Re: [Machinekit] Problems with integrating Machinekit BBB into CNC machine

[Klemen Živkovič]

I tried running your program in my machine.
Here is whole video:
https://youtu.be/0D18FS9kNYU

I didn't examined logs but execution just stops in line 16 (N118).

How did you initialized coordinate sistem?
I see no G92 lines at begining...
Also in N102 You start with G0 that is rapid move and than you dont say to
what coordinate it should go, but you continue with G90, G54 ...

I am not sure this is ok but cannot comment G54...

regards.


On Sat, May 20, 2017 at 6:11 PM, Simon Mali  wrote:

> I have managed to run machinekit with writing to log.txt active. Please
> see the attached log.txt file. I have run the machinekit, it was
> complaining because jog XHC-HB04 is missing and the I load the g code file
> and run it. Printouts stoped at exact point where execution of g code
> commands have stoped:
>
> Issuing EMC_TRAJ_LINEAR_MOVE --  (+220,+176,
> +0,21.00,-21.00,10.00,0.00,0.00,0.
> 00,0.00,0.00,0.00,+1,250.00,250.00,25.00,
> +0,-1,)
>
> Then I pressed stop executing g-code button and this comes to surface:
>
> Issuing EMC_TASK_ABORT --  (+503,+12,   +23,)
>
> After that I quit machinekit.
> I hope the printouts are of any help to diagnose the problem.
> I think I did not compile the whole machinekit software I downloaded the
> latest version with sudo apt-get dist-upgrade. Why this is important?
>
>
> --
> website: http://www.machinekit.io blog: http://blog.machinekit.io github:
> https://github.com/machinekit
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[Machinekit] Machinekit not starting after compilation

[michelvanderbreggen21]

Hello All,
I compiled a vanilla machinekit from git using the steps outlined in 
: http://www.machinekit.io/docs/developing/machinekit-developing/

It had a problem with protobuf not understanding "syntax" in 
lib/python/machinetalk/protobuf/nanopb_pb2.py, which I read is related to 
which version protobuf is being used. I have protobuf 3.3.0 on the image i 
downloaded.
I commented these two syntax lines out, because it automaticly chooses 
version2 the lines said.

Compilation went without any problem afterwards.

I did the "sudo make setuid"

when I go to the scripts folder I run ". ./rip-environment", that goes ok.

But when I try to start machinekit with ./machinekit my.ini it dies with 
the following messages :

May 24 06:45:50 beaglebone rtapi:0: rtapi_app:0: ERROR: cannot attach 
global segment key=0x154711 No such file or directory
May 24 06:45:50 beaglebone rtapi:0: rtapi:0: FATAL - failed to attach to 
global segment
May 24 06:47:10 beaglebone msgd:0: startup pid=2421 flavor=xenomai 
rtlevel=1 usrlevel=1 halsize=524288 shm=Posix cc=gcc 4.9.2 
 version=v0.1~-detached~b1ad179
May 24 06:47:10 beaglebone msgd:0: ØMQ=4.0.5 czmq=2.2.0 protobuf=2.6.1 
atomics=gcc intrinsicslibwebsockets=
May 24 06:47:10 beaglebone msgd:0: configured: sha=b1ad179
May 24 06:47:10 beaglebone msgd:0: built:  May 18 2017 17:11:51 
sha=b1ad179
May 24 06:47:10 beaglebone msgd:0: register_stuff: actual hostname as 
announced by avahi='beaglebone.local'
May 24 06:47:10 beaglebone msgd:0: zeroconf: registering: 'Log service on 
beaglebone.local pid 2421'
May 24 06:47:11 beaglebone msgd:0: zeroconf: registered 'Log service on 
beaglebone.local pid 2421' _machinekit._tcp 0 TXT 
"uuid=a42c8c6b-4025-4f83-ba28-dad21114744a" 
"instance=cf9f6c86-404c-11e7-a09a-04a316b5de53" "service=log" 
"dsn=ipc:///tmp/0.log.a42c8c6b-4025-4f83-ba28-dad21114744a"
May 24 06:47:13 beaglebone msgd:0: rtapi_app exit detected - scheduled 
shutdown
May 24 06:47:15 beaglebone msgd:0: msgd shutting down


Anybody an idea why this happens?

