Read first this short article to get an overview over the Acontis EtherCAT stack.

The Acontis Stack (Class B) and the DCM Add On (Class A) can be placed anywhere. In this manual the placeholders <classB_path> and <classA_path> are used.

• <classB_path> Path to the Class B EtherCAT Stack (i.e. /home/username/acontisStack/EC-Master-V2.9-Linux_x64-Eval)
• <classA_path> Path to the Class A AddOn (i.e. /home/username/acontisStack/EC-Master-ClassA-AddOn-V2.9)

1. EC LinkLayer Module The EC LinkLayer Module has to be compiled against the installed linux kernel. If the kernel changes, the module has to be rebuilt and reloaded.
2. The loaded standard Ethernet driver (the driver is a Linux kernel module) has to be unloaded after boot.
3. The EC LinkLayer has to be loaded after boot.

* EC-Master_ClassB.pdf 2.3.5.1

cd <classB_path>/Sources/LinkOsLayer/Linux/atemsys
make modules

cd <classB_path>/Sources/LinkOsLayer/Linux/atemsys
export ARCH=<…>
export CROSS_COMPILE=<…>
cd Sources/atemsys
make modules KERNELDIR=<path to target kernel dir>

• List all PCI deviceces:
  

lspci

• Search for your ethernet controller. For example: 00:19.0 Ethernet controller: Intel Corporation Ethernet Connection I218-LM (rev04)
• The number on the left is the Instance-ID. In this example 00:19.0
• List all PCI devices in verbose mode:

lspci -v

• Find your controller again with the Instance-ID
• If one line says something like Kernel driver in use: e1000e a driver is already bound to the controller. This driver needs to be unbound.

echo "<Instance-ID>" | sudo tee -a /sys/bus/pci/drivers/<driver-name>/unbind
echo "0000:00:19.0" | sudo tee -a /sys/bus/pci/drivers/e1000e/unbind

sudo insmod <classB_path>/Sources/LinkOsLayer/Linux/atemsys/atemsys.ko

To You may want to add this line to your .bashrc file