01-22 Thread Nicklas Karlsson

On Mon, 22 Jan 2018 21:27:50 +0200
Andy Pugh  wrote:

> 
> 
> > On 22 Jan 2018, at 21:08, Nicklas Karlsson  
> > wrote:
> > 
> > In source code I got from soem there is GNU license but somewhere I also 
> > found an exception, below so I am a little bit confused.
> 
> I have always been confused by this too. 
> 
> The worry is that if we distribute anything EtherCAT with LinuxCNC then we 
> obligate anyone who uses it to also seek a Bekhoff license. So that would 
> make our distribution not-GPL

That's a problem. ,,,

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Re: [Emc-developers] Ethercat driver

2018-01-22 Thread Andy Pugh

> On 22 Jan 2018, at 21:08, Nicklas Karlsson  
> wrote:
> 
> In source code I got from soem there is GNU license but somewhere I also 
> found an exception, below so I am a little bit confused.

I have always been confused by this too. 

The worry is that if we distribute anything EtherCAT with LinuxCNC then we 
obligate anyone who uses it to also seek a Bekhoff license. So that would make 
our distribution not-GPL

I think that the Free Software Foundation has lawyers, but can’t recall if we 
asked them about this. 

Then you get into the murky shadows that allow Wine to exist. 

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Re: [Emc-developers] Ethercat driver

2018-01-22 Thread Nicklas Karlsson

On Tue, 16 Jan 2018 17:32:58 +0200
andy pugh  wrote:

> On 13 January 2018 at 15:06, Nicklas Karlsson 
> wrote:
> 
> >
> > I checked out via git, how do I procede if I want to commit via git?
> 
> 
> You would push it to your own repository on github, then press the
> pull-request button on the LinuxCNC github.
> 
> Though there are other ways, I believe.
> 
> Are you sure that your driver isn't limited in it's GPL-compliance by the
> terms of the EtherCAT license?

In source code I got from soem there is GNU license but somewhere I also found 
an exception, below so I am a little bit confused.

"The EtherCAT Technology, the trade name and logo "EtherCAT" are the 
intellectual
property of, and protected by Beckhoff Automation GmbH. You can use SOEM for the
sole purpose of creating, using and/or selling or otherwise distributing an
EtherCAT network master provided that an EtherCAT Master License is obtained
from Beckhoff Automation GmbH.

In case you did not receive a copy of the EtherCAT Master License along with
SOEM write to Beckhoff Automation GmbH, Eiserstrasse 5, D-33415 Verl, Germany
(www.beckhoff.com)."

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Re: [Emc-developers] Ethercat driver

2018-01-18 Thread Nicklas Karlsson

On Wed, 17 Jan 2018 19:56:21 -0500
Gene Heskett  wrote:

> On Wednesday 17 January 2018 17:20:47 Nicklas Karlsson wrote:
> 
> > On Wed, 17 Jan 2018 16:41:59 -0500
> >
> > Gene Heskett  wrote:
> > > On Wednesday 17 January 2018 11:10:53 Nicklas Karlsson wrote:
> > > > On Wed, 17 Jan 2018 09:27:25 -0500
> > > >
> > > > Dave Cole  wrote:
> > > > > The text below is at the end of the SOEM page from the link
> > > > > below. https://openethercatsociety.github.io/doc/soem/index.html
> > > > >
> > > > > So how does this work??   The SOEM software itself is GPL, but
> > > > > if you implement an Ethercat master, you need to get a license
> > > > > ??
> > > >
> > > > Why a license?
> > > >
> > > > I have nothing about sharing my work but copyright issues i
> > > > something different.
> > > >
> > > > Then in european union I read something about interoperability so
> > > > you are always allowed to make your own device to talk to other
> > > > device.
> > > >
> > > > > That's an interesting approach.
> > > > >
> > > > > If the SOEM code is all GPL, then how could adding GPL code to
> > > > > GPL code result in something other than GPL code ?
> > > > >
> > > > >  From a practical standpoint, I think we need to figure out how
> > > > > to get networked drives connected to LinuxCNC if we want
> > > > > LinuxCNC to live on. At some point analog servo drive interfaces
> > > > > will become like 5 1/4" floppy drives...    They were once
> > > > > common.
> > > >
> > > > Yes.
> > > >
> > > > Michael Büsch already implemented a profibus master. I have it
> > > > running against an IO module and millions of these kind of devices
> > > > have been sold. I think he implemented on Rasberry and I had some
> > > > timing issue before running on ordinary computer but have not
> > > > looked further because I have been busy with something really good
> > > > for servos and looking for a new woman.
> > > >
> > > > Bandwidth required to replace an analog signal may be surprisingly
> > > > high and for a control loop even though there are plenty of
> > > > bandwidth it need to split in many small messages. Ethercat solve
> > > > this problem in a similar way as cascade coupled shift registers.
> > > >
> > > >
> > > > Nicklas Karlsson
> > >
> > > I think this might be right up PCW's alley. He is already selling
> > > some cards that expand via an rj45 jack. Perhaps he could chime in
> > > here as to the advantages and disadvantages of adapting the firmware
> > > to be something like this, but call it something other than
> > > ethercat.
> > >
> > > Changing the subject a bit while I ramble, we have some amazingly
> > > cheap rs485 devices about, costing less than a buck each in bags
> > > from ebay.
> >
> > Yes rs485 is a cheap and a very good driver. UART however have limited
> > speed and not the least clock accuracy problem at higher speed. With a
> > device with as many UART ports as needed this might be a very good
> > solution, speed could also be adapted to cable length then long cables
> > are needed.
> >
> Then one good uart, something that can run in the multimegahertz speeds, 
> later 16550's can, and some and gates to send or receive from that rs485 
> channel might be a lowercost item. ...

