Technical
Information
TI 34M06T02-02E
Ubuntu Image for F3RP70 User’s Guide
Yokogawa Electric Corporation
Mar. 2021 2nd Edition (YK)
TI 34M06T02-02E
Content-1
Ubuntu Image for F3RP70 User’s Guide
TI 34M06T02-02E
2nd Edition
Contents
Introduction
1 F3RP70-2L
1.1 Overview ................................................................................................ 1-1
1.2 Ubuntu image ........................................................................................ 1-1
2 Writing the Ubuntu image file to the SD memory
card and startup
2.1 Procedure overview .............................................................................. 2-2
2.2 The SD memory card for starting ........................................................ 2-3
2.2.1 Specifications of the Ubunut image ........................................................... 2-3
2.2.2 User settings ................................................................................................. 2-5
2.2.3 Network settings ........................................................................................... 2-5
2.3 Procedure for writing to the SD memory card ...................................... 2-7
2.3.1 Environment installation ............................................................................... 2-7
2.3.2 How to write to the SD memory card ....................................................... 2-11
2.4 Starting from the SD memory card ...................................................... 2-14
2.4.1 Procedure of startup .................................................................................. 2-14
2.4.2 Procedure of log in to Ubutu ..................................................................... 2-14
2.4.3 Enable the sudo command ........................................................................ 2-21
3 e-RT3 IO module configuration service
3.1 Functional overview ............................................................................. 3-2
3.2 Usage ..................................................................................................... 3-4
3.2.1 Setting file ..................................................................................................... 3-4
3.2.2 Working with the daemon ............................................................................ 3-4
3.3 Setting file in detail .............................................................................. 3-6
3.3.1 Digital input module ..................................................................................... 3-6
3.3.2 Digital output module ................................................................................... 3-7
3.3.3 Analog input module ..................................................................................... 3-8
3.3.4 Analog output module ................................................................................ 3-10
3.3.5 High-speed data acquisition module ........................................................ 3-11
3.3.6 Temperature monitor module .................................................................... 3-14
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4 F3HA12 data acquisition service
4.1 Functional overview ............................................................................. 4-1
4.2 Usage ..................................................................................................... 4-2
4.2.1 Working with the daemon ............................................................................ 4-2
4.2.2 Data acquisition ............................................................................................ 4-3
4.3 API .......................................................................................................... 4-5
5 Application development with Python
5.1 Development method ........................................................................... 5-2
5.2 Remote development with Visual Studio Code ................................. 5-3
5.2.1 Overview ........................................................................................................ 5-3
5.2.2 Environment creation procedure ................................................................. 5-4
5.2.3 Usage ........................................................................................................... 5-16
5.3 Remote development with Jupyter Notebook ................................. 5-22
Content-2
5.3.1 Overview ...................................................................................................... 5-22
5.3.2 Environment creation procedure ............................................................... 5-23
5.3.3 Usage ........................................................................................................... 5-24
5.4 How to access the IOModule ............................................................ 5-30
5.4.1 Input output data of IO module ................................................................. 5-30
5.4.2 Calling C/C++ library functions from Python .......................................... 5-31
5.5 Sample program .................................................................................. 5-41
6 Application development with C/C++
6.1 Host development with F3RP70-2L .................................................... 6-1
6.1.1 Usage ............................................................................................................. 6-1
6.1.2 Using the e-RT3-specific API functions ..................................................... 6-9
7 Overlay Filesystem
7.1 Overview ................................................................................................ 7-2
7.1.1 OverlayFS overview ...................................................................................... 7-2
7.1.2 Overview of procedures ............................................................................... 7-2
7.2 Description of Overlay FS .................................................................... 7-3
7.3 Enter settings ........................................................................................ 7-4
7.3.1 Preparing the operating environment ......................................................... 7-4
7.3.2 Configuring OverlayFS ................................................................................. 7-5
7.3.3 Clearing OverlayFS settings ........................................................................ 7-5
7.4 Usage precautions ................................................................................ 7-7