With regards,
Michel

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Re: [Machinekit] Problems with integrating Machinekit BBB into CNC machine

[Klemen Živkovič]

Simon,

I tried this program and it runs just fine:

(T)
(DATE=DD-MM-YY - 14-05-17 TIME=HH:MM - 11:06)
(MCX FILE - T)
(NC FILE - C:\USERS\EGON1\DESKTOP\T.NC)
(MATERIAL - ALUMINUM MM - 2024)
( T1 |8. FLAT ENDMILL | H1 )
N100 G21
(N102 G0 G17 G40 G49 G80 G90)
N104 T1 M6
N106 G0 G90 G54 X21. Y-21. S12000 M3
N108 Z10.
N110 G1 Z-1. F100.
N112 Y21. F400.
N114 X-21.
N116 Y-21.
N118 X21.
N120 G0 Z10.
N122 M5
N124 G91 G28 Z0.
N126 G28 X0. Y0.
N128 M30
%


Please note that I commented line:
(N102 G0 G17 G40 G49 G80 G90)

So something must be wrong with this line...
As I said you start with G0 and then you use G17 without specifiying
coordinate.

I just dont have time to bissect this line and to know what is your
intention selecting plane etc...

regards


On Wed, May 24, 2017 at 9:26 AM, Klemen Živkovič 
wrote:

> I tried running your program in my machine.
> Here is whole video:
> https://youtu.be/0D18FS9kNYU
>
> I didn't examined logs but execution just stops in line 16 (N118).
>
> How did you initialized coordinate sistem?
> I see no G92 lines at begining...
> Also in N102 You start with G0 that is rapid move and than you dont say to
> what coordinate it should go, but you continue with G90, G54 ...
>
> I am not sure this is ok but cannot comment G54...
>
> regards.
>
>
> On Sat, May 20, 2017 at 6:11 PM, Simon Mali  wrote:
>
>> I have managed to run machinekit with writing to log.txt active. Please
>> see the attached log.txt file. I have run the machinekit, it was
>> complaining because jog XHC-HB04 is missing and the I load the g code file
>> and run it. Printouts stoped at exact point where execution of g code
>> commands have stoped:
>>
>> Issuing EMC_TRAJ_LINEAR_MOVE --  (+220,+176,
>> +0,21.00,-21.00,10.00,0.00,0.00,0.00
>> ,0.00,0.00,0.00,+1,250.00,250.00,25.00,
>> +0,-1,)
>>
>> Then I pressed stop executing g-code button and this comes to surface:
>>
>> Issuing EMC_TASK_ABORT --  (+503,+12,   +23,)
>>
>> After that I quit machinekit.
>> I hope the printouts are of any help to diagnose the problem.
>> I think I did not compile the whole machinekit software I downloaded the
>> latest version with sudo apt-get dist-upgrade. Why this is important?
>>
>>
>> --
>> website: http://www.machinekit.io blog: http://blog.machinekit.io
>> github: https://github.com/machinekit
>> ---
>> You received this message because you are subscribed to a topic in the
>> Google Groups "Machinekit" group.
>> To unsubscribe from this topic, visit https://groups.google.com/d/to
>> pic/machinekit/eiNtWf5MEsg/unsubscribe.
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>> machinekit+unsubscr...@googlegroups.com.
>> Visit this group at https://groups.google.com/group/machinekit.
>> For more options, visit https://groups.google.com/d/optout.
>>
>
>

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[Machinekit] Re: Machinekit not starting after compilation

[michelvanderbreggen21]

I also found the following information in the print and debug files

*machinekit@beaglebone:~$ cat /tmp/linuxcnc.debug*
Can not find -sec DISPLAY -var INTRO_GRAPHIC -num 1 
2511
  PID TTY  STAT   TIME COMMAND
Stopping realtime threads
Unloading hal components

*machinekit@beaglebone:~$ cat /tmp/linuxcnc.print*
RUN_IN_PLACE=yes
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/media/machinekit/rootfs/home/debian/machinekit/bin
LINUXCNC_TCL_DIR=/media/machinekit/rootfs/home/debian/machinekit/tcl
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/media/machinekit/rootfs/home/debian/machinekit/rtlib
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/media/machinekit/rootfs/home/debian/machinekit/src/objects
INIVAR=/media/machinekit/rootfs/home/debian/machinekit/libexec/inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
INIFILE=/opt/nectar-apps/machinekit-config/nectar-dd-02.ini
PARAMETER_FILE=./pru-stepper.var
TASK=milltask
HALUI=
DISPLAY=tkemc
Starting Machinekit server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting Machinekit IO program: io
Killing task linuxcncsvr, PID=2511

