Hello, guys! I need some help with setting up kinematics for my gantry-type machine. I have attempted following steps:
0) searched web for instructions, found only this one: http://axis.unpy.net/01162326817, which contains ini and hal file for simulated machine I haven't found any wiki page or a section in manuals that would address this question I have previously asked this question in this list and received suggestion to start with gantrykins and stepper-gantry sample config (and I tried to follow this advice) 1) I created machine config for testing purposes in stepconf, called it Test1 2) I took kinematics.hal file from stepper-gantry sample config folder 3) I edit the kinematics.hal file to change the assignement between joints and axis (so that first and third joints are X axis, second joint is Y axis, fourth joint is Z axis), so here is the contents of that file: ############################## Kinematics & Motion Controller #################################### # Kinematics loadrt gantrykins # Settings for gantrykins setp gantrykins.joint-0 0 setp gantrykins.joint-1 1 setp gantrykins.joint-2 0 setp gantrykins.joint-3 2 # motion controller, get name and thread periods from ini file loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD 4) I edited following lines from Test1.hal before: loadrt trivkins loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES after: loadrt num_joints=[TRAJ]AXES First line deleted, second line - also deleted those phrases, which already are in kinematics.hal fine 5) I edited Test1.ini file and following sections of that file now looks as follows: [HAL] HALFILE = kinematics.hal HALFILE = test1.hal POSTGUI_HALFILE = custom_postgui.hal [TRAJ] AXES = 4 COORDINATES = X Y Z A MAX_ANGULAR_VELOCITY = 10.00 DEFAULT_ANGULAR_VELOCITY = 1.00 LINEAR_UNITS = mm ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 1.00 MAX_LINEAR_VELOCITY = 10.00 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl [AXIS_0] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 10.0 MAX_ACCELERATION = 30.0 STEPGEN_MAXACCEL = 37.5 SCALE = 80.0 FERROR = 1 MIN_FERROR = .25 MIN_LIMIT = -0.001 MAX_LIMIT = 80.0 HOME_OFFSET = 0.0 [AXIS_1] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 10.0 MAX_ACCELERATION = 30.0 STEPGEN_MAXACCEL = 37.5 SCALE = 80.0 FERROR = 1 MIN_FERROR = .25 MIN_LIMIT = -0.001 MAX_LIMIT = 80.0 HOME_OFFSET = 0.0 [AXIS_2] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 10.0 MAX_ACCELERATION = 30.0 STEPGEN_MAXACCEL = 37.5 SCALE = 80.0 FERROR = 1 MIN_FERROR = .25 MIN_LIMIT = -0.001 MAX_LIMIT = 80.0 HOME_OFFSET = 0.0 [AXIS_3] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 10.0 MAX_ACCELERATION = 30.0 STEPGEN_MAXACCEL = 37.5 SCALE = 80.0 FERROR = 1 MIN_FERROR = .25 MIN_LIMIT = -4.0 MAX_LIMIT = 80.0 HOME_OFFSET = 0.0 All the remaining data in test1.ini file were unchanged. The problem is that now I am getting error at EMC startup. The error window contains this data: Print file information: RUN_IN_PLACE=no EMC2_DIR= EMC2_BIN_DIR=/usr/bin EMC2_TCL_DIR=/usr/share/emc/tcl EMC2_SCRIPT_DIR= EMC2_RTLIB_DIR=/usr/realtime-2.6.24-16-rtai/modules/emc2 EMC2_CONFIG_DIR= EMC2_LANG_DIR=/usr/share/emc/tcl/msgs INIVAR=inivar HALCMD=halcmd EMC2_EMCSH=emcsh EMC2_IOSH=iosh EMC2 - 2.3.4 Machine configuration directory is '/home/vie/emc2/configs/Test1' Machine configuration file is 'Test1.ini' INIFILE=/home/vie/emc2/configs/Test1/Test1.ini PARAMETER_FILE=emc.var EMCMOT=motmod EMCIO=io TASK=milltask HALUI= DISPLAY=axis NML_FILE=emc.nml Starting EMC2... Starting EMC2 server program: emcsvr Loading Real Time OS, RTAPI, and HAL_LIB modules Starting EMC2 IO program: io Shutting down and cleaning up EMC2... Killing task emcsvr, PID=11282 Removing HAL_LIB, RTAPI, and Real Time OS modules Removing NML shared memory segments Cleanup done Kernel message information: [ 0.000000] Linux version 2.6.24-16-rtai (r...@hardy) (gcc version 4.2.3 (Ubuntu 4.2.3-2ubuntu7)) #1 Tue Sep 30 22:54:33 EEST 2008 (Ubuntu 2.6.24-12.22-generic) [ 0.000000] BIOS-provided physical RAM map: [ 0.000000] BIOS-e820: 0000000000000000 - 00000000000a0000 (usable) [ 0.000000] BIOS-e820: 00000000000f0000 - 0000000000100000 (reserved) [ 0.000000] BIOS-e820: 0000000000100000 - 000000003fff0000 (usable) [ 0.000000] BIOS-e820: 000000003fff0000 - 000000003fff3000 (ACPI NVS) [ 0.000000] BIOS-e820: 000000003fff3000 - 0000000040000000 (ACPI data) [ 0.000000] BIOS-e820: 00000000fec00000 - 00000000fec01000 (reserved) [ 0.000000] BIOS-e820: 00000000fee00000 - 00000000fee01000 (reserved) [ 0.000000] BIOS-e820: 00000000ffff0000 - 0000000100000000 (reserved) [ 0.000000] 127MB HIGHMEM available. [ 0.000000] 896MB LOWMEM available. [ 0.000000] Entering add_active_range(0, 0, 262128) 0 entries of 256 used [ 0.000000] Zone PFN ranges: [ 0.000000] DMA 0 -> 4096 [ 0.000000] Normal 4096 -> 229376 [ 0.000000] HighMem 229376 -> 262128 [ 0.000000] Movable zone start PFN for each node [ 0.000000] early_node_map[1] active PFN ranges [ 0.000000] 0: 0 -> 262128 [ 0.000000] On node 0 totalpages: 262128 [ 0.000000] DMA zone: 32 pages used for memmap [ 0.000000] DMA zone: 0 pages reserved [ 0.000000] DMA zone: 4064 pages, LIFO batch:0 [ 0.000000] Normal zone: 1760 pages used for memmap [ 0.000000] Normal zone: 223520 pages, LIFO batch:31 [ 0.000000] HighMem zone: 255 pages used for memmap [ 0.000000] HighMem zone: 32497 pages, LIFO batch:7 [ 0.000000] Movable zone: 0 pages used for memmap [ 0.000000] DMI 2.2 present. [ 0.000000] Allocating PCI resources starting at 50000000 (gap: 40000000:bec00000) [ 0.000000] Built 1 zonelists in Zone order, mobility grouping on. Total