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Appendix1 I/O Module Access Library
A1.1 List of APIs ......................................................................................... A1-1
A1.2 List of API error codes ....................................................................... A1-2
A1.3 Receiving interrupts and alarms ...................................................... A1-4
A1.4 How to receive signals (inter-process communication) ............... A1-9
A1.5 API reference .................................................................................... A1-12
A1.5.1 I/O module ................................................................................................ A1-12
A1.5.2 CPU module .............................................................................................. A1-24
A1.5.3 PLC device ................................................................................................ A1-31
A1.5.4 System administration ............................................................................ A1-43
A1.5.5 RAS ............................................................................................................ A1-48
A1.5.6 WDT ........................................................................................................... A1-51
Appendix2 Web Maintenance Tool
A2.1 Before Use .......................................................................................... A2-1
Content-3
A2.1.1 Overview ..................................................................................................... A2-1
A2.1.2 Operating environment ............................................................................. A2-1
A2.1.3 Setup and start-up ..................................................................................... A2-2
A2.2 Screen configuration and basic functions ...................................... A2-5
A2.2.1 List of functions ......................................................................................... A2-5
A2.2.2 Portal screen (Start-up screen) ............................................................... A2-7
A2.2.3 Main screen ................................................................................................ A2-8
A2.2.4 Changing languages .................................................................................. A2-9
A2.3 Device monitor (Module selection screen) ................................... A2-10
A2.3.1 CPU module monitor screen ................................................................... A2-12
A2.3.2 I/O device monitor screen ...................................................................... A2-17
A2.3.3 Using and installing comment file ......................................................... A2-21
A2.4 CPU settings ..................................................................................... A2-23
A2.4.1 CPU settings (Top/Login) screen .......................................................... A2-23
A2.4.2 User management screen ....................................................................... A2-24
A2.4.3 Calendar / Time settings screen ............................................................ A2-25
A2.4.4 Device settings screen ............................................................................ A2-26
A2.4.5 Operation settings screen ....................................................................... A2-29
A2.5 Manual display ................................................................................. A2-31
A2.5.1 Installing manual files ............................................................................. A2-32
A2.5.2 Displaying the manuals ........................................................................... A2-33
Revision Information ................................................................................. Rev-1
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A
Introduction
Overview
This manual describes how to use the Ubuntu image, which is provided for the OSfree CPU module.
The OS-free CPU module is e-RT3 CPU module that incorporates only a boot
loader. Users can develop their own system, while it takes time and effort to gain
knowledge for using the module.
Use of the Ubuntu image allows you to easily take advantage of a system with a
combined set of some open-source software.
Other Instruction Manuals
In addition to this manual, refer to the following manuals.
Product manuals
- e-RT3 CPU Module (F3RP7) Hardware Manual (IM 34M06M52-01E)
- e-RT3 CPU Module (SFRD2) BSP Common Function Manual (IM 34M06M5202E)
- e-RT3 OS-free CPU Module Startup Manual (IM 34M06M52-25E)
Related manuals
- Hardware Manual (IM 34M06C11-01E)
- Analog Input Modules (IM 34M06H11-02E)
- Analog Output Module (IM 34M06H11-03E)
- High-speed Data Acquisition Module (F3HA06-1R, F3HA12-1R) (IM 34M06G0202E)
- Temperature Monitoring Module (IM 34M06H63-01E)
*This manual contains current information as of March 2021.
The features or specifications of the product may be subject to change in the future.
i
ll Rights Reserved. Copyright © 2020, Yokogawa Electric Corporation TI 34M06T02-02E Mar. 31, 2021-00
1. F3RP70-2L
1.1 Overview
F3RP70-2L is one of the models in the e-RT3 CPU modules. It incorporates a
boot loader only and allows its users to construct a flexible system, including
the operating system.
After F3RP70-2L is turned on, the boot loader starts its operation and
initializes hardware and e-RT3/FA-M3 modules. The boot loader of F3RP70-2L
provides the features of starting the OS according to the setup parameters
and of self-diagnosing the module, based on the state of the MODE switch.
1.2 Ubuntu image
Ubuntu image file to be installed in F3RP70-2L for easy use is provided. The
Ubuntu image file available on the e-RT3 website allows you to start
development early.
You will store this provided Ubuntu image file in an SD memory card before
using the image. To use it, follow the procedure in the next chapter to write
the operating system into the SD memory card and then insert the card into
F3RP70-2L.
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2. Writing the Ubuntu image file to the SD memory card and startup
This chapter describes the procedure for writing the Ubuntu image file to an
SD memory card and startup.
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2.1 Procedure overview
This section provides an overview of the procedure for writing the Ubuntu
image file to an SD memory card and startup.
