搭建环境：Ubuntu 18.04.6 LTS (GNU/Linux 5.4.10-rt5-rt x86_64)

sinomotion@sinomotion-laptop:~$ uname -r
5.4.10-rt5-rt

1、安装环境
sudo apt-get install build-essential bison flex autoconf
sudo apt-get install python-wxgtk3.0 pyro mercurial
sudo apt-get install python-nevow python-matplotlib python-lxml python-zeroconf python-cycler
 sudo apt-get install python-autobahn python-u-msgpack
sudo apt-get install libpython2.7-dev
sudo apt install python-pip
pip2 install --user sslpsk posix_spawn
sudo apt install subversion
pip install future

2、下载源代码
git clone https://bitbucket.org/automforge/beremiz.git
git clone https://bitbucket.org/automforge/matiec_git.git
git clone https://bitbucket.org/mjsousa/modbus_git.git
svn checkout https://svn.code.sf.net/p/bacnet/code/trunk /bacnet-stack/ BACnet

3、编译代码
(1).编译MatIEC
autoreconf -i
./configure
make

(2).编译CanFestival 
./configure --can=virtual
make

(3).编译modbus
make

(4).编译BACnet
make MAKE_DEFINE='-fPIC' MY_BACNET_DEFINES='-DPRINT_ENABLED=1 -DBACAPP_ALL -DBACFILE -DINTRINSIC_REPORTING -DBACNET_TIME_MASTER -DBACNET_PROPERTY_LISTS=1 -DBACNET_PROTOCOL_REVISION=16' library

(5).编译ethercat
tar -xvf ethercat-1.5.2.tar.bz2
./configure --help 查询需要的模块
./configure --enable-8139too=no

4、运行IDE操作
(1).创建工作目录
mkdir plcwork

(2).开启IDE工作
python Beremiz.py

(3).开启runtime
cd ~/plcopen/beremiz/
python Beremiz_service.py -p 61194 -i localhost -x 0 -a 1 ~/plcopen/plcwork/

5、运行特写

6、调试运行程序