pages: 260081 [ 0.000000] Kernel command line: root=UUID=e8cb3062-324e-4de8-b04c-7218503d6492 ro quiet splash [ 0.000000] Enabling fast FPU save and restore... done. [ 0.000000] Enabling unmasked SIMD FPU exception support... done. [ 0.000000] Initializing CPU#0 [ 0.000000] PID hash table entries: 4096 (order: 12, 16384 bytes) [ 0.000000] Detected 2075.209 MHz processor. [ 13.787232] I-pipe 2.0-04: pipeline enabled. [ 13.792370] Console: colour VGA+ 80x25 [ 13.792375] console [tty0] enabled [ 13.793180] Dentry cache hash table entries: 131072 (order: 7, 524288 bytes) [ 13.794528] Inode-cache hash table entries: 65536 (order: 6, 262144 bytes) [ 13.826124] Memory: 1029900k/1048512k available (1440k kernel code, 17880k reserved, 573k data, 228k init, 131008k highmem) [ 13.826134] virtual kernel memory layout: [ 13.826135] fixmap : 0xfffed000 - 0xfffff000 ( 72 kB) [ 13.826137] pkmap : 0xff800000 - 0xffc00000 (4096 kB) [ 13.826138] vmalloc : 0xf8800000 - 0xff7fe000 ( 111 MB) [ 13.826140] lowmem : 0xc0000000 - 0xf8000000 ( 896 MB) [ 13.826141] .init : 0xc02fa000 - 0xc0333000 ( 228 kB) [ 13.826143] .data : 0xc026836d - 0xc02f77ec ( 573 kB) [ 13.826144] .text : 0xc0100000 - 0xc026836d (1440 kB) [ 13.826148] Checking if this processor honours the WP bit even in supervisor mode... Ok. [ 13.826202] SLUB: Genslabs=11, HWalign=32, Order=0-1, MinObjects=4, CPUs=1, Nodes=1 [ 13.906147] Calibrating delay using timer specific routine.. 4151.80 BogoMIPS (lpj=8303609) [ 13.906184] Security Framework initialized [ 13.906192] SELinux: Disabled at boot. [ 13.906210] AppArmor: AppArmor initialized [ 13.906216] Failure registering capabilities with primary security module. [ 13.906224] Mount-cache hash table entries: 512 [ 13.906373] CPU: After generic identify, caps: 0383fbff c1c3fbff 00000000 00000000 00000000 00000000 00000000 00000000 [ 13.906382] CPU: L1 I Cache: 64K (64 bytes/line), D cache 64K (64 bytes/line) [ 13.906385] CPU: L2 Cache: 256K (64 bytes/line) [ 13.906388] CPU: After all inits, caps: 0383fbff c1c3fbff 00000000 00000420 00000000 00000000 00000000 00000000 [ 13.906400] Compat vDSO mapped to ffffe000. [ 13.906412] CPU: AMD Athlon(tm) XP 2600+ stepping 01 [ 13.906418] Checking 'hlt' instruction... OK. [ 13.922293] Freeing SMP alternatives: 0k freed [ 13.922518] net_namespace: 64 bytes [ 13.922959] NET: Registered protocol family 16 [ 13.923164] EISA bus registered [ 13.924930] PCI: PCI BIOS revision 2.10 entry at 0xfb3c0, last bus=1 [ 13.924933] PCI: Using configuration type 1 [ 13.924935] Setting up standard PCI resources [ 13.929412] Linux Plug and Play Support v0.97 (c) Adam Belay [ 13.929659] PCI: Probing PCI hardware [ 13.929671] PCI: Probing PCI hardware (bus 00) [ 13.930061] PCI quirk: region 4000-407f claimed by vt8235 PM [ 13.930065] PCI quirk: region 5000-500f claimed by vt8235 SMB [ 13.931216] PCI: Using IRQ router VIA [1106/3177] at 0000:00:11.0 [ 13.954189] AppArmor: AppArmor Filesystem Enabled [ 13.954547] PCI: Bridge: 0000:00:01.0 [ 13.954549] IO window: disabled. [ 13.954554] MEM window: e8000000-eaffffff [ 13.954557] PREFETCH window: d0000000-dfffffff [ 13.954573] PCI: Setting latency timer of device 0000:00:01.0 to 64 [ 13.954584] NET: Registered protocol family 2 [ 13.958100] Time: tsc clocksource has been installed. [ 13.990131] IP route cache hash table entries: 32768 (order: 5, 131072 bytes) [ 13.990519] TCP established hash table entries: 131072 (order: 8, 1048576 bytes) [ 13.992495] TCP bind hash table entries: 65536 (order: 6, 262144 bytes) [ 13.992979] TCP: Hash tables configured (established 131072 bind 65536) [ 13.992982] TCP reno registered [ 14.002241] checking if image is initramfs... it is [ 14.516438] Freeing initrd memory: 6179k freed [ 14.516961] audit: initializing netlink socket (disabled) [ 14.516977] audit(1274255221.691:1): initialized [ 14.517130] highmem bounce pool size: 64 pages [ 14.518908] VFS: Disk quotas dquot_6.5.1 [ 14.518933] Dquot-cache hash table entries: 1024 (order 0, 4096 bytes) [ 14.519067] io scheduler noop registered [ 14.519070] io scheduler anticipatory registered [ 14.519072] io scheduler deadline registered [ 14.519082] io scheduler cfq registered (default) [ 14.519094] PCI: VIA PCI bridge detected. Disabling DAC. [ 14.519145] Boot video device is 0000:01:00.0 [ 14.519360] isapnp: Scanning for PnP cards... [ 14.872684] isapnp: No Plug & Play device found [ 14.901483] Real Time Clock Driver v1.12ac [ 14.901488] Serial: 8250/16550 driver $Revision: 1.90 $ 4 ports, IRQ sharing enabled [ 14.901608] serial8250: ttyS0 at I/O 0x3f8 (irq = 4) is a 16550A [ 14.901761] serial8250: ttyS1 at I/O 0x2f8 (irq = 3) is a 16550A [ 14.902692] RAMDISK driver initialized: 16 RAM disks of 65536K size 1024 blocksize [ 14.902777] input: Macintosh mouse button emulation as /devices/virtual/input/input0 [ 14.902906] PNP: No PS/2 controller found. Probing ports directly. [ 15.153057] serio: i8042 KBD port at 0x60,0x64 irq 1 [ 15.165026] mice: PS/2 mouse device common for all mice [ 15.165138] EISA: Probing bus 0 at eisa.0 [ 15.165158] Cannot allocate resource for EISA slot 4 [ 15.165161] Cannot allocate resource for EISA slot 5 [ 15.165174] EISA: Detected 0 cards. [ 15.165268] NET: Registered protocol family 1 [ 15.165280] Using IPI Shortcut mode [ 15.165381] BIOS EDD facility v0.16 2004-Jun-25, 0 devices found [ 15.165383] EDD information not available. [ 15.165680] Freeing unused kernel memory: 228k freed [ 15.192973] input: AT Translated Set 2 keyboard as /devices/platform/i8042/serio0/input/input1 [ 16.160057] Clocksource tsc unstable (delta = 239987899 ns) [ 16.164046] Time: pit clocksource has been installed. [ 16.394248] fuse init (API version 7.9) [ 16.583784] PCI: setting IRQ 10 as level-triggered [ 16.583791] PCI: Found IRQ 10 for device 0000:00:0a.0 [ 16.583809] PCI: Sharing IRQ 10 with 0000:00:10.1 [ 16.606057] 8139too Fast Ethernet driver 0.9.28 [ 16.617771] usbcore: registered new interface driver usbfs [ 16.617805] usbcore: registered new interface driver hub [ 16.639669] usbcore: registered new device driver usb [ 16.640654] USB Universal Host Controller Interface driver v3.0 [ 16.643715] ssb: Sonics Silicon Backplane found on PCI device 0000:00:0a.0 [ 16.644069] PCI: setting IRQ 11 as level-triggered [ 16.644074] PCI: Found IRQ 11 for device 0000:00:0b.0 [ 16.644094] PCI: Sharing IRQ 11 with 0000:00:10.2 [ 16.644108] IRQ routing conflict for 0000:00:11.5, have irq 5, want irq 11 [ 16.644573] eth0: RealTek RTL8139 at 0xd000, 00:80:ad:74:f2:e1, IRQ 11 [ 16.644576] eth0: Identified 8139 chip type 'RTL-8139C' [ 16.644820] PCI: setting IRQ 12 as level-triggered [ 16.644825] PCI: Found IRQ 12 for device 0000:00:10.0 [ 16.644864] uhci_hcd 0000:00:10.0: UHCI Host Controller [ 16.645197] uhci_hcd 0000:00:10.0: new USB bus registered, assigned bus number 1 [ 16.645226] uhci_hcd 0000:00:10.0: irq 12, io base 0x0000d400 [ 16.645399] usb usb1: configuration #1 chosen from 1 choice [ 16.645422] hub 1-0:1.0: USB hub found [ 16.645429] hub 1-0:1.0: 2 ports detected [ 16.711801] SCSI subsystem initialized [ 16.744191] libata version 3.00 loaded. [ 16.747664] PCI: Found IRQ 10 for device 0000:00:10.1 [ 16.747674] PCI: Sharing IRQ 10 with 0000:00:0a.0 [ 16.747714] uhci_hcd 0000:00:10.1: UHCI Host Controller [ 16.747740] uhci_hcd 0000:00:10.1: new USB bus registered, assigned bus number 2 [ 16.747766] uhci_hcd 0000:00:10.1: irq 10, io base 0x0000d800 [ 16.747885] usb usb2: configuration #1 chosen from 1 choice [ 16.747912] hub 2-0:1.0: USB hub found [ 16.747919] hub 2-0:1.0: 2 ports detected [ 16.851572] PCI: Found IRQ 11 for device 0000:00:10.2 [ 16.851584] PCI: Sharing IRQ 11 with 0000:00:0b.0 [ 16.851611] IRQ routing conflict for 0000:00:11.5, have irq 5, want irq 11 [ 16.851627] uhci_hcd 0000:00:10.2: UHCI Host Controller [ 16.851653] uhci_hcd 0000:00:10.2: new USB bus registered, assigned bus number 3 [ 16.851679] uhci_hcd 0000:00:10.2: irq 11, io base 0x0000dc00 [ 16.851796] usb usb3: configuration #1 chosen from 1 choice [ 16.851822] hub 3-0:1.0: USB hub found [ 16.851828] hub 3-0:1.0: 2 ports detected [ 16.955550] PCI: setting IRQ 5 as level-triggered [ 16.955556] PCI: Found IRQ 5 for device 0000:00:10.3 [ 16.955606] ehci_hcd 0000:00:10.3: EHCI Host Controller [ 16.955635] ehci_hcd 0000:00:10.3: new USB bus registered, assigned bus number 4 [ 16.955682] ehci_hcd 0000:00:10.3: irq 5, io mem 0xeb003000 [ 16.987351] usb 1-1: new low speed USB device using uhci_hcd and address 2 [ 16.999306] ehci_hcd 0000:00:10.3: USB 2.0 started, EHCI 1.00, driver 10 Dec 2004 [ 16.999448] usb usb4: configuration #1 chosen from 1 choice [ 16.999478] hub 4-0:1.0: USB hub found [ 16.999486] hub 4-0:1.0: 6 ports detected [ 17.105645] pata_via 0000:00:11.1: version 0.3.3 [ 17.107468] scsi0 : pata_via [ 17.108465] scsi1 : pata_via [ 17.108525] ata1: PATA max UDMA/133 cmd 0x1f0 ctl 0x3f6 bmdma 0xe000 irq 14 [ 17.108529] ata2: PATA max UDMA/133 cmd 0x170 ctl 0x376 bmdma 0xe008 irq 15 [ 17.271647] ata1.00: ATA-6: Maxtor 2R010H1, EAH41MF0, max UDMA/100 [ 17.271653] ata1.00: 20011824 sectors, multi 0: LBA [ 17.287585] ata1.00: configured for UDMA/100 [ 17.786898] ata2.00: ATAPI: _NEC DVD_RW ND-3550A, 1.05, max UDMA/33 [ 17.786920] ata2.01: ATAPI: TSSTcorpDVD-ROM SH-D162C, TS03, max UDMA/33 [ 17.878469] hub 4-0:1.0: over-current change on port 5 [ 17.958628] ata2.00: configured for UDMA/33 [ 17.982356] hub 4-0:1.0: over-current change on port 6 [ 18.146392] ata2.01: configured for UDMA/33 [ 18.146536] scsi 0:0:0:0: Direct-Access ATA Maxtor 2R010H1 EAH4 PQ: 0 ANSI: 5 [ 18.148031] scsi 1:0:0:0: CD-ROM _NEC DVD_RW ND-3550A 1.05 PQ: 0 ANSI: 5 [ 18.148606] scsi 1:0:1:0: CD-ROM TSSTcorp DVD-ROM SH-D162C TS03 PQ: 0 ANSI: 5 [ 18.154201] Uniform Multi-Platform E-IDE driver Revision: 7.00alpha2 [ 18.155224] ide: Assuming 33MHz system bus speed for PIO modes; override with idebus=xx [ 18.163230] Driver 'sd' needs updating - please use bus_type methods [ 18.163336] sd 0:0:0:0: [sda] 20011824 512-byte hardware sectors (10246 MB) [ 18.163352] sd 0:0:0:0: [sda] Write Protect is off [ 18.163356] sd 0:0:0:0: [sda] Mode Sense: 00 3a 00 00 [ 18.163374] sd 0:0:0:0: [sda] Write cache: enabled, read cache: enabled, doesn't support DPO or FUA [ 18.163425] sd 0:0:0:0: [sda] 20011824 512-byte hardware sectors (10246 MB) [ 18.163435] sd 0:0:0:0: [sda] Write Protect is off [ 18.163438] sd 0:0:0:0: [sda] Mode Sense: 00 3a 00 00 [ 18.163454] sd 0:0:0:0: [sda] Write cache: enabled, read cache: enabled, doesn't support DPO or FUA [ 18.163458] sda:<4>Driver 'sr' needs updating - please use bus_type methods [ 18.210111] sda1 sda2 < sda5 > [ 18.237275] sd 0:0:0:0: [sda] Attached SCSI disk [ 18.242353] sd 0:0:0:0: Attached scsi generic sg0 type 0 [ 18.242375] sr 1:0:0:0: Attached scsi generic sg1 type 5 [ 18.242393] scsi 1:0:1:0: Attached scsi generic sg2 type 5 [ 18.246574] sr0: scsi3-mmc drive: 48x/48x writer cd/rw xa/form2 cdda tray [ 18.246581] Uniform CD-ROM driver Revision: 3.20 [ 18.246649] sr 1:0:0:0: Attached scsi CD-ROM sr0 [ 18.249441] sr1: scsi3-mmc drive: 48x/48x cd/rw xa/form2 cdda tray [ 18.249510] sr 1:0:1:0: Attached scsi CD-ROM sr1 [ 18.330081] usb 1-1: new low speed USB device using uhci_hcd and address 3 [ 18.506221] usb 