Greetings;
I have a startup error that doesn't make any sense to me.
From dmsg:
gene@lathe:~/linuxcnc/configs/my-lathe$ linuxcnc -l
LINUXCNC - 2.6.0-pre0-3610-g3ff05c9
Machine configuration directory is '/home/gene/linuxcnc/configs/my-lathe'
Machine configuration file is 'my-lathe.ini'
Starting LinuxCNC...
redis server started as: 'redis-server ', logging to: /dev/null
(time=1355606562.264318,pid=2836): Registering server on TCP port 5005.
(time=1355606562.264584,pid=2836): running server for TCP port 5005
(connection_socket = 3).
io started
iocontrol: machine: 'my-lathe' version 'unknown'
halcmd loadusr io started
task pid=2898
task: machine: 'my-lathe' version 'unknown'
emcTaskOnce: Python plugin configuredemcTaskOnce: extract(task_instance):
KeyError: ('task',)
emcTaskOnce: no Python Task() instance available, using default iocontrol-
based task methods
waiting for s.axes
waiting for s.axes
waiting for s.axes
waiting for s.axes
waiting for s.axes
waiting for s.axes
waiting for s.axes
waiting for s.axes
waiting for s.axes
A configuration error is preventing LinuxCNC from starting.
More information may be available when running from a terminal.
Shutting down and cleaning up LinuxCNC...
(time=1355606570.945526,pid=2836): Deleting 5 channels from the
NML_Main_Channel_List.
(time=1355606570.945584,pid=2836): Deleting emcCommand NML channel from
NML_Main_Channel_List.
(time=1355606570.945614,pid=2836): deleting NML (1)
(time=1355606570.945640,pid=2836): delete (CMS *) 0x980a1e8;
(time=1355606570.945678,pid=2836): rcs_shm_close(shm->key=1001(0x3E9),shm-
>size=8192(0x2000),shm->addr=0xb7708000)
(time=1355606570.945737,pid=2836): deleting CMS (emcCommand)
(time=1355606570.945771,pid=2836): free( data = 0x980abd0);
(time=1355606570.945800,pid=2836): Leaving ~CMS()
(time=1355606570.945825,pid=2836): CMS::delete(0x980a1e8)
(time=1355606570.945852,pid=2836): CMS::delete successful.
(time=1355606570.945878,pid=2836): Leaving ~NML()
(time=1355606570.945902,pid=2836): NML channel deleted from
NML_Main_Channel_List
(time=1355606570.945928,pid=2836): Deleting emcStatus NML channel from
NML_Main_Channel_List.
(time=1355606570.945954,pid=2836): deleting NML (2)
(time=1355606570.945979,pid=2836): delete (CMS *) 0x980fab8;
(time=1355606570.946008,pid=2836): rcs_shm_close(shm->key=1002(0x3EA),shm-
>size=16384(0x4000),shm->addr=0xb7704000)
(time=1355606570.946050,pid=2836): deleting CMS (emcStatus)
(time=1355606570.946081,pid=2836): free( data = 0x98104a0);
(time=1355606570.946109,pid=2836): Leaving ~CMS()
(time=1355606570.946133,pid=2836): CMS::delete(0x980fab8)
(time=1355606570.946158,pid=2836): CMS::delete successful.
(time=1355606570.946184,pid=2836): Leaving ~NML()
(time=1355606570.946209,pid=2836): NML channel deleted from
NML_Main_Channel_List
(time=1355606570.946233,pid=2836): Deleting emcError NML channel from
NML_Main_Channel_List.
(time=1355606570.946259,pid=2836): deleting NML (3)
(time=1355606570.946284,pid=2836): delete (CMS *) 0x98148d0;
(time=1355606570.946312,pid=2836): rcs_shm_close(shm->key=1003(0x3EB),shm-
>size=8192(0x2000),shm->addr=0xb7702000)
(time=1355606570.946355,pid=2836): deleting CMS (emcError)
(time=1355606570.946385,pid=2836): free( data = 0x98152b8);
(time=1355606570.946413,pid=2836): Leaving ~CMS()
(time=1355606570.946438,pid=2836): CMS::delete(0x98148d0)
(time=1355606570.946463,pid=2836): CMS::delete successful.