For details on the procedure, refer to “2.3 Procedure for writing to the SD
memory card” and “2.4 Starting from the SD memory card” of this manual.
Writing to an SD memory card
Use the following procedure to write the Ubuntu image file to an SD memory card:
- Download the Ubuntu image file from the Yokogawa website.
- Let your PC recognize an SD memory card.
- Use a tool for writing disk images to write the Ubuntu image file to the SD
memory card.
What you need
You need to have the following items for the write to the SD memory card:
- PC that supports SD memory cards
- SD memory card (SDHC card: 4 to 32 GB)
- Tool for writing disk images
- Ubuntu image file
You need to have the following items for starting Ubuntu from SD memory card:
- PC
- Terminal software (ex. PuTTY, tera term or.)
- RS-232-C conversion cable (KM72-2N) or Ethernet cable
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2.2 The SD memory card for starting
This section describes the SD memory card image you create in this chapter.
The SD memory card image consists of all copied files of the Ubuntu
operating system (OS) that runs on F3RP70-2L and a collection of setting files
necessary for starting the OS. The OS section contains the OS settings as well
as the stored files.
By inserting the SD memory card that has the Ubuntu image into an SD
memory card slot of F3RP70-2L, you can start Ubuntu with F3RP70-2Lsuitable settings and necessary libraries and packages installed in it.
SD memory card image
F3RP70
Operating system
SD memory
card
...
Collection of
setting files for
starting
F3RP70
2-3
Operating system
Setting files
Libraries
Created files, etc.
+
Collection of setting files for
starting F3RP70
Figure 2.1 Description of the SD memory card for starting
2.2.1 Specifications of the Ubuntu image
Revision
The revision of the Ubuntu image is confirmed in the file below.
Revison File
R.1.1.1 None
R.1.2.1 or later /usr/local/etc/sfrd14-release
OS
Ubuntu18.04LTS, GNU/Linux4.14LTS+PREEMPT_RT is started.
With the following command, you can see kernel configuration of the Ubuntu image.
$ zcat /proc/config.gz
Same information is described in the file /boot/config-xxx-ert3xlnx (xxx is version of
kernel).
Ubuntu development package
Python 3 and the build-essential toolchain are available as a program development
environment.
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e-RT3 module access
It provides the API functions for working with various e-RT3 I/O modules and e-RT3
CPU and sequence CPU modules in the multi-CPU configuration, together with the
signal notification feature used for synchronization operations between CPU
modules.
Note
For details on the API functions for e-RT3 I/O module access, refer to “Appendix1
I/O Module Access Library” of this document.
PLC device access
PLC device access is a feature to emulate the structure of data in a sequence CPU
module. It provides a service for connecting programmable indicators through PC
link commands (specifications from Yokogawa) and a mechanism for shared devices
in the multi-CPU configuration.
It also offers the API functions for working with these PLC devices.
Note
For details on the API functions for e-RT3 I/O module access, refer to “Appendix1
I/O Module Access Library” of this document.
External equipment communication service
It provides a communication feature with external equipment, such as indicators and
PCs, via the command interface. With this service, you can monitor and configure
CPU devices and work with programs in sequence CPU modules to operate or stop
them via external equipment.
RAS
It provides the API functions for examining or monitoring failures in systems and a
mechanism for receiving alarms when a failure occurs. You can receive alarms from
the momentary power failure detection feature for power supply voltage or about
abnormal temperatures of CPU modules.
Note
For details on the features above, refer to “e-RT3 CPU Module (SFRD2) BSP
Common Function Manual” (IM 34M06M52-02E).
Web Maintenance Tool
This tool offers features for monitoring and configuring I/O modules and internal
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parameters of the system provided by the Ubuntu image.
It is available on a Web browser, such as Google Chrome. Therefore, end users
who do not have any development environment and engineers in charge of
maintenance or launching can easily work on their configuration or maintenance
tasks on the Web browser regardless of their PC environment.
Note
For details on the features above, refer to “Appendix2 Web Maintenance Tool” of
this document.
Python 3 related packages
The Python-related packages listed in the table below are installed.
If necessary, use the apt command or the pip3 command to add or remove a
package.