Op woensdag 24 mei 2017 09:48:15 UTC+2 schreef michelvand...@gmail.com:
>
> Hello All,
> I compiled a vanilla machinekit from git using the steps outlined in : 
> http://www.machinekit.io/docs/developing/machinekit-developing/
>
> It had a problem with protobuf not understanding "syntax" in 
> lib/python/machinetalk/protobuf/nanopb_pb2.py, which I read is related to 
> which version protobuf is being used. I have protobuf 3.3.0 on the image i 
> downloaded.
> I commented these two syntax lines out, because it automaticly chooses 
> version2 the lines said.
>
> Compilation went without any problem afterwards.
>
> I did the "sudo make setuid"
>
> when I go to the scripts folder I run ". ./rip-environment", that goes ok.
>
> But when I try to start machinekit with ./machinekit my.ini it dies with 
> the following messages :
>
> May 24 06:45:50 beaglebone rtapi:0: rtapi_app:0: ERROR: cannot attach 
> global segment key=0x154711 No such file or directory
> May 24 06:45:50 beaglebone rtapi:0: rtapi:0: FATAL - failed to attach to 
> global segment
> May 24 06:47:10 beaglebone msgd:0: startup pid=2421 flavor=xenomai 
> rtlevel=1 usrlevel=1 halsize=524288 shm=Posix cc=gcc 4.9.2 
>  version=v0.1~-detached~b1ad179
> May 24 06:47:10 beaglebone msgd:0: ØMQ=4.0.5 czmq=2.2.0 protobuf=2.6.1 
> atomics=gcc intrinsicslibwebsockets=
> May 24 06:47:10 beaglebone msgd:0: configured: sha=b1ad179
> May 24 06:47:10 beaglebone msgd:0: built:  May 18 2017 17:11:51 
> sha=b1ad179
> May 24 06:47:10 beaglebone msgd:0: register_stuff: actual hostname as 
> announced by avahi='beaglebone.local'
> May 24 06:47:10 beaglebone msgd:0: zeroconf: registering: 'Log service on 
> beaglebone.local pid 2421'
> May 24 06:47:11 beaglebone msgd:0: zeroconf: registered 'Log service on 
> beaglebone.local pid 2421' _machinekit._tcp 0 TXT 
> "uuid=a42c8c6b-4025-4f83-ba28-dad21114744a" 
> "instance=cf9f6c86-404c-11e7-a09a-04a316b5de53" "service=log" 
> "dsn=ipc:///tmp/0.log.a42c8c6b-4025-4f83-ba28-dad21114744a"
> May 24 06:47:13 beaglebone msgd:0: rtapi_app exit detected - scheduled 
> shutdown
> May 24 06:47:15 beaglebone msgd:0: msgd shutting down
>
>
> Anybody an idea why this happens?
>
> With regards,
> Michel
>

-- 
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https://github.com/machinekit
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Re: [Machinekit] Re: Machinekit not starting after compilation

[schooner30]

It is saying it cannot find the section [DISPLAY] INTRO_GRAPHIC

can't say further without your .ini file

You should not need INTRO_GRAPHIC or INTRO_TIME, but if you do have them 
what they point to must be valid




On 24/05/17 10:32, michelvanderbregge...@gmail.com wrote:

Can not find -sec DISPLAY -var INTRO_GRAPHIC -num 1
2511
  PID TTY  STAT   TIME COMMAND
Stopping realtime threads
Unloading hal components


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Re: [Machinekit] Re: Machinekit not starting after compilation

[Bas de Bruijn]

If you search this string on the google group a few similar threads show up.

If you’re not running as root, then perhaps this link may help.
https://groups.google.com/forum/#!searchin/machinekit/ERROR$3A$20cannot$20attach$20global$20segment$20key$3D0x154711$20No$20such$20file$20or$20directory%7Csort:relevance/machinekit/jNhr3x9rmcU/6FLoXUlMIwAJ
 


If you “export DEBUG=5” before running machinekit you can get some more (and 
hopefully better) debug messages in /var/log/linuxcnc.log

