Debian LinuxCNC VM Setup

1. Download Debian ISO

https://cdimage.debian.org/cdimage/weekly-builds/amd64/iso-dvd/

2. Install Required Packages

sudo apt install qemu-system-x86 p7zip-full

3. Create VM Disk

qemu-img create -f qcow2 debian-disk.img 20G

4. Boot VM and Install Debian

qemu-system-x86_64 -m 2048 -cdrom debian-testing-amd64-DVD-1.iso -boot d -hda debian-disk.img -enable-kvm \
-netdev user,id=mynet0 -device e1000,netdev=mynet0

Username: user
Password: user

• Edit /etc/apt/sources.list, deactivate the first line.
• Run: sudo apt modernize-sources

5. Install RT Kernel

sudo apt-get install linux-image-6.12.21-rt-amd64 \
linux-headers-6.12.21-rt-amd64 git cmake wget curl

sudo reboot # Into rt kernel

sudo apt-get install firmware-linux firmware-linux-nonfree firmware-amd-graphics firmware-brcm80211 firmware-realtek
sudo apt-get remove linux-image-6.12.21-amd64

6. Clone and Install LinuxCNC Repositories

git clone https://codeberg.org/skynet/ethercat-master.git
git clone https://codeberg.org/skynet/linuxcnc-ethercat.git
git clone --recurse-submodules https://codeberg.org/skynet/linuxcnc_scurve_compact linuxcnc
git clone https://codeberg.org/skynet/hal-cia402.git

• For each repo: cd into it and run ./install.sh

7. Set Crontab Startup Script (Super User)

cd ethercat-master
sudo su
./set_crontab.sh

8. Boot Installed VM

qemu-system-x86_64 -m 2048 -hda debian-disk.img -enable-kvm

9. Convert to Raw Image

qemu-img convert -p -f qcow2 -O raw debian-disk.img debian-raw.img

10. Copy to USB

lsblk
sudo dd if=debian-raw.img of=/dev/sdX bs=4M status=progress conv=fsync

11. Create Archive with Progress

7z a -bsp1 debian-disk.img.7z debian-disk.img
7z a -bsp1 debian-raw.img.7z debian-raw.img

First Start:

• Set MAC address:

    $ ip link show
    $ sudo nano /etc/sysconfig/ethercat
    $ sudo /etc/init.d/ethercat stop
    $ sudo /etc/init.d/ethercat start
  

• Run LinuxCNC EtherCAT using EK1100 + 3x EL2124:

    $ cd ~/linuxcnc/cmake/configs/
    $ ./run_axis_ethercat