One the new Micro controllers usually with a Cortex-M*- CPU is a cheap item 
available from below $1 per piece and upwards. They usually have both UARTs and 
SPI(s) but no really good bus could be built by them.

Ethercat is a good bus and a LAN9252 from around $8 will connect them.


Nicklas Karlsson

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Re: [Emc-developers] Ethercat driver

2018-01-18 Thread Gene Heskett

On Thursday 18 January 2018 03:40:56 andy pugh wrote:

> On 17 January 2018 at 23:41, Gene Heskett  wrote:
> > I think this might be right up PCW's alley. He is already selling
> > some cards that expand via an rj45 jack.
>
> There is already at least one non-Mesa servo-drive that is
> controllable via the Mesa "Smart Serial" interface.
> Plug an STMBL drive into LinuxCNC and the HAL pins are all created
> automatically, just like for any other smart-serial device.
>
> But that isn't an answer for supporting existing EtherCAT devices with
> LinuxCNC.
>
>
> https://www.youtube.com/watch?v=seEV_i7o1NI

I wasn't trying to imply that it was, just an alternative controller 
method that might be cheap and allow much longer cables. These things 
function as diff to ttl and vice versa, are apparently not too terribly 
fussy about the data rate, handily reaching the limits of one of these 
better stepper drivers without a problem, limit caused by the drivers 
own opto inputs seem to be around the 300-350 kilohertz rate.

Another comment re the SainSmart bob's and some of the others with opto's 
in the output paths. I found I had to set the stepper pulses for my A 
drive to about 2 u-secs longer before I could set a meaningfull 
step_scale. The A drive is using a 542T driver, which looks a lot like 
the older 2M542. But it doesn't program the same. I'd steer clear of 
that one since thats a speed limit we don't need. It too is on the 
SainSmart bob.

Cheers, Gene Heskett
-- 
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Re: [Emc-developers] Ethercat driver

2018-01-18 Thread andy pugh

On 17 January 2018 at 23:41, Gene Heskett  wrote:

> I think this might be right up PCW's alley. He is already selling some
> cards that expand via an rj45 jack.

There is already at least one non-Mesa servo-drive that is controllable via
the Mesa "Smart Serial" interface.
Plug an STMBL drive into LinuxCNC and the HAL pins are all created
automatically, just like for any other smart-serial device.

But that isn't an answer for supporting existing EtherCAT devices with
LinuxCNC.

https://www.youtube.com/watch?v=seEV_i7o1NI

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Re: [Emc-developers] Ethercat driver

2018-01-17 Thread Gene Heskett

On Wednesday 17 January 2018 17:20:47 Nicklas Karlsson wrote:

> On Wed, 17 Jan 2018 16:41:59 -0500
>
> Gene Heskett  wrote:
> > On Wednesday 17 January 2018 11:10:53 Nicklas Karlsson wrote:
> > > On Wed, 17 Jan 2018 09:27:25 -0500
> > >
> > > Dave Cole  wrote:
> > > > The text below is at the end of the SOEM page from the link
> > > > below. https://openethercatsociety.github.io/doc/soem/index.html
> > > >
> > > > So how does this work??   The SOEM software itself is GPL, but
> > > > if you implement an Ethercat master, you need to get a license
> > > > ??
> > >
> > > Why a license?
> > >
> > > I have nothing about sharing my work but copyright issues i
> > > something different.
> > >
> > > Then in european union I read something about interoperability so
> > > you are always allowed to make your own device to talk to other
> > > device.
> > >
> > > > That's an interesting approach.
> > > >
> > > > If the SOEM code is all GPL, then how could adding GPL code to
> > > > GPL code result in something other than GPL code ?
> > > >
> > > >  From a practical standpoint, I think we need to figure out how
> > > > to get networked drives connected to LinuxCNC if we want
> > > > LinuxCNC to live on. At some point analog servo drive interfaces
> > > > will become like 5 1/4" floppy drives...    They were once
> > > > common.
> > >
> > > Yes.
> > >
> > > Michael Büsch already implemented a profibus master. I have it
> > > running against an IO module and millions of these kind of devices
> > > have been sold. I think he implemented on Rasberry and I had some
> > > timing issue before running on ordinary computer but have not
> > > looked further because I have been busy with something really good
> > > for servos and looking for a new woman.
> > >
> > > Bandwidth required to replace an analog signal may be surprisingly
> > > high and for a control loop even though there are plenty of
> > > bandwidth it need to split in many small messages. Ethercat solve
> > > this problem in a similar way as cascade coupled shift registers.
> > >
> > >
> > > Nicklas Karlsson
> >
> > I think this might be right up PCW's alley. He is already selling
> > some cards that expand via an rj45 jack. Perhaps he could chime in
> > here as to the advantages and disadvantages of adapting the firmware
> > to be something like this, but call it something other than
> > ethercat.
> >
> > Changing the subject a bit while I ramble, we have some amazingly
> > cheap rs485 devices about, costing less than a buck each in bags
> > from ebay.
>
> Yes rs485 is a cheap and a very good driver. UART however have limited
> speed and not the least clock accuracy problem at higher speed. With a
> device with as many UART ports as needed this might be a very good
> solution, speed could also be adapted to cable length then long cables
> are needed.
>
Then one good uart, something that can run in the multimegahertz speeds, 
later 16550's can, and some and gates to send or receive from that rs485 
channel might be a lowercost item. I am doing this "chip selection" with 
and2's in the G0704 since the charge pump is limited to one output and I 
needed at least 2 just to softstart the spindle motors PSU. Otherwise 
the power up inrush trips a 30 amp breaker in the service. there are 
today, lots ways around that. 