> On 24 May 2017, at 11:32, michelvanderbregge...@gmail.com wrote:
> 
> I also found the following information in the print and debug files
> 
> machinekit@beaglebone:~$ cat /tmp/linuxcnc.debug
> Can not find -sec DISPLAY -var INTRO_GRAPHIC -num 1 
> 2511
>   PID TTY  STAT   TIME COMMAND
> Stopping realtime threads
> Unloading hal components
> 
> machinekit@beaglebone:~$ cat /tmp/linuxcnc.print
> RUN_IN_PLACE=yes
> LINUXCNC_DIR=
> LINUXCNC_BIN_DIR=/media/machinekit/rootfs/home/debian/machinekit/bin
> LINUXCNC_TCL_DIR=/media/machinekit/rootfs/home/debian/machinekit/tcl
> LINUXCNC_SCRIPT_DIR=
> LINUXCNC_RTLIB_DIR=/media/machinekit/rootfs/home/debian/machinekit/rtlib
> LINUXCNC_CONFIG_DIR=
> LINUXCNC_LANG_DIR=/media/machinekit/rootfs/home/debian/machinekit/src/objects
> INIVAR=/media/machinekit/rootfs/home/debian/machinekit/libexec/inivar
> HALCMD=halcmd
> LINUXCNC_EMCSH=/usr/bin/wish8.6
> INIFILE=/opt/nectar-apps/machinekit-config/nectar-dd-02.ini
> PARAMETER_FILE=./pru-stepper.var
> TASK=milltask
> HALUI=
> DISPLAY=tkemc
> Starting Machinekit server program: linuxcncsvr
> Loading Real Time OS, RTAPI, and HAL_LIB modules
> Starting Machinekit IO program: io
> Killing task linuxcncsvr, PID=2511
> 
> Op woensdag 24 mei 2017 09:48:15 UTC+2 schreef michelvand...@gmail.com:
> Hello All,
> I compiled a vanilla machinekit from git using the steps outlined in : 
> http://www.machinekit.io/docs/developing/machinekit-developing/ 
> 
> 
> It had a problem with protobuf not understanding "syntax" in 
> lib/python/machinetalk/protobuf/nanopb_pb2.py, which I read is related to 
> which version protobuf is being used. I have protobuf 3.3.0 on the image i 
> downloaded.
> I commented these two syntax lines out, because it automaticly chooses 
> version2 the lines said.
> 
> Compilation went without any problem afterwards.
> 
> I did the "sudo make setuid"
> 
> when I go to the scripts folder I run ". ./rip-environment", that goes ok.
> 
> But when I try to start machinekit with ./machinekit my.ini it dies with the 
> following messages :
> 
> May 24 06:45:50 beaglebone rtapi:0: rtapi_app:0: ERROR: cannot attach global 
> segment key=0x154711 No such file or directory
> May 24 06:45:50 beaglebone rtapi:0: rtapi:0: FATAL - failed to attach to 
> global segment
> May 24 06:47:10 beaglebone msgd:0: startup pid=2421 flavor=xenomai rtlevel=1 
> usrlevel=1 halsize=524288 shm=Posix cc=gcc 4.9.2  
> version=v0.1~-detached~b1ad179
> May 24 06:47:10 beaglebone msgd:0: ØMQ=4.0.5 czmq=2.2.0 protobuf=2.6.1 
> atomics=gcc intrinsicslibwebsockets=
> May 24 06:47:10 beaglebone msgd:0: configured: sha=b1ad179
> May 24 06:47:10 beaglebone msgd:0: built:  May 18 2017 17:11:51 
> sha=b1ad179
> May 24 06:47:10 beaglebone msgd:0: register_stuff: actual hostname as 
> announced by avahi='beaglebone.local'
> May 24 06:47:10 beaglebone msgd:0: zeroconf: registering: 'Log service on 
> beaglebone.local pid 2421'
> May 24 06:47:11 beaglebone msgd:0: zeroconf: registered 'Log service on 
> beaglebone.local pid 2421' _machinekit._tcp 0 TXT 
> "uuid=a42c8c6b-4025-4f83-ba28-dad21114744a" 
> "instance=cf9f6c86-404c-11e7-a09a-04a316b5de53" "service=log" 
> "dsn=ipc:///tmp/0.log.a42c8c6b-4025-4f83-ba28-dad21114744a"
> May 24 06:47:13 beaglebone msgd:0: rtapi_app exit detected - scheduled 
> shutdown
> May 24 06:47:15 beaglebone msgd:0: msgd shutting down
> 
> 
> Anybody an idea why this happens?
> 
> With regards,
> Michel
> 
> -- 
> website: http://www.machinekit.io  blog: 
> http://blog.machinekit.io  github: 
> https://github.com/machinekit 
> --- 
> You received this message because you are subscribed to the Google Groups 
> "Machinekit" group.
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> .
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> .
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> .