1-1: configuration #1 chosen from 1 choice [ 18.523073] usbcore: registered new interface driver hiddev [ 18.536382] input: Logitech USB-PS/2 Optical Mouse as /devices/pci0000:00/0000:00:10.0/usb1/1-1/1-1:1.0/input/input2 [ 18.538770] input,hidraw0: USB HID v1.10 Mouse [Logitech USB-PS/2 Optical Mouse] on usb-0000:00:10.0-1 [ 18.538789] usbcore: registered new interface driver usbhid [ 18.538793] /home/juve/hardy-packages/linux-git/ubuntu-hardy/debian/build/custom-source-rtai/drivers/hid/usbhid/hid-core.c: v2.6:USB HID core driver [ 18.719214] kjournald starting. Commit interval 5 seconds [ 18.719233] EXT3-fs: mounted filesystem with ordered data mode. [ 28.042741] Linux agpgart interface v0.102 [ 28.044259] agpgart: Detected VIA KT400/KT400A/KT600 chipset [ 28.054485] agpgart: AGP aperture is 128M @ 0xe0000000 [ 28.113114] input: PC Speaker as /devices/platform/pcspkr/input/input3 [ 28.176570] irda_init() [ 28.176602] NET: Registered protocol family 23 [ 28.181243] udev: renamed network interface eth0 to eth2 [ 29.970425] lp: driver loaded but no devices found [ 30.088341] Adding 465844k swap on /dev/sda5. Priority:-1 extents:1 across:465844k [ 30.734283] EXT3 FS on sda1, internal journal [ 32.247702] ip_tables: (C) 2000-2006 Netfilter Core Team [ 33.969726] ppdev: user-space parallel port driver [ 34.153641] audit(1274255242.322:2): type=1503 operation="inode_permission" requested_mask="a::" denied_mask="a::" name="/dev/tty" pid=4075 profile="/usr/sbin/cupsd" namespace="default" [ 35.707785] eth2: link down [ 35.946180] Bluetooth: Core ver 2.11 [ 35.948458] NET: Registered protocol family 31 [ 35.948464] Bluetooth: HCI device and connection manager initialized [ 35.948469] Bluetooth: HCI socket layer initialized [ 36.025900] Bluetooth: L2CAP ver 2.9 [ 36.025905] Bluetooth: L2CAP socket layer initialized [ 36.095721] Bluetooth: RFCOMM socket layer initialized [ 36.095743] Bluetooth: RFCOMM TTY layer initialized [ 36.095745] Bluetooth: RFCOMM ver 1.8 [ 60.561348] NET: Registered protocol family 10 [ 60.562070] lo: Disabled Privacy Extensions [ 60.562830] ADDRCONF(NETDEV_UP): eth2: link is not ready [ 752.098594] I-pipe: Domain RTAI registered. [ 752.098607] RTAI[hal]: <3.6.1> mounted over IPIPE-NOTHREADS 2.0-04. [ 752.098609] RTAI[hal]: compiled with gcc version 4.2.4 (Ubuntu 4.2.4-1ubuntu3). [ 752.098615] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 752.098618] PIPELINE layers: [ 752.098620] f8a45000 9ac15d93 RTAI 200 [ 752.098623] c0383180 0 Linux 100 [ 752.131951] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 752.132412] RTAI[sched]: loaded (IMMEDIATE, UP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes. [ 752.132418] RTAI[sched]: hard timer type/freq = 8254-PIT/1193180(Hz); default timing: periodic; linear timed lists. [ 752.132422] RTAI[sched]: Linux timer freq = 250 (Hz), CPU freq = 2075209000 hz. [ 752.132425] RTAI[sched]: timer setup = 2010 ns, resched latency = 2688 ns. [ 752.239538] RTAI[math]: loaded. [ 752.273764] rtapi: no version for "nano2count" found: kernel tainted. [ 752.404904] config string '0x378' [ 764.235926] RTAI[math]: unloaded. [ 764.299486] SCHED releases registered named ALIEN RTGLBH [ 764.314783] RTAI[malloc]: unloaded. [ 764.414319] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [ 764.417454] I-pipe: Domain RTAI unregistered. [ 764.417463] RTAI[hal]: unmounted. [ 1043.711074] I-pipe: Domain RTAI registered. [ 1043.711087] RTAI[hal]: <3.6.1> mounted over IPIPE-NOTHREADS 2.0-04. [ 1043.711090] RTAI[hal]: compiled with gcc version 4.2.4 (Ubuntu 4.2.4-1ubuntu3). [ 1043.711096] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 1043.711098] PIPELINE layers: [ 1043.711101] f8a45000 9ac15d93 RTAI 200 [ 1043.711103] c0383180 0 Linux 100 [ 1043.724869] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 1043.725700] RTAI[sched]: loaded (IMMEDIATE, UP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes. [ 1043.725707] RTAI[sched]: hard timer type/freq = 8254-PIT/1193180(Hz); default timing: periodic; linear timed lists. [ 1043.725711] RTAI[sched]: Linux timer freq = 250 (Hz), CPU freq = 2075209000 hz. [ 1043.725714] RTAI[sched]: timer setup = 2010 ns, resched latency = 2688 ns. [ 1043.813345] RTAI[math]: loaded. [ 1043.915840] config string '0x378' [ 1095.065647] RTAI[math]: unloaded. [ 1095.130013] SCHED releases registered named ALIEN RTGLBH [ 1095.144826] RTAI[malloc]: unloaded. [ 1095.244032] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [ 1095.247197] I-pipe: Domain RTAI unregistered. [ 1095.247206] RTAI[hal]: unmounted. [ 2085.060629] I-pipe: Domain RTAI registered. [ 2085.060641] RTAI[hal]: <3.6.1> mounted over IPIPE-NOTHREADS 2.0-04. [ 2085.060644] RTAI[hal]: compiled with gcc version 4.2.4 (Ubuntu 4.2.4-1ubuntu3). [ 2085.060650] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 2085.060653] PIPELINE layers: [ 2085.060655] f8a45000 9ac15d93 RTAI 200 [ 2085.060658] c0383180 0 Linux 100 [ 2085.075272] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 2085.075734] RTAI[sched]: loaded (IMMEDIATE, UP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes. [ 2085.075740] RTAI[sched]: hard timer type/freq = 8254-PIT/1193180(Hz); default timing: periodic; linear timed lists. [ 2085.075744] RTAI[sched]: Linux timer freq = 250 (Hz), CPU freq = 2075209000 hz. [ 2085.075747] RTAI[sched]: timer setup = 2010 ns, resched latency = 2688 ns. [ 2085.169827] RTAI[math]: loaded. [ 2085.283387] config string '0x378' [ 2097.916796] RTAI[math]: unloaded. [ 2097.984944] SCHED releases registered named ALIEN RTGLBH [ 2097.998639] RTAI[malloc]: unloaded. [ 