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Cheers, Gene Heskett
The above content, added by Maurice E. Heskett, is Copyright 2018 by 
Maurice E. Heskett.
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Re: [Emc-developers] Ethercat driver

2018-01-17 Thread Nicklas Karlsson

On Wed, 17 Jan 2018 16:41:59 -0500
Gene Heskett  wrote:

> On Wednesday 17 January 2018 11:10:53 Nicklas Karlsson wrote:
> 
> > On Wed, 17 Jan 2018 09:27:25 -0500
> >
> > Dave Cole  wrote:
> > > The text below is at the end of the SOEM page from the link below.
> > > https://openethercatsociety.github.io/doc/soem/index.html
> > >
> > > So how does this work??   The SOEM software itself is GPL, but if
> > > you implement an Ethercat master, you need to get a license ??
> >
> > Why a license?
> >
> > I have nothing about sharing my work but copyright issues i something
> > different.
> >
> > Then in european union I read something about interoperability so you
> > are always allowed to make your own device to talk to other device.
> >
> > > That's an interesting approach.
> > >
> > > If the SOEM code is all GPL, then how could adding GPL code to GPL
> > > code result in something other than GPL code ?
> > >
> > >  From a practical standpoint, I think we need to figure out how to
> > > get networked drives connected to LinuxCNC if we want LinuxCNC to
> > > live on. At some point analog servo drive interfaces will become
> > > like 5 1/4" floppy drives...    They were once common.
> >
> > Yes.
> >
> > Michael Büsch already implemented a profibus master. I have it running
> > against an IO module and millions of these kind of devices have been
> > sold. I think he implemented on Rasberry and I had some timing issue
> > before running on ordinary computer but have not looked further
> > because I have been busy with something really good for servos and
> > looking for a new woman.
> >
> > Bandwidth required to replace an analog signal may be surprisingly
> > high and for a control loop even though there are plenty of bandwidth
> > it need to split in many small messages. Ethercat solve this problem
> > in a similar way as cascade coupled shift registers.
> >
> >
> > Nicklas Karlsson
> >
> I think this might be right up PCW's alley. He is already selling some 
> cards that expand via an rj45 jack. Perhaps he could chime in here as to 
> the advantages and disadvantages of adapting the firmware to be 
> something like this, but call it something other than ethercat.
> 
> Changing the subject a bit while I ramble, we have some amazingly cheap 
> rs485 devices about, costing less than a buck each in bags from ebay.

Yes rs485 is a cheap and a very good driver. UART however have limited speed 
and not the least clock accuracy problem at higher speed. With a device with as 
many UART ports as needed this might be a very good solution, speed could also 
be adapted to cable length then long cables are needed.

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Re: [Emc-developers] Ethercat driver

2018-01-17 Thread Gene Heskett

On Wednesday 17 January 2018 11:10:53 Nicklas Karlsson wrote:

> On Wed, 17 Jan 2018 09:27:25 -0500
>
> Dave Cole  wrote:
> > The text below is at the end of the SOEM page from the link below.
> > https://openethercatsociety.github.io/doc/soem/index.html
> >
> > So how does this work??   The SOEM software itself is GPL, but if
> > you implement an Ethercat master, you need to get a license ??
>
> Why a license?
>
> I have nothing about sharing my work but copyright issues i something
> different.
>
> Then in european union I read something about interoperability so you
> are always allowed to make your own device to talk to other device.
>
> > That's an interesting approach.
> >
> > If the SOEM code is all GPL, then how could adding GPL code to GPL
> > code result in something other than GPL code ?
> >
> >  From a practical standpoint, I think we need to figure out how to
> > get networked drives connected to LinuxCNC if we want LinuxCNC to
> > live on. At some point analog servo drive interfaces will become
> > like 5 1/4" floppy drives...    They were once common.
>
> Yes.
>
> Michael Büsch already implemented a profibus master. I have it running
> against an IO module and millions of these kind of devices have been
> sold. I think he implemented on Rasberry and I had some timing issue
> before running on ordinary computer but have not looked further
> because I have been busy with something really good for servos and
> looking for a new woman.
>
> Bandwidth required to replace an analog signal may be surprisingly
> high and for a control loop even though there are plenty of bandwidth
> it need to split in many small messages. Ethercat solve this problem
> in a similar way as cascade coupled shift registers.
>
>
> Nicklas Karlsson
>
I think this might be right up PCW's alley. He is already selling some 
cards that expand via an rj45 jack. Perhaps he could chime in here as to 
the advantages and disadvantages of adapting the firmware to be 
something like this, but call it something other than ethercat.

Changing the subject a bit while I ramble, we have some amazingly cheap 
rs485 devices about, costing less than a buck each in bags from ebay.