-- 
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h

Re: [Machinekit] Re: Machinekit not starting after compilation

[michelvanderbreggen21]

Hello Bas,
what I noticed when I looked in /var/log/linuxcnc.log is the following

May 24 09:19:22 beaglebone msgd:0: startup pid=2533 flavor=xenomai 
rtlevel=1 usrlevel=1 halsize=524288 shm=Posix cc=gcc 4.9.2  version=unknown
May 24 09:19:22 beaglebone msgd:0: ØMQ=4.0.5 czmq=3.0.2 protobuf=3.2.0 
atomics=gcc intrinsicslibwebsockets=
May 24 09:19:22 beaglebone msgd:0: configured: sha=466cbe1
May 24 09:19:22 beaglebone msgd:0: built:  May 23 2017 10:36:45 
sha=466cbe1
May 24 09:19:23 beaglebone msgd:0: register_stuff: actual hostname as 
announced by avahi='beaglebone.local'
May 24 09:19:23 beaglebone msgd:0: zeroconf: registering: 'Log service on 
beaglebone.local pid 2533'
May 24 09:19:23 beaglebone msgd:0: rtapi_app exit detected - scheduled 
shutdown
May 24 09:19:23 beaglebone msgd:0: zeroconf: registered 'Log service on 
beaglebone.local pid 2533' _machinekit._tcp 0 TXT 
"uuid=a42c8c6b-4025-4f83-ba28-dad21114744a" 
"instance=1316fd0c-4062-11e7-af1b-04a316b5de53" "service=log" 
"dsn=ipc:///tmp/0.log.a42c8c6b-4025-4f83-ba28-dad21114744a"
May 24 09:19:25 beaglebone msgd:0: msgd shutting down

As you can see version is mentioned as unknown. All other points are the 
same, up until *rtapi_app exit detected*.

When I start the precompiled version of machinekit on the same image, it 
starts as expected, so it works, but just not with my compiled version.
Does anybody know which version of protobuf is needed?? because i read that 
this can cause problems ( although i don't know it halcmd connects to the 
rtapi_app using protobuf )



