cx5140 etherCAT Configuration

less than a minute

Configure etherCAT for CX5140:

Open ethercat.conf in edit mode:
```
sudo nano /etc/ethercat.conf
```

Note

Make sure that the network device that you wish to assign to the EtherCAT driver is not already taken by the normal network configuration, see wired network configuration.

Change the default MASTERO_DEVICE:"eth1" to registered ccat_netdev network device:

Note

Use following command to find ccat_netdev network device: dmesg | grep ccat

[    5.868588] ccat: loading out-of-tree module taints kernel.
[    8.711092] ccat_netdev: DMA0 mem initialized
[    8.711104] ccat_netdev: DMA1 mem initialized
[    8.760589] ccat_netdev: registered ccat0 as network device.

MASTER0_DEVICE="ccat0"

The configured MASTERO_DEVICE, needs to match the configured network device in the EtherCAT Network Configuration.

Save the file and reboot your controller:
```
sudo reboot
```