(time=1355606570.946489,pid=2836): Leaving ~NML()
(time=1355606570.946513,pid=2836): NML channel deleted from
NML_Main_Channel_List
(time=1355606570.946538,pid=2836): Deleting toolCmd NML channel from
NML_Main_Channel_List.
(time=1355606570.946564,pid=2836): deleting NML (4)
(time=1355606570.946589,pid=2836): delete (CMS *) 0x9817638;
(time=1355606570.946616,pid=2836): rcs_shm_close(shm->key=1004(0x3EC),shm-
>size=1024(0x400),shm->addr=0xb7701000)
(time=1355606570.946660,pid=2836): deleting CMS (toolCmd)
(time=1355606570.946689,pid=2836): free( data = 0x9818020);
(time=1355606570.946716,pid=2836): Leaving ~CMS()
(time=1355606570.946740,pid=2836): CMS::delete(0x9817638)
(time=1355606570.946766,pid=2836): CMS::delete successful.
(time=1355606570.946792,pid=2836): Leaving ~NML()
(time=1355606570.946817,pid=2836): NML channel deleted from
NML_Main_Channel_List
(time=1355606570.946841,pid=2836): Deleting toolSts NML channel from
NML_Main_Channel_List.
(time=1355606570.946869,pid=2836): deleting NML (5)
(time=1355606570.946894,pid=2836): delete (CMS *) 0x98187d0;
(time=1355606570.946921,pid=2836): rcs_shm_close(shm->key=1005(0x3ED),shm-
>size=8192(0x2000),shm->addr=0xb76ff000)
(time=1355606570.946964,pid=2836): deleting CMS (toolSts)
(time=1355606570.946994,pid=2836): free( data = 0x98191b8);
(time=1355606570.947020,pid=2836): Leaving ~CMS()
(time=1355606570.947044,pid=2836): CMS::delete(0x98187d0)
(time=1355606570.947071,pid=2836): CMS::delete successful.
(time=1355606570.947096,pid=2836): Leaving ~NML()
(time=1355606570.947120,pid=2836): NML channel deleted from
NML_Main_Channel_List
(time=1355606570.947147,pid=2836): deleting NML (1)
(time=1355606570.947174,pid=2836): Leaving ~NML()
(time=1355606570.947200,pid=2836): NML::operater delete(0x980a008)
(time=1355606570.947228,pid=2836): NML channel deleted from
Dynamically_Allocated_NML_Objects
(time=1355606570.947255,pid=2836): deleting NML (2)
(time=1355606570.947280,pid=2836): Leaving ~NML()
(time=1355606570.947304,pid=2836): NML::operater delete(0x980f938)
(time=1355606570.947330,pid=2836): NML channel deleted from
Dynamically_Allocated_NML_Objects
(time=1355606570.947356,pid=2836): deleting NML (3)
(time=1355606570.947381,pid=2836): Leaving ~NML()
(time=1355606570.947405,pid=2836): NML::operater delete(0x98146d0)
(time=1355606570.947431,pid=2836): NML channel deleted from
Dynamically_Allocated_NML_Objects
(time=1355606570.947456,pid=2836): deleting NML (4)
(time=1355606570.947481,pid=2836): Leaving ~NML()
(time=1355606570.947505,pid=2836): NML::operater delete(0x98174b8)
(time=1355606570.947532,pid=2836): NML channel deleted from
Dynamically_Allocated_NML_Objects
(time=1355606570.947557,pid=2836): deleting NML (5)
(time=1355606570.947582,pid=2836): Leaving ~NML()
(time=1355606570.947607,pid=2836): NML::operater delete(0x9818650)
(time=1355606570.947635,pid=2836): NML channel deleted from
Dynamically_Allocated_NML_Objects
/usr/bin/milltask (pid 2898) died on signal 11, backtrace stored in
/tmp/backtrace.2898
/usr/bin/milltask exiting
/usr/bin/linuxcnc: line 411: 2898 Segmentation fault $EMCTASK -ini
"$INIFILE"
Cleanup done
This was captured with full debug enabled in the .ini, but it had not been
edited for months before this.