Op woensdag 24 mei 2017 11:45:07 UTC+2 schreef Bas de Bruijn:
>
> If you search this string on the google group a few similar threads show 
> up.
>
> If you’re not running as root, then perhaps this link may help.
>
> https://groups.google.com/forum/#!searchin/machinekit/ERROR$3A$20cannot$20attach$20global$20segment$20key$3D0x154711$20No$20such$20file$20or$20directory%7Csort:relevance/machinekit/jNhr3x9rmcU/6FLoXUlMIwAJ
>
> If you “export DEBUG=5” before running machinekit you can get some more 
> (and hopefully better) debug messages in /var/log/linuxcnc.log
>
> On 24 May 2017, at 11:32, michelvand...@gmail.com  wrote:
>
> I also found the following information in the print and debug files
>
> *machinekit@beaglebone:~$ cat /tmp/linuxcnc.debug*
> Can not find -sec DISPLAY -var INTRO_GRAPHIC -num 1 
> 2511
>   PID TTY  STAT   TIME COMMAND
> Stopping realtime threads
> Unloading hal components
>
> *machinekit@beaglebone:~$ cat /tmp/linuxcnc.print*
> RUN_IN_PLACE=yes
> LINUXCNC_DIR=
> LINUXCNC_BIN_DIR=/media/machinekit/rootfs/home/debian/machinekit/bin
> LINUXCNC_TCL_DIR=/media/machinekit/rootfs/home/debian/machinekit/tcl
> LINUXCNC_SCRIPT_DIR=
> LINUXCNC_RTLIB_DIR=/media/machinekit/rootfs/home/debian/machinekit/rtlib
> LINUXCNC_CONFIG_DIR=
>
> LINUXCNC_LANG_DIR=/media/machinekit/rootfs/home/debian/machinekit/src/objects
> INIVAR=/media/machinekit/rootfs/home/debian/machinekit/libexec/inivar
> HALCMD=halcmd
> LINUXCNC_EMCSH=/usr/bin/wish8.6
> INIFILE=/opt/nectar-apps/machinekit-config/nectar-dd-02.ini
> PARAMETER_FILE=./pru-stepper.var
> TASK=milltask
> HALUI=
> DISPLAY=tkemc
> Starting Machinekit server program: linuxcncsvr
> Loading Real Time OS, RTAPI, and HAL_LIB modules
> Starting Machinekit IO program: io
> Killing task linuxcncsvr, PID=2511
>
> Op woensdag 24 mei 2017 09:48:15 UTC+2 schreef michelvand...@gmail.com:
>>
>> Hello All,
>> I compiled a vanilla machinekit from git using the steps outlined in : 
>> http://www.machinekit.io/docs/developing/machinekit-developing/
>>
>> It had a problem with protobuf not understanding "syntax" in 
>> lib/python/machinetalk/protobuf/nanopb_pb2.py, which I read is related to 
>> which version protobuf is being used. I have protobuf 3.3.0 on the image i 
>> downloaded.
>> I commented these two syntax lines out, because it automaticly chooses 
>> version2 the lines said.
>>
>> Compilation went without any problem afterwards.
>>
>> I did the "sudo make setuid"
>>
>> when I go to the scripts folder I run ". ./rip-environment", that goes ok.
>>
>> But when I try to start machinekit with ./machinekit my.ini it dies with 
>> the following messages :
>>
>> May 24 06:45:50 beaglebone rtapi:0: rtapi_app:0: ERROR: cannot attach 
>> global segment key=0x154711 No such file or directory
>> May 24 06:45:50 beaglebone rtapi:0: rtapi:0: FATAL - failed to attach to 
>> global segment
>> May 24 06:47:10 beaglebone msgd:0: startup pid=2421 flavor=xenomai 
>> rtlevel=1 usrlevel=1 halsize=524288 shm=Posix cc=gcc 4.9.2 
>>  version=v0.1~-detached~b1ad179
>> May 24 06:47:10 beaglebone msgd:0: ØMQ=4.0.5 czmq=2.2.0 protobuf=2.6.1 
>> atomics=gcc intrinsicslibwebsockets=
>> May 24 06:47:10 beaglebone msgd:0: configured: sha=b1ad179
>> May 24 06:47:10 beaglebone msgd:0: built:  May 18 2017 17:11:51 
>> sha=b1ad179
>> May 24 06:47:10 beaglebone msgd:0: register_stuff: actual hostname as 
>> announced by avahi='beaglebone.local'
>> May 24 06:47:10

Re: [Machinekit] Re: Machinekit not starting after compilation

[michelvanderbreggen21]

Strange thing is that the same config file works when I start it with the 
prebuild machinekit on the same machine.

It looks like the rtapi_app fails, or is unresponsive for some reason



Op woensdag 24 mei 2017 11:44:45 UTC+2 schreef Schooner:
>
> It is saying it cannot find the section [DISPLAY] INTRO_GRAPHIC 
>
> can't say further without your .ini file 
>
> You should not need INTRO_GRAPHIC or INTRO_TIME, but if you do have them 
> what they point to must be valid 
>
>
>
> On 24/05/17 10:32, michelvand...@gmail.com  wrote: 
> > Can not find -sec DISPLAY -var INTRO_GRAPHIC -num 1 
> > 2511 
> >   PID TTY  STAT   TIME COMMAND 
> > Stopping realtime threads 
> > Unloading hal components 
>
>

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Re: [Machinekit] Re: Machinekit not starting after compilation

[schooner30]

On 24/05/17 11:36, michelvanderbregge...@gmail.com wrote:
Strange thing is that the same config file works when I start it with 
the prebuild machinekit on the same machine.


It looks like the rtapi_app fails, or is unresponsive for some reason


It is always possible that this is just where it got to when the process 
died, so not directly relevant.


Do what Bas suggested and use DEBUG=5 and look at /var/log/linuxcnc.log 
after a failure


libwebsockets is optional now since 
https://github.com/machinekit/machinekit/commit/320e76dbd51ab5bd2fa8a04dcb4ea90f2394bfbe


If you built a RIP without enabling libwebsockets, it will be undefined, 
even though the library is still there, should not be connected to your 
problem.