No. Class Package
1 Machine learning scikit-learn
2 Numerical processing numpy
3 Numerical processing pandas
4 Numerical processing scipy
5 Graph drawing matplotlib
6 Communication pymodbus
7 Development environment jupyter-notebook
Development environment ptvsd
2.2.2 User settings
The Ubuntu OS provided by this image file has the users below.
If necessary, change the password or add or remove a user.
Root user
User name: root
Password: root_ert3
Ordinary user
User name: ert3
Password: user_ert3
2.2.3 Network settings
The Ubuntu OS provided by this image file has the network settings below.
Change them to suit the user's environment. The Ubuntu OS starts with the new
settings if you reboot it after modifying the setting file.
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eth0 (LAN port 1)
IP address: 192.168.3.72
Network mask: 255.255.255.0
Setting file:
/etc/systemd/network/10-eth0.network
A setting example for stable IP address is described below. You should modify
“Address”, “Gateway” and “Destination” for your environment.
[Network]
Address=192.168.3.72/24
[Route]
Gateway=192.168.3.1
Destination=192.168.3.0/24
eth1 (LAN port 2)
IP address: get from DHCP
Network mask: get from DHCP
Setting file:
/etc/systemd/network/20-eth1.network
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2.3 Procedure for writing to the SD memory card
This section describes the detailed procedure for writing the Ubuntu image
file to the SD memory card.
Note
In this procedure, all components (including your settings and applications) in SD
memory card are overwrote. When you use new version of Ubuntu image, you shall
re-install your settings and applications in the new Ubuntu.
2.3.1 Environment installation
This subsection describes the environment necessary for the tasks in this section.
2-7
PC
You need to have a PC that meets the following criteria:
- It supports SD memory cards.
You need to use a PC with a built-in SD memory card drive, or have an external
SD memory card reader and connect it to your PC.
- It supports a given tool for writing disk images.
SD memory card
F3RP70-2L supports an SDHC memory card with a capacity of 4 to 32 GB.
We recommend that you use a card with a higher program/erase cycle, such as an
SLC- or MLC-type card.
Ubuntu image file
You download it from our website “Yokogawa Partner Portal”.
Access the following URL and download “OS image file for OS-free CPU Module”
URL: https://partner.yokogawa.com/global/itc/index.htm
Tool for writing disk image files
You can have any tool for writing disk image files.
This manual shows a procedure for Rawrite32, free software for Windows.
How to install
1. Access the following URL and click the [Download] link at the top of the
Rawrite32 website.
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https://www.netbsd.org/~martin/rawrite32/index.html
Figure 2.2 Download link for Rawrite32
2. Click the [rw32-setup-1.0.7.0.exe] button to download the file.
Figure 2.3 Selecting the file for Rawrite32
3. Open the downloaded file to start the installer.
If you see a dialog box saying “Do you want to allow this app to make changes
to your device?” instead of the installer being started, click [Yes]. The installer is
then started.
4. Without making particular changes to the settings, click the [Install] button. The
installation is now started.
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Figure 2.4 Rawrite32 setup dialog box
5. Once the installation is complete, click the [Finish] button to exit the installer.
Figure 2.5 Complete Rawrite32 installation screen
Note
The following PC environment was used to check the procedure described in this
section.
- OS: Windows 10 Enterprise (64-bit version)
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- SD memory card support: Built-in SD memory card drive
The following SD memory card is available:
- SDHC memory card (4 to 32 GB)
The size of the Ubuntu image file for use ranges from 1 to 2 GB. Choose the
capacity of your card by considering the fact that data is also stored in the SD card
while you are using F3RP70-2L.
For details on the recommended standard and the use of the SD memory card slot
of e-RT3, refer to “4.5 SD memory card” of “e-RT3 CPU Module (F3RP7)
Hardware Manual” (IM 34M06M52-01E).
In the procedure described in this section, you do not have to uncompress the
downloaded file.
You cannot use a general operation for pasting a file to write the SD memory card
image to the SD card. Make sure that you have a tool for writing disk image.
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2.3.2 How to write to the SD memory card
This subsection details the writing procedure.
Let your PC recognize an SD memory card
Before starting Rawrite32, SD memory card have to be recognized by PC.
Start Rawrite32
If you see a dialog box saying “Do you want to allow this app to make changes to
your device?” instead of Rawrite32 being started, click [Yes]. Rawrite32 is then
started.
In the startup screen, check that [Target] is set to the location of the SD memory
card drive and the capacity of the card is indicated in [ ]. In the following example, a
32-GB SD memory card is used.