These can be full duplex, and rows of them could be made on a breakout 
card, all we need is an effective chip selection mechanism. I recently 
used a pair of them as the receivers for an encoder with differential 
outputs by disabling the transmit function. They are outputting quite 
square waves to the A/B inputs of a 5i25, with a 1000 line encoder 
spinning in the 8 to 10k revs region as the encoder is on the rear of 
that 1hp, 90 volt rated, motor while the motor is being fed around 123 
volts. I figure I am getting more than 1.5 hp out of it. With the OEM 
triac based controller, it turned the spindle 2200 revs. With this 
lashup, 3k is usable for 2 minutes as there seems to be a thermal switch 
in the motor armature, (but the motors heating cannot be detected) and 
2750 forever. There isn't any reason a bunch of these couldn't be 
associated, one to a servo axis, and I don't think they would be a 
bandwidth problem doing it. All we need are the interfaces ( more of 
these facing the cable ) and whatever servo driver is to be used, Jon's 
pwm-servo comes to mind, mainly because I've found it quite usable as 
spindle controllers on my smaller stuff. PMDC motors up to 2 hp are 
right in its bailiwick.

This is a case of doubleing the speed of my G0704 when I replaced the 
intended for mach use BoB on it with a SainSmart BoB, also intended for 
mach, getting rid of all opto-isolators in the the output paths. I had 
to bypass them for the two inputs I used for the encoder because they 
quit functioning at about 400 motor rpms, opto's wwyy to 
slow.

But getting rid of the slow opto's in the step/dir paths has allowed me 
to cut at least a full microsecond off the step driver timings, I am 
still experimenting with that, and the nice clean pulses to the drivers 
has taken me from 55 ipm without stalls speeds to 110 ipm w/o any 
stalls, includeing the z motor while lifting that 50+ pound head, with 
max_accel's in the 140 range. Just a bump and the table or the head is 
now moving at 110 ipm. These motor drivers all have their own much 
faster opto's for that, so use them. The difference in speed is the 
SainSmart bob and its lack of opto's in the output pins.

I did find, finally, the reason for the extremely letharic accel's once 
homed.

Linuxcnc will complain about missing AXIS_L limits and refuse to start, 
but not about missing [AXIS_L] MAX_VEL or MAX_ACCEL in your config 
files. IMO it should, but doesn't, it just kills the machines 
performance. Shame on LinuxCNC.

I thought the conversion to JOINT_N nomenclature was complete but it is 
not, so yesterday while reading the docs and finding those two vars were 
still listed under the axis heading, I put them back in the ini. Problem 
solved with a vengeance because I

Re: [Emc-developers] Ethercat driver

2018-01-17 Thread Dave Cole

Why a license?

I have no idea. It sounds like they want you to ask permission.
However I am quite sure the software will work without permission being granted.
So what's the point?

And if you obtained a license, what exactly do you do with it?
Print it out and paste it on the wall? Put in in your wallet next to your
fishing and driving license?

Was "Ethernet" ever licensed? I was around when DEC first started selling Ethernet
systems. Back then there was a lot of mystery (and cost) around setting up an Ethernet system. I
remember a tap kit for semi-rigid Ethernet cable costing thousands of dollars. I still have some
of that "cable" around here someplace.

On 1/17/2018 11:10 AM, Nicklas Karlsson wrote:

On Wed, 17 Jan 2018 09:27:25 -0500
Dave Cole wrote:

The text below is at the end of the SOEM page from the link below.
https://openethercatsociety.github.io/doc/soem/index.html

So how does this work?? The SOEM software itself is GPL, but if you
implement an Ethercat master, you need to get a license ??

Why a license?

I have nothing about sharing my work but copyright issues i something different.

Then in european union I read something about interoperability so you are
always allowed to make your own device to talk to other device.

That's an interesting approach.

If the SOEM code is all GPL, then how could adding GPL code to GPL code
result in something other than GPL code ?

From a practical standpoint, I think we need to figure out how to get
networked drives connected to LinuxCNC if we want LinuxCNC to live on.
At some point analog servo drive interfaces will become like 5 1/4"
floppy drives... They were once common.

Yes.

Michael Büsch already implemented a profibus master. I have it running against
an IO module and millions of these kind of devices have been sold. I think he
implemented on Rasberry and I had some timing issue before running on ordinary
computer but have not looked further because I have been busy with something
really good for servos and looking for a new woman.

Bandwidth required to replace an analog signal may be surprisingly high and for
a control loop even though there are plenty of bandwidth it need to split in
many small messages. Ethercat solve this problem in a similar way as cascade
coupled shift registers.

Nicklas Karlsson

Re: [Emc-developers] Ethercat driver

2018-01-17 Thread Nicklas Karlsson

On Wed, 17 Jan 2018 09:27:25 -0500
Dave Cole  wrote:

> The text below is at the end of the SOEM page from the link below.
> https://openethercatsociety.github.io/doc/soem/index.html
> 
> So how does this work??   The SOEM software itself is GPL, but if you 
> implement an Ethercat master, you need to get a license ??

Why a license?

I have nothing about sharing my work but copyright issues i something different.

Then in european union I read something about interoperability so you are 
always allowed to make your own device to talk to other device.