Op woensdag 24 mei 2017 11:44:45 UTC+2 schreef Schooner:

It is saying it cannot find the section [DISPLAY] INTRO_GRAPHIC

can't say further without your .ini file

You should not need INTRO_GRAPHIC or INTRO_TIME, but if you do
have them
what they point to must be valid



On 24/05/17 10:32, michelvand...@gmail.com  wrote:
> Can not find -sec DISPLAY -var INTRO_GRAPHIC -num 1
> 2511
>   PID TTY  STAT   TIME COMMAND
> Stopping realtime threads
> Unloading hal components

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Re: [Machinekit] Re: Machinekit not starting after compilation

[michelvanderbreggen21]

How do I prevent the build-script from building a RIP version? It seems 
that it does this automaticly


Op woensdag 24 mei 2017 13:12:33 UTC+2 schreef Schooner:
>
>
>
> On 24/05/17 11:36, michelvand...@gmail.com  wrote:
>
> Strange thing is that the same config file works when I start it with the 
> prebuild machinekit on the same machine. 
>
> It looks like the rtapi_app fails, or is unresponsive for some reason
>
>
> It is always possible that this is just where it got to when the process 
> died, so not directly relevant.
>
> Do what Bas suggested and use DEBUG=5 and look at /var/log/linuxcnc.log 
> after a failure
>
> libwebsockets is optional now since 
> https://github.com/machinekit/machinekit/commit/320e76dbd51ab5bd2fa8a04dcb4ea90f2394bfbe
>
> If you built a RIP without enabling libwebsockets, it will be undefined, 
> even though the library is still there, should not be connected to your 
> problem.
>
>
>
>
> Op woensdag 24 mei 2017 11:44:45 UTC+2 schreef Schooner: 
>>
>> It is saying it cannot find the section [DISPLAY] INTRO_GRAPHIC 
>>
>> can't say further without your .ini file 
>>
>> You should not need INTRO_GRAPHIC or INTRO_TIME, but if you do have them 
>> what they point to must be valid 
>>
>>
>>
>> On 24/05/17 10:32, michelvand...@gmail.com wrote: 
>> > Can not find -sec DISPLAY -var INTRO_GRAPHIC -num 1 
>> > 2511 
>> >   PID TTY  STAT   TIME COMMAND 
>> > Stopping realtime threads 
>> > Unloading hal components 
>>
>> -- 
> website: http://www.machinekit.io blog: http://blog.machinekit.io github: 
> https://github.com/machinekit
> --- 
> You received this message because you are subscribed to the Google Groups 
> "Machinekit" group.
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> email to machinekit+...@googlegroups.com .
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> For more options, visit https://groups.google.com/d/optout.
>
>
>

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Re: [Machinekit] Re: Machinekit not starting after compilation

[michelvanderbreggen21]

Sorry,
I know this is getting a long thread. 

It seems as if the rtapi_app is unable to connect to shared memory. When I 
start the app standalone, the following appears in the syslog

*rtapi:0: rtapi_app:0 ERROR: cannot attach glocal segment key=0x154711 No 
such file or directory*



Op woensdag 24 mei 2017 13:39:32 UTC+2 schreef michelvand...@gmail.com:
>
> How do I prevent the build-script from building a RIP version? It seems 
> that it does this automaticly
>
>
> Op woensdag 24 mei 2017 13:12:33 UTC+2 schreef Schooner:
>>
>>
>>
>> On 24/05/17 11:36, michelvand...@gmail.com wrote:
>>
>> Strange thing is that the same config file works when I start it with the 
>> prebuild machinekit on the same machine. 
>>
>> It looks like the rtapi_app fails, or is unresponsive for some reason
>>
>>
>> It is always possible that this is just where it got to when the process 
>> died, so not directly relevant.
>>
>> Do what Bas suggested and use DEBUG=5 and look at /var/log/linuxcnc.log 
>> after a failure
>>
>> libwebsockets is optional now since 
>> https://github.com/machinekit/machinekit/commit/320e76dbd51ab5bd2fa8a04dcb4ea90f2394bfbe
>>
>> If you built a RIP without enabling libwebsockets, it will be undefined, 
>> even though the library is still there, should not be connected to your 
>> problem.
>>
>>
>>
>>
>> Op woensdag 24 mei 2017 11:44:45 UTC+2 schreef Schooner: 
>>>
>>> It is saying it cannot find the section [DISPLAY] INTRO_GRAPHIC 
>>>
>>> can't say further without your .ini file 
>>>
>>> You should not need INTRO_GRAPHIC or INTRO_TIME, but if you do have them 
>>> what they point to must be valid 
>>>
>>>
>>>
>>> On 24/05/17 10:32, michelvand...@gmail.com wrote: 
>>> > Can not find -sec DISPLAY -var INTRO_GRAPHIC -num 1 
>>> > 2511 
>>> >   PID TTY  STAT   TIME COMMAND 
>>> > Stopping realtime threads 
>>> > Unloading hal components 
>>>
>>> -- 
>> website: http://www.machinekit.io blog: http://blog.machinekit.io 
>> github: https://github.com/machinekit
>> --- 
>> You received this message because you are subscribed to the Google Groups 
>> "Machinekit" group.
>> To unsubscribe from this group and stop receiving emails from it, send an 
>> email to machinekit+...@googlegroups.com.
>> Visit this group at https://groups.google.com/group/machinekit.
>> For more options, visit https://groups.google.com/d/optout.
>>
>>
>>