2098.097582] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [ 2098.100730] I-pipe: Domain RTAI unregistered. [ 2098.100740] RTAI[hal]: unmounted. [ 2460.946268] I-pipe: Domain RTAI registered. [ 2460.946280] RTAI[hal]: <3.6.1> mounted over IPIPE-NOTHREADS 2.0-04. [ 2460.946283] RTAI[hal]: compiled with gcc version 4.2.4 (Ubuntu 4.2.4-1ubuntu3). [ 2460.946288] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 2460.946291] PIPELINE layers: [ 2460.946294] f8a45000 9ac15d93 RTAI 200 [ 2460.946296] c0383180 0 Linux 100 [ 2460.963635] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 2460.964095] RTAI[sched]: loaded (IMMEDIATE, UP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes. [ 2460.964101] RTAI[sched]: hard timer type/freq = 8254-PIT/1193180(Hz); default timing: periodic; linear timed lists. [ 2460.964105] RTAI[sched]: Linux timer freq = 250 (Hz), CPU freq = 2075209000 hz. [ 2460.964108] RTAI[sched]: timer setup = 2010 ns, resched latency = 2688 ns. [ 2461.067074] RTAI[math]: loaded. [ 2461.178975] config string '0x378' [ 2500.687507] RTAI[math]: unloaded. [ 2500.749156] SCHED releases registered named ALIEN RTGLBH [ 2500.762481] RTAI[malloc]: unloaded. [ 2500.861879] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [ 2500.865115] I-pipe: Domain RTAI unregistered. [ 2500.865124] RTAI[hal]: unmounted. [ 2674.075595] I-pipe: Domain RTAI registered. [ 2674.075608] RTAI[hal]: <3.6.1> mounted over IPIPE-NOTHREADS 2.0-04. [ 2674.075611] RTAI[hal]: compiled with gcc version 4.2.4 (Ubuntu 4.2.4-1ubuntu3). [ 2674.075617] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 2674.075620] PIPELINE layers: [ 2674.075622] f8a45000 9ac15d93 RTAI 200 [ 2674.075624] c0383180 0 Linux 100 [ 2674.089423] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 2674.089952] RTAI[sched]: loaded (IMMEDIATE, UP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes. [ 2674.089958] RTAI[sched]: hard timer type/freq = 8254-PIT/1193180(Hz); default timing: periodic; linear timed lists. [ 2674.089962] RTAI[sched]: Linux timer freq = 250 (Hz), CPU freq = 2075209000 hz. [ 2674.089965] RTAI[sched]: timer setup = 2010 ns, resched latency = 2688 ns. [ 2674.187482] RTAI[math]: loaded. [ 2674.323169] GANTRYKINS: joints[0] = 0 [ 2674.323178] GANTRYKINS: joints[1] = 1 [ 2674.323181] GANTRYKINS: joints[2] = 2 [ 2674.323185] GANTRYKINS: joints[3] = 3 [ 2674.323188] GANTRYKINS: joints[4] = 4 [ 2674.323191] GANTRYKINS: joints[5] = 5 [ 2674.323194] GANTRYKINS: joints[6] = -1 [ 2674.323198] GANTRYKINS: joints[7] = -1 [ 2674.323201] GANTRYKINS: joints[8] = -1 [ 2674.982163] RTAI[math]: unloaded. [ 2675.043759] SCHED releases registered named ALIEN RTGLBH [ 2675.057018] RTAI[malloc]: unloaded. [ 2675.156591] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [ 2675.159718] I-pipe: Domain RTAI unregistered. [ 2675.159728] RTAI[hal]: unmounted. [ 2720.275924] I-pipe: Domain RTAI registered. [ 2720.275935] RTAI[hal]: <3.6.1> mounted over IPIPE-NOTHREADS 2.0-04. [ 2720.275937] RTAI[hal]: compiled with gcc version 4.2.4 (Ubuntu 4.2.4-1ubuntu3). [ 2720.275943] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 2720.275945] PIPELINE layers: [ 2720.275948] f8a45000 9ac15d93 RTAI 200 [ 2720.275950] c0383180 0 Linux 100 [ 2720.293431] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 2720.293956] RTAI[sched]: loaded (IMMEDIATE, UP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes. [ 2720.293962] RTAI[sched]: hard timer type/freq = 8254-PIT/1193180(Hz); default timing: periodic; linear timed lists. [ 2720.293967] RTAI[sched]: Linux timer freq = 250 (Hz), CPU freq = 2075209000 hz. [ 2720.293970] RTAI[sched]: timer setup = 2010 ns, resched latency = 2688 ns. [ 2720.373752] RTAI[math]: loaded. [ 2720.513056] config string '0x378 out ' [ 2720.625328] gantrykins: exports duplicate symbol kinematicsInverse (owned by trivkins) [ 2721.122677] RTAI[math]: unloaded. [ 2721.183939] SCHED releases registered named ALIEN RTGLBH [ 2721.197337] RTAI[malloc]: unloaded. [ 2721.296974] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [ 2721.300145] I-pipe: Domain RTAI unregistered. [ 2721.300154] RTAI[hal]: unmounted. [ 2750.687016] I-pipe: Domain RTAI registered. [ 2750.687026] RTAI[hal]: <3.6.1> mounted over IPIPE-NOTHREADS 2.0-04. [ 2750.687029] RTAI[hal]: compiled with gcc version 4.2.4 (Ubuntu 4.2.4-1ubuntu3). [ 2750.687034] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 2750.687037] PIPELINE layers: [ 2750.687040] f8a45000 9ac15d93 RTAI 200 [ 2750.687042] c0383180 0 Linux 100 [ 2750.704678] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 2750.705143] RTAI[sched]: loaded (IMMEDIATE, UP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes. [ 2750.705148] RTAI[sched]: hard timer type/freq = 8254-PIT/1193180(Hz); default timing: periodic; linear timed lists. [ 2750.705153] RTAI[sched]: Linux timer freq = 250 (Hz), CPU freq = 2075209000 hz. [ 2750.705156] RTAI[sched]: timer setup = 2010 ns, resched latency = 2688 ns. [ 2750.786109] RTAI[math]: loaded. [ 2750.904743] config string '0x378 out ' [ 2750.974588] gantrykins: exports duplicate symbol kinematicsInverse (owned by trivkins) [ 2751.519489] RTAI[math]: unloaded. [ 2751.581157] SCHED releases registered named ALIEN RTGLBH [ 2751.594469] RTAI[malloc]: unloaded. [ 2751.693857] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [ 2751.696988] I-pipe: Domain RTAI unregistered. [ 2751.696997] RTAI[hal]: unmounted. [ 2795.443338] I-pipe: Domain RTAI registered. [ 2795.443350] RTAI[hal]: <3.6.1> mounted over IPIPE-NOTHREADS 2.0-04. [ 2795.443353] RTAI[hal]: compiled with gcc version 4.2.4 (Ubuntu 4.2.4-1ubuntu3). [ 2795.443359] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 2795.443362] PIPELINE layers: [ 2795.443364] f8a45000 9ac15d93 RTAI 200 [ 2795.443367] c0383180 0 Linux 100 [ 2795.459254] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 2795.459728] RTAI[sched]: loaded (IMMEDIATE, UP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes. [ 2795.459734] RTAI[sched]: hard timer type/freq = 8254-PIT/1193180(Hz); default timing: periodic; linear timed lists. [ 2795.459738] RTAI[sched]: Linux timer freq = 250 (Hz), CPU freq = 2075209000 hz. [ 2795.459741] RTAI[sched]: timer setup = 2010 ns, resched latency = 2688 ns. [ 2795.555492] RTAI[math]: loaded. [ 2795.659548] config string '0x378' [ 2803.526957] RTAI[math]: unloaded. [ 2803.598095] SCHED releases registered named ALIEN RTGLBH [ 2803.613635] RTAI[malloc]: unloaded. [ 2803.712843] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [ 2803.715991] I-pipe: Domain RTAI unregistered. [ 2803.716001] RTAI[hal]: unmounted. [ 2819.327597] I-pipe: Domain RTAI registered. [ 2819.327607] RTAI[hal]: <3.6.1> mounted over IPIPE-NOTHREADS 2.0-04. [ 2819.327610] RTAI[hal]: compiled with gcc version 4.2.4 (Ubuntu 4.2.4-1ubuntu3). [ 2819.327615] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 2819.327618] PIPELINE layers: [ 2819.327621] f8a45000 9ac15d93 RTAI 200 [ 2819.327623] c0383180 0 Linux 100 [ 2819.345320] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 2819.345782] RTAI[sched]: loaded (IMMEDIATE, UP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes. [ 2819.345787] RTAI[sched]: hard timer type/freq = 8254-PIT/1193180(Hz); default timing: periodic; linear timed lists. [ 2819.345792] RTAI[sched]: Linux timer freq = 250 (Hz), CPU freq = 2075209000 hz. [ 2819.345795] RTAI[sched]: timer setup = 2010 ns, resched latency = 2688 ns. [ 2819.426467] RTAI[math]: loaded. [ 2819.545368] config string '0x378 out ' [ 2862.686641] RTAI[math]: unloaded. [ 2862.756415] SCHED releases registered named ALIEN RTGLBH [ 2862.770951] RTAI[malloc]: unloaded. [ 2862.870434] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [ 2862.873638] I-pipe: Domain RTAI unregistered. [ 2862.873647] RTAI[hal]: unmounted. [ 2865.284154] I-pipe: Domain RTAI registered. [ 2865.284204] RTAI[hal]: <3.6.1> mounted over IPIPE-NOTHREADS 2.0-04. [ 2865.284207] RTAI[hal]: compiled with gcc version 4.2.4 (Ubuntu 4.2.4-1ubuntu3). [ 2865.284212] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 2865.284215] PIPELINE layers: [ 2865.284217] f8a45000 9ac15d93 RTAI 200 [ 2865.284220] c0383180 0 Linux 100 [ 2865.299613] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 2865.300065] RTAI[sched]: loaded (IMMEDIATE, UP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes. [ 2865.300071] RTAI[sched]: hard timer type/freq = 8254-PIT/1193180(Hz); default timing: periodic; linear timed lists. [ 2865.300075] RTAI[sched]: Linux timer freq = 250 (Hz), CPU freq = 2075209000 hz. [ 2865.300078] RTAI[sched]: timer setup = 2010 ns, resched latency = 2688 ns. [ 2865.388769] RTAI[math]: loaded. [ 2865.520639] config string '0x378 out ' [ 2870.758945] RTAI[math]: unloaded. [ 2870.830145] SCHED releases registered named ALIEN RTGLBH [ 2870.846413] RTAI[malloc]: unloaded. [ 2870.945224] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [ 2870.948486] I-pipe: Domain RTAI unregistered. [ 2870.948495] RTAI[hal]: unmounted. [ 3002.755432] I-pipe: Domain RTAI registered. [ 3002.755443] RTAI[hal]: <3.6.1> mounted over IPIPE-NOTHREADS 2.0-04. [ 3002.755446] RTAI[hal]: compiled with gcc version 4.2.4 (Ubuntu 4.2.4-1ubuntu3). [ 3002.755451] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 3002.755454] PIPELINE layers: [ 3002.755456] f8a45000 9ac15d93 RTAI 200 [ 3002.755459] c0383180 0 Linux 100 [ 3002.773137] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 3002.773594] RTAI[sched]: loaded (IMMEDIATE, UP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes. [ 3002.773600] RTAI[sched]: hard timer type/freq = 8254-PIT/1193180(Hz); default timing: periodic; linear timed lists. [ 3002.773605] RTAI[sched]: Linux timer freq = 250 (Hz), CPU freq = 2075209000 hz. [ 3002.773608] RTAI[sched]: timer setup = 2010 ns, resched latency = 2688 ns. [ 3002.854153] RTAI[math]: loaded. [ 3002.952077] GANTRYKINS: joints[0] = 0 [ 3002.952085] GANTRYKINS: joints[1] = 1 [ 3002.952089] GANTRYKINS: joints[2] = 2 [ 3002.952092] GANTRYKINS: joints[3] = 3 [ 3002.952095] GANTRYKINS: joints[4] = 4 [ 3002.952098] GANTRYKINS: joints[5] = 5 [ 3002.952101] GANTRYKINS: joints[6] = -1 [ 3002.952105] GANTRYKINS: joints[7] = -1 [ 3002.952108] GANTRYKINS: joints[8] = -1 [ 3002.980286] config string '0x378 out ' [ 3448.492315] 447050: ERROR: all joints must be homed before going into coordinated mode [ 3542.138147] RTAI[math]: unloaded. [ 3542.214147] SCHED releases registered named ALIEN RTGLBH [ 3542.231410] RTAI[malloc]: unloaded. [ 3542.330617] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [ 3542.333780] I-pipe: Domain RTAI unregistered. [ 3542.333789] RTAI[hal]: unmounted. [ 3670.176521] I-pipe: Domain RTAI registered. [ 3670.176531] RTAI[hal]: <3.6.1> mounted over IPIPE-NOTHREADS 2.0-04. [ 3670.176533] RTAI[hal]: compiled with gcc version 4.2.4 (Ubuntu 4.2.4-1ubuntu3). [ 3670.176539] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 3670.176542] PIPELINE layers: [ 3670.176544] f8a45000 9ac15d93 RTAI 200 [ 3670.176546] c0383180 0 Linux 100 [ 3670.197936] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 3670.198385] RTAI[sched]: loaded (IMMEDIATE, UP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes. [ 