The machine had crashed on a linuxcnc exit, from the menu->quit about an
hour ago, and has since been rebooted. On the reboot, update-manager
updated both the linuxcnc and the freecad installs, and it seems now stuck
in the above state.
I'll go do a powerdown this time.
Didn't help. The hal file I've been hacking on is attached. Perhaps I've
broken a rule somehow by setp'ing a pin?
Dave E., you might see what it is I am trying to do with this recalcitant
cast iron bitch, attempting to compensate for the near exponential response
of the controller board in this toy.
Logically, I think it looks like this:
motor drive
---------- -------------- --------- -------------
| rps >|--|> limit2.0 >|--|> abs >|--|>pid.0.cmd |
---------- -------------- --------- -------------
Feedback
---------------
setp some value ---------->|>mult2.0.in0 |
| mult2.0.out>|>>
net spdlefb0 enc.0.vel->|>mult2.0.in1 | |
\ --------------- |
\ <<<<<<<<<<<<<<<<<<<
\ | ---------------
\ |->|> sum2.0.in0 | ------------------
\ | sum2.0.out >|>->| pid.0.feedback |
\----->|> sum2.0.in1 | ------------------
---------------
So the setp controls the multipliers gain contribution to the feedback.
Earlier I was feeding both inputs of the multiplier with vel, with a scale
& offset, but that worked so well I could get 1 rps for a 1 requested, but
only about 1.75 rps for a 10 rps requested. Not terribly useful. :)
Comments, fixes welcome as always.
Thanks.
Cheers, Gene
--
"There are four boxes to be used in defense of liberty:
soap, ballot, jury, and ammo. Please use in that order."
-Ed Howdershelt (Author)
My web page: <http://coyoteden.dyndns-free.com:85/gene> is up!
The universe is all a spin-off of the Big Bang.
I was taught to respect my elders, but its getting
harder and harder to find any...
# my-lathe.hal, as of 17:13pm 08 Dec 2012 by Gene Heskett
loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD
servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hal_parport cfg="0x378 out "
setp parport.0.reset-time 1300
loadrt encoder num_chan=1
loadrt stepgen step_type=0,0
loadrt pwmgen output_type=0
loadrt pid num_chan=1
loadrt mult2 count=2
loadrt comp count=1
loadrt limit2 count=3
loadrt abs count=1
loadrt sum2 count=1
#loadrt scale count=2
addf parport.0.read base-thread
addf encoder.update-counters base-thread
addf stepgen.make-pulses base-thread
addf pwmgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
addf encoder.capture-position servo-thread
addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
addf mult2.0 servo-thread
addf mult2.1 servo-thread
addf sum2.0 servo-thread
addf pid.0.do-pid-calcs servo-thread
addf pwmgen.update servo-thread
#addf scale.0 servo-thread
addf limit2.0 servo-thread # spindle speed ramp
addf limit2.1 servo-thread # velocity maxv delta
addf limit2.2 servo-thread # slow the electronic
fuse
addf comp.0 servo-thread # won't be needed
eventually
addf abs.0 servo-thread # make spindle vel abs
#addf abs.1 servo-thread
# setup spindle pwmgen.0
setp pwmgen.0.pwm-freq 180.0
setp pwmgen.0.scale 490 # arbitrary, is gain control
setp pwmgen.0.offset 0.0 # overcome friction in drive?
setp pwmgen.0.dither-pwm true
setp pwmgen.0.max-dc 0.98
setp pwmgen.0.min-dc 0.005 # min duty cycle .5% or just
creeping rpm
setp pid.0.Pgain 20.00 # more is stiffer but oscillates
setp pid.0.Igain 0.25 # 25% integral
setp pid.0.Dgain 0.0 # not useful in velocity mode
for spindle
setp pid.0.FF0 39.000 # match encoder slots??
setp pid.0.FF1 0 # Similar to Igain? Similar
effects...
setp pid.0.FF2 0 # Similar to Dgain? not useful
for velocity
setp pid.0.maxoutput 10000 # keep it from running away,
but what is it?