> That's an interesting approach.
> 
> If the SOEM code is all GPL, then how could adding GPL code to GPL code 
> result in something other than GPL code ?
> 
>  From a practical standpoint, I think we need to figure out how to get 
> networked drives connected to LinuxCNC if we want LinuxCNC to live on.
> At some point analog servo drive interfaces will become like 5 1/4" 
> floppy drives...    They were once common.

Yes.

Michael Büsch already implemented a profibus master. I have it running against 
an IO module and millions of these kind of devices have been sold. I think he 
implemented on Rasberry and I had some timing issue before running on ordinary 
computer but have not looked further because I have been busy with something 
really good for servos and looking for a new woman.

Bandwidth required to replace an analog signal may be surprisingly high and for 
a control loop even though there are plenty of bandwidth it need to split in 
many small messages. Ethercat solve this problem in a similar way as cascade 
coupled shift registers.

Nicklas Karlsson

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Re: [Emc-developers] Ethercat driver

2018-01-17 Thread Gene Heskett

On Wednesday 17 January 2018 09:27:25 Dave Cole wrote:

> The text below is at the end of the SOEM page from the link below.
> https://openethercatsociety.github.io/doc/soem/index.html
>
> So how does this work??   The SOEM software itself is GPL, but if you
> implement an Ethercat master, you need to get a license ??
>
> That's an interesting approach.
>
> If the SOEM code is all GPL, then how could adding GPL code to GPL
> code result in something other than GPL code ?
>
>  From a practical standpoint, I think we need to figure out how to get
> networked drives connected to LinuxCNC if we want LinuxCNC to live on.
> At some point analog servo drive interfaces will become like 5 1/4"
> floppy drives...    They were once common.
>
> Dave
>
>
>
> SOEM is free software; you can redistribute it and/or modify it under
> the terms of the GNU General Public License version 2 as published by
> the Free Software Foundation.
>
That says it all since the GPLv2, the last time I read it, did not allow 
further restrictions. But just to keep the legal types under control, I 
think I'd want to see a court precedence judgement saying so.

Fork it, changing its name so as not to clash with their trademarks seems 
like the best way forward.

> SOEM is distributed in the hope that it will be useful, but WITHOUT
> ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
> FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
> for more details.
>
> As a special exception, if other files instantiate templates or use
> macros or inline functions from this file, or you compile this file
> and link it with other works to produce a work based on this file,
> this file does not by itself cause the resulting work to be covered by
> the GNU General Public License. However the source code for this file
> must still be made available in accordance with section (3) of the GNU
> General Public License.
>
> This exception does not invalidate any other reasons why a work based
> on this file might be covered by the GNU General Public License.
>
> The EtherCAT Technology, the trade name and logo "EtherCAT" are the
> intellectual property of, and protected by Beckhoff Automation GmbH.
> You can use SOEM for the sole purpose of creating, using and/or
> selling or otherwise distributing an EtherCAT network master provided
> that an EtherCAT Master License is obtained from Beckhoff Automation
> GmbH.
>
> In case you did not receive a copy of the EtherCAT Master License
> along with SOEM write to Beckhoff Automation GmbH, Eiserstrasse 5,
> D-33415 Verl, Germany (www.beckhoff.com).
>
>
> 
>
> On 1/16/2018 8:51 PM, Jeff Epler wrote:
> > Our policy is that any code added to LinuxCNC has to be compatible
> > with the license terms "GPL version 2 or any later version".
> > https://www.gnu.org/licenses/license-list.html#GPLCompatibleLicenses
> >
> > Anything that imposes a restriction on how the software can be used
> > (for example, if it is claimed that using the software requires an
> > additional license, as Beckhoff Automation GmbH reportedly does)
> > cannot be incorporated.
> >
> > For a rather old thread on exactly the same topic, see this one from
> > 2013:
> > https://sourceforge.net/p/emc/mailman/emc-developers/thread/20131022
> >150751.GB2631%40unpythonic.net/
> >
> > Jeff
> >
> > 
> >-- Check out the vibrant tech community on one of the world's
> > most engaging tech sites, Slashdot.org! http://sdm.link/slashdot
> > ___
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Cheers, Gene Heskett
The above content, added by Maurice E. Heskett, is Copyright 2018 by 
Maurice E. Heskett.
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Re: [Emc-developers] Ethercat driver

2018-01-17 Thread Dave Cole

The text below is at the end of the SOEM page from the link below.
https://openethercatsociety.github.io/doc/soem/index.html

So how does this work?? The SOEM software itself is GPL, but if you
implement an Ethercat master, you need to get a license ??

That's an interesting approach.

If the SOEM code is all GPL, then how could adding GPL code to GPL code
result in something other than GPL code ?

Dave

SOEM is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License version 2 as published by
the Free Software Foundation.

SOEM is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
more details.

As a special exception, if other files instantiate templates or use
macros or inline functions from this file, or you compile this file and
link it with other works to produce a work based on this file, this file
does not by itself cause the resulting work to be covered by the GNU
General Public License. However the source code for this file must still
be made available in accordance with section (3) of the GNU General
Public License.

This exception does not invalidate any other reasons why a work based on
this file might be covered by the GNU General Public License.

The EtherCAT Technology, the trade name and logo "EtherCAT" are the
intellectual property of, and protected by Beckhoff Automation GmbH. You
can use SOEM for the sole purpose of creating, using and/or selling or
otherwise distributing an EtherCAT network master provided that an
EtherCAT Master License is obtained from Beckhoff Automation GmbH.