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Figure 2.6 Rawrite32 startup screen
Select the Ubuntu image file to be written
At the top right of the screen, click the [Open...] button and select the compressed
Ubuntu image file you downloaded. Hash values are then calculated and displayed
in the [Program messages] section in the middle of the screen.
The [Write to disk...] button is also activated at the bottom right of the screen so that
you can click it.
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Figure 2.7 Complete Ubuntu image loading screen
Write the image
At the bottom right of the screen, click the [Write to disk...] button to open the dialog
box as shown in the figure below. Click the [Yes] button to start writing to the SD
memory card.
Figure 2.8 Write confirmation screen
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Confirm the completion of writing
The writing is complete when you see the message saying “successfully written to
disk” in the [Program messages] section, as shown in the figure below. At the top
right of the screen, click the [x] button to exit Rawrite32.
Figure 2.9 Writing completed screen
Note
When you perform the procedure in this section, all the data in the SD memory card
is overwritten. Use a blank SD memory card, or back up the data beforehand.
After the writing is completed, you sometimes see a dialog box that request you to
format the SD memory card. If this happens, cancel the format.
This is because the written image file contains a Linux file system (ext4) that cannot
be read by Windows. If you format the card accidentally, follow the procedure in this
subsection to write to the SD card again.
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2.4 Starting from the SD memory card
This section describes how to start the Ubuntu image file written to the SD
memory card.
2.4.1 Procedure of startup
This subsection details the startup procedure.
Insert the SD memory card
Insert the SD memory card into SD slot 1 or 2 of F3RP70.
If two memory cards are inserted at the same time, the image in slot 1 is used in
preference to the one in the other slot.
When you use SD slot 2, you have to set “rootdev” environment variable of u-boot
to ”/dev/mmcblk1p2”. And when you use SD slot 1, you have to remove “rootdev”
environment variables.
Example for setting “rootdev” to “/dev/mmcblk1p2”
f3rp7x> setenv rootdev /dev/mmcblk1p2
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f3rp7x> saveenv
Example for removing value of “rootdev”
f3rp7x> setenv rootdev
f3rp7x> saveenv
Note
For details on environment variable of u-boot, refer to “e-RT3 OS-free CPU Module
Startup Manual” (IM 34M06M52-25E).
Start the system
With the MODE switch set to 0, turn on the power.
2.4.2 Procedure of log in to Ubuntu
This subsection details log-in procedure.
What you need
You need to have the following items for log-in to Ubuntu using serial console:
- PC that is installed terminal software
- RS-232-C conversion cable (KM72-2N)
- USB-serial converter (when your pc doesn’t have seral port)
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You need to have the following items for log-in to Ubuntu using SSH connection:
- PC that is installed terminal software
- Ethernet cable
Construction of devices
Figure 2.10 shows the construction of devices.
Log in to the Ubuntu through a serial console connection using the COM port at the
front of the CPU module or from an SSH terminal using the LAN port. In this section,
log in using the default value of eth0 (LAN port 1) shown in section 2.2.3 of this
document, so connect the ethernet cable to LAN port1 on the upper front of the
F3RP70-2L.
F3RP70
Local machine e-RT3
Figure 2.10 Construction of devices
Installing a terminal software
A terminal software, such as “Putty” or “Tera term”, is needed when you log in to the
Ubuntu. This subsection describes installing procedure of “PuTTY” as an example.
1. Access the following URL and click the [here] in [Download PuTTY] contents.
Figure 2,11 Top page of PuTTY web site
2. Download the installer that matches your PC from the “Package files”.In this
document, we will explain using the 64-bit version of “MSI (‘Windows Installer’)”
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Figure 2.12 Download installer
3. Open the downloaded file to start the installer. When the following dialog is
shown, Click the “Run”.
Figure 2.13 Security dialog
4. Click the “Next”.
Figure 2.14 PuTTY installer
5. Specify the install location. In this document, do not change the destination
folder and click “Next”.
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Figure 2.15 Specify the install location
6. Click “Next”.
Figure 2.16 Selection of install components
7. When User Account Control dialg is displayed, click “Yes”.
8. Click “Finish” in the dialog of install completion. And then installation of “PuTTY”
is completed.