3670.198391] RTAI[sched]: hard timer type/freq = 8254-PIT/1193180(Hz); default timing: periodic; linear timed lists. [ 3670.198395] RTAI[sched]: Linux timer freq = 250 (Hz), CPU freq = 2075209000 hz. [ 3670.198398] RTAI[sched]: timer setup = 2010 ns, resched latency = 2688 ns. [ 3670.277861] RTAI[math]: loaded. [ 3670.398254] config string '0x378 out ' [ 3670.465309] gantrykins: exports duplicate symbol kinematicsInverse (owned by trivkins) [ 3670.967687] RTAI[math]: unloaded. [ 3671.029656] SCHED releases registered named ALIEN RTGLBH [ 3671.042867] RTAI[malloc]: unloaded. [ 3671.141952] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [ 3671.145148] I-pipe: Domain RTAI unregistered. [ 3671.145157] RTAI[hal]: unmounted. [ 3729.842318] I-pipe: Domain RTAI registered. [ 3729.842331] RTAI[hal]: <3.6.1> mounted over IPIPE-NOTHREADS 2.0-04. [ 3729.842333] RTAI[hal]: compiled with gcc version 4.2.4 (Ubuntu 4.2.4-1ubuntu3). [ 3729.842339] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 3729.842342] PIPELINE layers: [ 3729.842345] f8a45000 9ac15d93 RTAI 200 [ 3729.842347] c0383180 0 Linux 100 [ 3729.858286] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 3729.858746] RTAI[sched]: loaded (IMMEDIATE, UP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes. [ 3729.858752] RTAI[sched]: hard timer type/freq = 8254-PIT/1193180(Hz); default timing: periodic; linear timed lists. [ 3729.858756] RTAI[sched]: Linux timer freq = 250 (Hz), CPU freq = 2075209000 hz. [ 3729.858759] RTAI[sched]: timer setup = 2010 ns, resched latency = 2688 ns. [ 3729.941183] RTAI[math]: loaded. [ 3730.062432] config string '0x378 out ' [ 3730.145258] gantrykins: exports duplicate symbol kinematicsInverse (owned by trivkins) [ 3730.765160] RTAI[math]: unloaded. [ 3730.827115] SCHED releases registered named ALIEN RTGLBH [ 3730.840254] RTAI[malloc]: unloaded. [ 3730.939507] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [ 3730.942686] I-pipe: Domain RTAI unregistered. [ 3730.942695] RTAI[hal]: unmounted. [ 4695.451622] I-pipe: Domain RTAI registered. [ 4695.451635] RTAI[hal]: <3.6.1> mounted over IPIPE-NOTHREADS 2.0-04. [ 4695.451638] RTAI[hal]: compiled with gcc version 4.2.4 (Ubuntu 4.2.4-1ubuntu3). [ 4695.451644] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 4695.451646] PIPELINE layers: [ 4695.451649] f8a45000 9ac15d93 RTAI 200 [ 4695.451651] c0383180 0 Linux 100 [ 4695.465641] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 4695.466099] RTAI[sched]: loaded (IMMEDIATE, UP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes. [ 4695.466105] RTAI[sched]: hard timer type/freq = 8254-PIT/1193180(Hz); default timing: periodic; linear timed lists. [ 4695.466109] RTAI[sched]: Linux timer freq = 250 (Hz), CPU freq = 2075209000 hz. [ 4695.466112] RTAI[sched]: timer setup = 2010 ns, resched latency = 2688 ns. [ 4695.547309] RTAI[math]: loaded. [ 4695.684251] GANTRYKINS: joints[0] = 0 [ 4695.684260] GANTRYKINS: joints[1] = 1 [ 4695.684263] GANTRYKINS: joints[2] = 2 [ 4695.684267] GANTRYKINS: joints[3] = 3 [ 4695.684270] GANTRYKINS: joints[4] = 4 [ 4695.684273] GANTRYKINS: joints[5] = 5 [ 4695.684276] GANTRYKINS: joints[6] = -1 [ 4695.684280] GANTRYKINS: joints[7] = -1 [ 4695.684283] GANTRYKINS: joints[8] = -1 [ 4695.727092] config string '0x378 out ' [ 4696.107526] RTAI[math]: unloaded. [ 4696.169211] SCHED releases registered named ALIEN RTGLBH [ 4696.182302] RTAI[malloc]: unloaded. [ 4696.281897] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [ 4696.285105] I-pipe: Domain RTAI unregistered. [ 4696.285115] RTAI[hal]: unmounted. [ 4782.878465] I-pipe: Domain RTAI registered. [ 4782.878476] RTAI[hal]: <3.6.1> mounted over IPIPE-NOTHREADS 2.0-04. [ 4782.878478] RTAI[hal]: compiled with gcc version 4.2.4 (Ubuntu 4.2.4-1ubuntu3). [ 4782.878483] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 4782.878486] PIPELINE layers: [ 4782.878489] f8a45000 9ac15d93 RTAI 200 [ 4782.878491] c0383180 0 Linux 100 [ 4782.896155] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 4782.896615] RTAI[sched]: loaded (IMMEDIATE, UP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes. [ 4782.896621] RTAI[sched]: hard timer type/freq = 8254-PIT/1193180(Hz); default timing: periodic; linear timed lists. [ 4782.896625] RTAI[sched]: Linux timer freq = 250 (Hz), CPU freq = 2075209000 hz. [ 4782.896628] RTAI[sched]: timer setup = 2010 ns, resched latency = 2688 ns. [ 4782.982268] RTAI[math]: loaded. [ 4783.104270] config string '0x378 out ' [ 4796.992301] RTAI[math]: unloaded. [ 4797.062085] SCHED releases registered named ALIEN RTGLBH [ 4797.076723] RTAI[malloc]: unloaded. [ 4797.176325] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [ 4797.179556] I-pipe: Domain RTAI unregistered. [ 4797.179566] RTAI[hal]: unmounted. [ 4830.821279] I-pipe: Domain RTAI registered. [ 4830.821291] RTAI[hal]: <3.6.1> mounted over IPIPE-NOTHREADS 2.0-04. [ 4830.821294] RTAI[hal]: compiled with gcc version 4.2.4 (Ubuntu 4.2.4-1ubuntu3). [ 4830.821300] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 4830.821303] PIPELINE layers: [ 4830.821305] f8a45000 9ac15d93 RTAI 200 [ 4830.821308] c0383180 0 Linux 100 [ 4830.835188] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 4830.835646] RTAI[sched]: loaded (IMMEDIATE, UP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes. [ 4830.835652] RTAI[sched]: hard timer type/freq = 8254-PIT/1193180(Hz); default timing: periodic; linear timed lists. [ 4830.835656] RTAI[sched]: Linux timer freq = 250 (Hz), CPU freq = 2075209000 hz. [ 4830.835659] RTAI[sched]: timer setup = 2010 ns, resched latency = 2688 ns. [ 