In case you did not receive a copy of the EtherCAT Master License along
with SOEM write to Beckhoff Automation GmbH, Eiserstrasse 5, D-33415
Verl, Germany (www.beckhoff.com).

On 1/16/2018 8:51 PM, Jeff Epler wrote:

Our policy is that any code added to LinuxCNC has to be compatible with
the license terms "GPL version 2 or any later version".
https://www.gnu.org/licenses/license-list.html#GPLCompatibleLicenses

For a rather old thread on exactly the same topic, see this one from
2013:
https://sourceforge.net/p/emc/mailman/emc-developers/thread/20131022150751.GB2631%40unpythonic.net/

Jeff

Re: [Emc-developers] Ethercat driver

2018-01-16 Thread Nicklas Karlsson

I will look into this.

2018-01-17 2:51 GMT+01:00 Jeff Epler :

> Our policy is that any code added to LinuxCNC has to be compatible with
> the license terms "GPL version 2 or any later version".
> https://www.gnu.org/licenses/license-list.html#GPLCompatibleLicenses
>
> Anything that imposes a restriction on how the software can be used (for
> example, if it is claimed that using the software requires an additional
> license, as Beckhoff Automation GmbH reportedly does) cannot be
> incorporated.
>
> For a rather old thread on exactly the same topic, see this one from
> 2013:
> https://sourceforge.net/p/emc/mailman/emc-developers/thread/
> 20131022150751.GB2631%40unpythonic.net/
>
> Jeff
>
> 
> --
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> engaging tech sites, Slashdot.org! http://sdm.link/slashdot
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Re: [Emc-developers] Ethercat driver

2018-01-16 Thread Jeff Epler

Our policy is that any code added to LinuxCNC has to be compatible with
the license terms "GPL version 2 or any later version".
https://www.gnu.org/licenses/license-list.html#GPLCompatibleLicenses

Anything that imposes a restriction on how the software can be used (for
example, if it is claimed that using the software requires an additional
license, as Beckhoff Automation GmbH reportedly does) cannot be
incorporated.

For a rather old thread on exactly the same topic, see this one from
2013:
https://sourceforge.net/p/emc/mailman/emc-developers/thread/20131022150751.GB2631%40unpythonic.net/

Jeff

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Re: [Emc-developers] Ethercat driver

2018-01-16 Thread andy pugh

On 16 January 2018 at 18:52, Nicklas Karlsson 
wrote:ause of lack of official company home page.
>
>
> Software is basically "soem" https://openethercatsociety.
> github.io/doc/soem/index.html
>

I would very much like to see EtherCAT supported by LinuxCNC, but this part
of the SOEM license is (I think) a problem:

"The EtherCAT Technology, the trade name and logo "EtherCAT" are the
intellectual property of, and protected by Beckhoff Automation GmbH. You
can use SOEM for the sole purpose of creating, using and/or selling or
otherwise distributing an EtherCAT network master provided that an EtherCAT
Master License is obtained from Beckhoff Automation GmbH"

What this means is that if we distribute SOEM with LinuxCNC then (as I
understand it, and I am not a lawyer) then we obligate any LinuxCNC user
who uses that distribution to obtain a licence from Beckhof. (Even if they
don't actively use it, but that part is rather unclear to me)

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for the especial use of mechanical geniuses, daredevils and lunatics."
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Re: [Emc-developers] Ethercat driver

2018-01-16 Thread Nicklas Karlsson

> On 13 January 2018 at 15:06, Nicklas Karlsson 
> wrote:
> 
> >
> > I checked out via git, how do I procede if I want to commit via git?
> 
> 
> You would push it to your own repository on github, then press the
> pull-request button on the LinuxCNC github.
> 
> Though there are other ways, I believe.
> 
> Are you sure that your driver isn't limited in it's GPL-compliance by the
> terms of the EtherCAT license?

I tried the tools possible to download from Beckhoff without registration since 
I fail registration because of lack of official company home page.

Software is basically "soem" 
https://openethercatsociety.github.io/doc/soem/index.html there I made som 
small modification to simple_test. main(...) was replaced with rtapi_main(...). 
Periodically run code where put in and exported with hel_export_funct(...). 
Some pins where added with a few rows of code to transfer data between these 
and ethercat data.

I think I get enough time to take a closer look this weekend.

Nicklas Karlsson

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Re: [Emc-developers] Ethercat driver

2018-01-16 Thread andy pugh

On 13 January 2018 at 15:06, Nicklas Karlsson 
wrote:

>
> I checked out via git, how do I procede if I want to commit via git?


You would push it to your own repository on github, then press the
pull-request button on the LinuxCNC github.

Though there are other ways, I believe.

Are you sure that your driver isn't limited in it's GPL-compliance by the
terms of the EtherCAT license?

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[Emc-developers] Ethercat driver

2018-01-13 Thread Nicklas Karlsson

I made an Ethercat driver using a soem and it is in working condition although 
with hardcoded configuration. I intend to continue development but will 
probably spend a few days on slave nodes first.

I checked out via git, how do I procede if I want to commit via git?

There som extra files in sub directory to drivers and few extra lines in 
Makfile to make them compile.