Figure 2.17 Dialog of install completion
Log in to Ubuntu using serial console
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1. Start PuTTY and set “Connection type” to “Serial. And then set some items as
follows and click “Open”
Serial-line: device of serial port
Speed: 115200
Figure 2.18 PuTTY setting
2. When connection to F3RP70-2L for the first time, the PuTTY Security Alert
dialog is displayed. Click “Yes” to continue the connection.
Figure 2.19 PuTTY Security Alert dialog
3. Turn on F3RP70-2L.
4. Login prompt is displayed on the console after boot sequence. Log in using the
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user account you have set up.
Figure 2.20 Login prompt of serial console
Log in to Ubuntu using SSH connection
1. Turn on F3RP70-2L.
2. Set an IP address of your PC to “192.168.3.□□”
3. Start PuTTY and set “Connection type” to “SSH”. And then set some items as
follows and click “Open”
Host Name (or IP address): 192.168.3.72
Port: 22
Figure 2.21 SSH setting of PuTTY
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4. When connection to F3RP70-2L for the first time, the PuTTY Security Alert
dialog is displayed. Click “Yes” to continue the connection.
Figure 2.22 PuTTY Security Alert dialog
5. Login prompt is displayed on the console. Log in using the user account you
have set up.
Figure 2.23 Login prompt of SSH connection
Note
If you change the settings of your computer's network adapter according to the
instructions in this manual, you may not be able to connect to the Internet using that
adapter.
Connect the F3RP70-2L to a port that is not normally used for internet connection or
restore the settings after the connection is completed.
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When you want to connect to SSH, please do after starting F3RP70-2L. Immediately
after starting, the SSH server may not start and connection may fail.
With the initial settings downloaded Ubuntu image from the Yokogawa web site, you
cannot use the SSH connection to log in with the root user account. Please log in
with an ordinally user account.
For the default value of the user account, see "2.2.2 User setting" in this manual.
2.4.3. Enable the sudo command
In this Ubuntu image, the sudo command cannot be used by general users in the
default state. If you want to use commands that require root privileges, enter the
settings in this section to enable them. The following are some examples of when
the sudo command is not available.
# Operation with general user username
$ sudo ls -a /root
[sudo] password for username: # Enter Password
username is not in the sudoers file. This incident will be reported.
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Enabling the sudo command
1. Confirm the group of the user for whom you want to enable the sudo command.
If sudo is not included in the group, the sudo command is not available.
# For general user username
$ groups username
username : username # User name: Group
2. Since the operation is performed with root privileges, switch to the root account.
$ su
Password: # Enter root Password
root@ubuntu:/home/username#
3. Add the user for whom to enable the sudo command to the sudo group.
# gpasswd -a username sudo
Adding user username to group sudo
4. Confirm that sudo was added by checking the user's group in the same
procedure as in 1. Once added, log out of the root account. The settings will be
reflected when you log back in, so also log out of the general user account.
# groups username
username : username sudo # User name: Group
# exit
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exit
$ exit
logout
5. When you log in for the first time with the account that you added to the sudo
group, the following appears, indicating that the sudo command is enabled.
To run a command as administrator (user "root"), use "sudo <command>".
See "man sudo_root" for details.
username@ubuntu:~$
6. Confirm that the sudo command is received.
$sudo ls -a /root
[sudo] password for username: # Enter Password
. .. .bash_history .bashrc .cache .gnupg .profile
username@ubuntu:~$
Disabling the sudo command
To disable the sudo command, follow the steps below. Cancel membership in the
sudo group; the opposite of when you enabled it.
1. Just as with enabling the sudo command, you need root privileges, so switch to
the root account as you did in enable step 2.
2. Remove the user for whom you want to disable the sudo command from the
sudo group.
# gpasswd -d username sudo
Removing user username from group sudo
3. Using the same procedure as in enabling 1., check the user’s group. Once you
have confirmed that sudo has been deleted, log out of the root account. The
settings will be reflected when you log back in, so also log out of the general
user account.
# groups username
username : username
# exit
exit
$ exit
logout
4. When you login to the account from which you canceled sudo group
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membership, the sudo command is disabled.
Note
In this Ubuntu image, the ert3 default general user does not belong to the sudo
group. To prevent unexpected operations, we recommend disabling the sudo
command during operation.
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3. e-RT3 I/O module configuration service
This chapter describes the features of IO module configuration service and
how to use the service.
3-1
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