4830.933747] RTAI[math]: loaded. [ 4831.048099] config string '0x378 out ' [ 4858.690950] RTAI[math]: unloaded. [ 4858.752541] SCHED releases registered named ALIEN RTGLBH [ 4858.765626] RTAI[malloc]: unloaded. [ 4858.864794] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [ 4858.868015] I-pipe: Domain RTAI unregistered. [ 4858.868025] RTAI[hal]: unmounted. [ 4944.715646] I-pipe: Domain RTAI registered. [ 4944.715659] RTAI[hal]: <3.6.1> mounted over IPIPE-NOTHREADS 2.0-04. [ 4944.715661] RTAI[hal]: compiled with gcc version 4.2.4 (Ubuntu 4.2.4-1ubuntu3). [ 4944.715667] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 4944.715670] PIPELINE layers: [ 4944.715672] f8a45000 9ac15d93 RTAI 200 [ 4944.715675] c0383180 0 Linux 100 [ 4944.731570] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 4944.732026] RTAI[sched]: loaded (IMMEDIATE, UP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes. [ 4944.732032] RTAI[sched]: hard timer type/freq = 8254-PIT/1193180(Hz); default timing: periodic; linear timed lists. [ 4944.732036] RTAI[sched]: Linux timer freq = 250 (Hz), CPU freq = 2075209000 hz. [ 4944.732039] RTAI[sched]: timer setup = 2010 ns, resched latency = 2688 ns. [ 4944.826701] RTAI[math]: loaded. [ 4944.947630] config string '0x378 out ' [ 4964.287485] RTAI[math]: unloaded. [ 4964.360382] SCHED releases registered named ALIEN RTGLBH [ 4964.374164] RTAI[malloc]: unloaded. [ 4964.473814] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [ 4964.477047] I-pipe: Domain RTAI unregistered. [ 4964.477057] RTAI[hal]: unmounted. [ 5094.545648] I-pipe: Domain RTAI registered. [ 5094.545659] RTAI[hal]: <3.6.1> mounted over IPIPE-NOTHREADS 2.0-04. [ 5094.545661] RTAI[hal]: compiled with gcc version 4.2.4 (Ubuntu 4.2.4-1ubuntu3). [ 5094.545666] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 5094.545669] PIPELINE layers: [ 5094.545672] f8a45000 9ac15d93 RTAI 200 [ 5094.545674] c0383180 0 Linux 100 [ 5094.564369] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 5094.564869] RTAI[sched]: loaded (IMMEDIATE, UP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes. [ 5094.564874] RTAI[sched]: hard timer type/freq = 8254-PIT/1193180(Hz); default timing: periodic; linear timed lists. [ 5094.564879] RTAI[sched]: Linux timer freq = 250 (Hz), CPU freq = 2075209000 hz. [ 5094.564882] RTAI[sched]: timer setup = 2010 ns, resched latency = 2688 ns. [ 5094.651000] RTAI[math]: loaded. [ 5094.747963] GANTRYKINS: joints[0] = 0 [ 5094.747972] GANTRYKINS: joints[1] = 1 [ 5094.747975] GANTRYKINS: joints[2] = 2 [ 5094.747979] GANTRYKINS: joints[3] = 3 [ 5094.747982] GANTRYKINS: joints[4] = 4 [ 5094.747985] GANTRYKINS: joints[5] = 5 [ 5094.747988] GANTRYKINS: joints[6] = -1 [ 5094.747992] GANTRYKINS: joints[7] = -1 [ 5094.747995] GANTRYKINS: joints[8] = -1 [ 5095.103965] RTAI[math]: unloaded. [ 5095.165973] SCHED releases registered named ALIEN RTGLBH [ 5095.179114] RTAI[malloc]: unloaded. [ 5095.278217] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [ 5095.281439] I-pipe: Domain RTAI unregistered. [ 5095.281449] RTAI[hal]: unmounted. [ 5130.710701] I-pipe: Domain RTAI registered. [ 5130.710712] RTAI[hal]: <3.6.1> mounted over IPIPE-NOTHREADS 2.0-04. [ 5130.710714] RTAI[hal]: compiled with gcc version 4.2.4 (Ubuntu 4.2.4-1ubuntu3). [ 5130.710720] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 5130.710723] PIPELINE layers: [ 5130.710725] f8a45000 9ac15d93 RTAI 200 [ 5130.710727] c0383180 0 Linux 100 [ 5130.728303] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 5130.728762] RTAI[sched]: loaded (IMMEDIATE, UP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes. [ 5130.728768] RTAI[sched]: hard timer type/freq = 8254-PIT/1193180(Hz); default timing: periodic; linear timed lists. [ 5130.728772] RTAI[sched]: Linux timer freq = 250 (Hz), CPU freq = 2075209000 hz. [ 5130.728775] RTAI[sched]: timer setup = 2010 ns, resched latency = 2688 ns. [ 5130.811080] RTAI[math]: loaded. [ 5130.908809] GANTRYKINS: joints[0] = 0 [ 5130.908817] GANTRYKINS: joints[1] = 1 [ 5130.908821] GANTRYKINS: joints[2] = 2 [ 5130.908824] GANTRYKINS: joints[3] = 3 [ 5130.908827] GANTRYKINS: joints[4] = 4 [ 5130.908830] GANTRYKINS: joints[5] = 5 [ 5130.908834] GANTRYKINS: joints[6] = -1 [ 5130.908837] GANTRYKINS: joints[7] = -1 [ 5130.908841] GANTRYKINS: joints[8] = -1 [ 5131.265970] RTAI[math]: unloaded. [ 5131.327790] SCHED releases registered named ALIEN RTGLBH [ 5131.340961] RTAI[malloc]: unloaded. [ 5131.440285] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [ 5131.443457] I-pipe: Domain RTAI unregistered. [ 5131.443466] RTAI[hal]: unmounted. Debug file information: Could not open command file 'test1.hal' 11282 PID TTY STAT TIME COMMAND Stopping realtime threads Unloading hal components Can anyone tell, what am I doing wrong? What is missing? I would appreciate, if anyone, who is using gantry machine, could share their ini and hal (and maybe some other...) files. Could this be the reason? sim.xyyz.ini contains following lines: [TRAJ] AXES = 3 # COORDINATES = X Y Z R P W COORDINATES = X Y Z HOME = 0 0 0 while ini file in stepper-gantry config folder contains these line: [TRAJ] #+ machine specific settings AXES = 4 COORDINATES = X Y Z A Both of these configs are supposed to be 3 axis machines with 4 joints. This mixup with joints being called "axis" is driving me nuts. Seems like I start to make mistakes, when "axis" is meant to be joint and when it is meant to be axis. with best regards, Viesturs ------------------------------------------------------------------------------ _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