Nicklas Karlsson

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Re: [Emc-developers] Ethercat-Driver for LinuxCNC

2013-08-22 Thread Sascha Ittner


Sascha Ittner sascha.itt...@modusoft.de hat am 18. August 2013 um 22:20
geschrieben:
 Hi John,

 thank you for your hints. Here the current status:

  - The configure.in check might be better done using AC_CHECK_HEADER
  (look for other examples in the file)

 This is right. But I need the path of the ecrt.h file, because I have to
 symlink
 it to the ethercat hal driver source directory, if the master is installed
 manualy:

  Are you saying ecrt.h is installed into /usr/include by the EtherCAT
  build system, and that file must be #included in module sources?  Hrm.

 Yes, exactly this is the reason for the symlink hack. I will be thankful for a
 better solution. One way could be to use AC_CHECK_HEADER and then check the
 used
 include path for ecrt.h. But I don't know how to do this.

  - You might want to clean up the commit history for the sake of git
  bisectability.  d1365ae, 57abb64, and the first hunk of 761521e could be
  squashed together (and the second hunk of 761521e could be separated).
  I just spent 40+ hours with git rebase -i fixing this sort of issue in
  our UB/RTOS branch; don't make my mistake!

 I have tried to clean up my commit's in a meaningful way now.

  - Additions of the string 'emc' are discouraged.

 I've renamed all emcec stuff to lcec.

  - In your checks for Module.symvers, I'm wondering if failure to find
  the file but CONFIG_EMCEC=m will cause a build failure?

  Warnings while running ./configure, or during the build?

 If Module.symvers is missing the HAL component will be build sucessfully but
 there might been some warings during build.

  - I personally would have left the EtherCAT Debianization materials out
  of the LinuxCNC source.  See below.

 I have removed it and will create a new repos for it.

  - You've added libexpat1-dev as a build requirement in
  debian/control.in, but I don't see corresponding header or lib checks in
  configure.in.

 Oops, it was just a mistake. Should the missing of libexpat1 lead to disabling
 the ethercat hal driver or better fail the configure process, if the master
 files where detected previously?

  You've built your driver for the LinuxCNC master branch, which supports
  RTAI.  On Lucid, EtherCAT supports the linuxcnc.org RTAI kernel v.
  2.6.32 out of the box.  I'm not sure the official status of support for
  master on Precise, but EtherCAT does not support 3.5.7 drivers out of
  the box, which is what Seb runs on his buildbot.  It doesn't look that
  tough to update, from what I saw, but there're a few things to figure
  out, like what happened to the PIO stuff in linux 3.5.

 I could try to get the stuff working on 3.5.7 with RTAI, but need some time
 for
 this. I try to setup a test env. What will be the plan for Precise? Which
 Kernel
 Version? Which RT?

  If you wish to port your work to the UB/RTOS branch, I'd want to look at
  building the ethercat package such that runtime/userland parts are
  packaged separately from kernel modules so that a host running e.g.
  Precise can install separate module packages to match each of its
  installed kernels (my dev machine, for example, has vanilla, RT_PREEMPT,
  Xenomai and RTAI kernels installed all at once).  This may turn out to
  be more effort than it's worth (doing it for our RTOS branch was very
  difficult), but if it turns out to be easy, it'll save headaches.  From
  there, our UB kmodule packages (which don't exist today ;) would depend
  on the matching ethercat kmodule package.

 Yes, I like. But I don't know what that means at the moment. I'm currently not
 familiar with UB. Where could I start?

 Regards,
 Sascha

Hi,

I had set up a test System with 3.5.7-rtai (magma) and added the ethercat
patches to the network drivers. A first test looks good. The master and drivers
compiles fine and I can see the slaves (tested with ec_r8169). I will now try to
build LinuxCNC with ethercat hal drivers and if everything seems to work I will
create the repos for the ethercat master debianization stuff.

Regards
Sascha

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Re: [Emc-developers] Ethercat-Driver for LinuxCNC

2013-08-12 Thread John Morris

Hi Sascha,

I managed to delete your reply to this email.  I'm copying the text from
the sf archive, but replying to myself, so your client's threading may
get messed up.  ;(

 Since EtherCAT libs will be missing on most systems, library detection
 would need to be added configure.in, and driver build made conditional
 in the Makefiles.
 
 I've just added a config check for this. It works with the deb install and 
 with
 the manual install of the master.

A few comments:

- The configure.in check might be better done using AC_CHECK_HEADER
(look for other examples in the file)

- You might want to clean up the commit history for the sake of git
bisectability.  d1365ae, 57abb64, and the first hunk of 761521e could be
squashed together (and the second hunk of 761521e could be separated).
I just spent 40+ hours with git rebase -i fixing this sort of issue in
our UB/RTOS branch; don't make my mistake!

- Additions of the string 'emc' are discouraged.

- In your checks for Module.symvers, I'm wondering if failure to find
the file but CONFIG_EMCEC=m will cause a build failure?

- I personally would have left the EtherCAT Debianization materials out
of the LinuxCNC source.  See below.

- You've added libexpat1-dev as a build requirement in
debian/control.in, but I don't see corresponding header or lib checks in
configure.in.

- I'm not qualified to comment on the driver's C code.  Hopefully
someone else can step in.

 The later however may produce some warnings
 about missing symbols as the Module.symver file will not be installed by make
 install

Warnings while running ./configure, or during the build?

 and a small hack by symlinking the ecrt.h is required because I think
 it's a bad idea to add /usr/include to the include path for module building.

Are you saying ecrt.h is installed into /usr/include by the EtherCAT
build system, and that file must be #included in module sources?  Hrm.