# setup pid.0.command channel, with delay for startup surges, otherwise
straight thru
# net signal-name signal-src target1
target2 target3
net spindle-drive0 motion.spindle-speed-out-rps
limit2.0.in
setp limit2.0.maxv 5 # max
delta speed per second
net spindle-drive1 limit2.0.out abs.0.in
net spindle-drive2 abs.0.out
pid.0.command
# Thats all for cmd folks!
# setup pid.0.feedback feedback with a "modified" square law
# uses mult2.0, sum2.0
# net signal-name signal-src target1
target2 target3
setp mult2.0.in0 0.001 # set
gain of mult2.0, start low
net spindle-feedback0 encoder.0.velocity
sum2.0.in0 mult2.0.in1 # feed both
net spindle-feedback1 mult2.0.out
sum2.0.in1
net spindle-feedback2 sum2.0.out
pid.0.feedback
# hook pid to pwmgen and electronic fuse
input
net spindle-pwm pid.0.output
pwmgen.0.value
# Setup encoder for closed loop spindle
speed control
setp encoder.0.counter-mode false # counts quadrature when false
setp encoder.0.index-enable true
setp encoder.0.x4-mode false # smoother output? Yes
setp encoder.0.position-scale 39.00 # of slots in wheel for 1 turn
net spindle-enable motion.spindle-on
pwmgen.0.enable pid.0.enable
# Now, setup electronic fuse
setp comp.0.in1 31000.0 # rough swag, hyst is added to
get trip point
setp comp.0.hyst 20.75
net spindle-err pid.0.error
limit2.2.in
setp limit2.2.maxv 10
net spindler-err-timed limit2.2.out
mult2.1.in0 mult2.1.in1
net fuse-trip-value mult2.1.out
comp.0.in0
net save-a-fuse1 comp.0.out
motion.enable
# This next one is needed to tell axis to make the +- buttons and the override
slider
net dumbsig motion.spindle-speed-out
net spindle-velocity motion.spindle-speed-in
net spindle-index encoder.0.index-enable
motion.spindle-index-enable
net spindle-index
pid.0.index-enable
net spindle-ccw motion.spindle-reverse
# save spindle revs since initialized DO WE NEED THIS? Definitely not used
anyplace
net encoder.turns-motion encoder.0.position-interpolated
motion.spindle-revs
#
# This needs an EStop-in pin for the electronic fuse!!!!!!!!!!!!!!!!!!
net estop-out parport.0.pin-01-out
net xstep parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
net xdir parport.0.pin-03-out
net zstep parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net zdir parport.0.pin-05-out
setp parport.0.pin-06-out-reset 1
net astep parport.0.pin-08-out
setp parport.0.pin-08-out-reset 1
net adir parport.0.pin-09-out
net spindle-ccw parport.0.pin-16-out
net pwm-out pwmgen.0.pwm
parport.0.pin-14-out
net xenable parport.0.pin-17-out
net A-phase encoder.0.phase-A
parport.0.pin-12-in
net B-phase encoder.0.phase-B
parport.0.pin-15-in
net Z-index encoder.0.phase-Z
parport.0.pin-13-in
setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 1
setp stepgen.0.dirhold 8300
setp stepgen.0.dirsetup 5300
setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
net xpos-cmd axis.0.motor-pos-cmd
stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb
axis.0.motor-pos-fb
net xstep stepgen.0.step
net xdir stepgen.0.dir
net xenable axis.0.amp-enable-out
stepgen.0.enable
setp stepgen.1.position-scale [AXIS_2]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 1
setp stepgen.1.dirhold 8300
setp stepgen.1.dirsetup 5300
setp stepgen.1.maxaccel [AXIS_2]STEPGEN_MAXACCEL
net zpos-cmd axis.2.motor-pos-cmd
stepgen.1.position-cmd
net zpos-fb stepgen.1.position-fb
axis.2.motor-pos-fb
net zstep stepgen.1.step
net zdir stepgen.1.dir
net zenable axis.2.amp-enable-out
stepgen.1.enable
net estop-out iocontrol.0.user-enable-out
net estop-out iocontrol.0.emc-enable-in
# NOT USED YET, Does it need to be addf'd?
loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change
hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed
hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number
hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare
iocontrol.0.tool-prepared
------------------------------------------------------------------------------
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