 For the LinuxCNC dist based on Ubuntu it should be easy to integrate the
 ethercat master debs into the repos. The question is if the debian directory
 I've created is ok for that or if it needs some improvements (support for
 xenomai, newer kernels...) and, if so, how to test.

Yes, I'd say ethercat debs should be built separately and distributed
with our kernels.

The etherlab site says ethercat can run on all kernels the RTOS branch
supports:  vanilla, rt-preempt, Xenomai and RTAI.

You've built your driver for the LinuxCNC master branch, which supports
RTAI.  On Lucid, EtherCAT supports the linuxcnc.org RTAI kernel v.
2.6.32 out of the box.  I'm not sure the official status of support for
master on Precise, but EtherCAT does not support 3.5.7 drivers out of
the box, which is what Seb runs on his buildbot.  It doesn't look that
tough to update, from what I saw, but there're a few things to figure
out, like what happened to the PIO stuff in linux 3.5.

If you wish to port your work to the UB/RTOS branch, I'd want to look at
building the ethercat package such that runtime/userland parts are
packaged separately from kernel modules so that a host running e.g.
Precise can install separate module packages to match each of its
installed kernels (my dev machine, for example, has vanilla, RT_PREEMPT,
Xenomai and RTAI kernels installed all at once).  This may turn out to
be more effort than it's worth (doing it for our RTOS branch was very
difficult), but if it turns out to be easy, it'll save headaches.  From
there, our UB kmodule packages (which don't exist today ;) would depend
on the matching ethercat kmodule package.

John

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Re: [Emc-developers] Ethercat-Driver for LinuxCNC

2013-08-11 Thread Sascha Ittner

 Since EtherCAT libs will be missing on most systems, library detection
 would need to be added configure.in, and driver build made conditional
 in the Makefiles.

I've just added a config check for this. It works with the deb install and with
the manual install of the master. The later however may produce some warnings
about missing symbols as the Module.symver file will not be installed by make
install and a small hack by symlinking the ecrt.h is required because I think
it's a bad idea to add /usr/include to the include path for module building.

For the LinuxCNC dist based on Ubuntu it should be easy to integrate the
ethercat master debs into the repos. The question is if the debian directory
I've created is ok for that or if it needs some improvements (support for
xenomai, newer kernels...) and, if so, how to test.

Regards
Sascha

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Re: [Emc-developers] Ethercat-Driver for LinuxCNC

2013-08-10 Thread andy pugh

On 7 August 2013 20:18, Sascha Ittner sascha.itt...@modusoft.de wrote:

 The project home of the used EtherCAT master:
 http://www.etherlab.org/de/ethercat/index.php

There is an english version at: http://www.etherlab.org/en/ethercat/index.php

I am not sure how we support things which require additional packages
like this, as I don't think it is available as an installable package
and the HAL driver needs the library to compile.
I suspect that a similar situation is being handled with Modbus, but I
don't know anything about that either.

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Re: [Emc-developers] Ethercat-Driver for LinuxCNC

2013-08-10 Thread John Morris

On 08/10/2013 09:55 AM, andy pugh wrote:
 On 7 August 2013 20:18, Sascha Ittner sascha.itt...@modusoft.de wrote:
 
 The project home of the used EtherCAT master:
 http://www.etherlab.org/de/ethercat/index.php
 
 There is an english version at: http://www.etherlab.org/en/ethercat/index.php
 
 I am not sure how we support things which require additional packages
 like this, as I don't think it is available as an installable package
 and the HAL driver needs the library to compile.
 I suspect that a similar situation is being handled with Modbus, but I
 don't know anything about that either.

That's an issue on RedHat-derivative operating systems, too.  I was able
to find an old etherlab specfile for an RPM package, but it's not part
of Fedora (Fedora won't ship alternative kernels or external kernel
modules, grr):

http://fab.fedorapeople.org/packages/testing/etherlab.spec

Since EtherCAT libs will be missing on most systems, library detection
would need to be added configure.in, and driver build made conditional
in the Makefiles.

John

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[Emc-developers] Ethercat-Driver for LinuxCNC

2013-08-07 Thread Sascha Ittner

The last two years I've developed and tested a flexible ethercat driver for
LinuxCNC. In the meantime it is used in several productive machines without
problems and supports a couple of dedicated devices plus a generic driver, so I
like to integrate it into the official distribution if there is any interest for
that.

I have no ideas yet what steps will be required. One of the most problematic
part could be the integration of the ethercat master. I have build a debian
setup for this, but it's based on rtai only at the moment. The master itself
seems to support Xenomai also.

Some information about EtherCAT:
http://www.ethercat.org/en/technology.html

Some (not really maintained) docs about my driver:
http://wiki.linuxcnc.org/cgi-bin/wiki.pl?EtherCatDriver

Some discussion:
www.linuxcnc.org/index.php/german/forum/24-hal-components/22346-ethercat-hal-driver

Please find the source here:
https://github.com/sittner/linuxcnc/tree/add-hal-ethercat

The project home of the used EtherCAT master:
http://www.etherlab.org/de/ethercat/index.php

Information about the currently supported devices (by the dedicated drivers)
could be found here:
http://www.beckhoff.com/english.asp?ethercat/ethercat_terminals.htm
http://www.stoeber.de
(and no, I do not have any commercial driven relationship to these companies :-)
)

regards
Sascha

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