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Re: [Machinekit] How is joint position interpolated with non-trivial kinematics?

[Ryan Carlyle]

Thanks Charles! Let me see if I'm getting this right: within each servo 
loop period, a fixed velocity (step pulse frequency) is output by the step 
generator. Then at each servo loop update, the target position is updated, 
and the servo PID feedback adjusts the velocity to try to reach that 
position. Is that right? I'm not sure I'm clear on what's running on 
velocity and what's running on position. 

If I'm understanding correctly, this is functionally equivalent to running 
Marlin/Smoothieware at 1000 segments per second (or whatever your servo 
loop frequency is set to). Although they're pure open-loop so there's no 
servo PID element.

On Tuesday, May 23, 2017 at 4:33:46 PM UTC-5, Charles Steinkuehler wrote:
>
> On 5/23/2017 4:00 PM, Ryan Carlyle wrote: 
> > Not sure if this is a simple question or not. I THINK I'm getting 
> y'all's 
> > terminology right? Forgive me if something isn't right. 
> > 
> > Most 3D printer controllers derived from GRBL (like Smoothieware) do 
> non-linear 
> > kinematics (for deltas etc) by chopping gcode commands into small 
> segments, 
> > right? All the step pulse generation is linearly interpolated, ie done 
> at fixed 
> > frequency within each segment. So the motion in joint space is all 
> linear, but 
> > by using lots of segments for each gcode command you get a faceted 
> approximation 
> > of the proper motion. 
> > 
> > RepRapFirmware calculates the timing of the next motor step after each 
> step, and 
> > uses an interrupt timer to make sure the next step fires at the right 
> time. So 
> > it's not doing segmentation but it seems to require bare-metal firmware 
> on an ARM. 
> > 
> > How does MachineKit do it? 
>
>
> http://www.machinekit.io/docs/code/Code_Notes/#motion-controller-introduction 
>
> After the gcode is converted into a path to follow, the real time 
> motion component calculates target points in world space at the servo 
> thread rate (typically 1 mS, or 1 KHz but it can be adjusted).  These 
> points are run through the kinematics to generate joint positions 
> which are passed to the HAL driver for you particular hardware ("AXIS 
> 1" in the diagram linked above, which shows a PID loop for a 
> servo-motor).  The interpolator shown in the diagram is typically not 
> used, it stems from very early versions of EMC where the servo thread 
> was too fast for running the trajectory planner and kinematics.  The 
> advent of machines with hardware floating point support has made this 
> a non-problem (even for ARMs). 
>
> In between the (typ) 1ms control updates by the servo thread, the 
> logic that generates pulses (a high-speed base thread, the PRU, FPGA 
> gates, or some combination of all of the above) typically runs in 
> velocity mode, with the commanded velocity getting updated each servo 
> period based on the desired vs. actual machine state. 
>
> Note that everything from (and including) the kinematics modules to 
> the physical motors can be examined and re-wired at run-time via the 
> HAL layer.  There is a virtual meter and oscilloscope for inspecting 
> signals, and it's possible to do things like hook sliders up for PID 
> parameters which can be very helpful in tuning a new system: 
>
>
> http://www.machinekit.io/docs/hal/tutorial/#halscope-a-id-sec-tutorial-halscope-a
>  
>
> -- 
> Charles Steinkuehler 
> cha...@steinkuehler.net  
>

-- 
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Re: [Machinekit] Re: Machinekit not starting after compilation

[michelvanderbreggen21]

Can anybody tell me against which version of libprotobuf-dev and 
libprotoc-dev I should build machinekit?

Op woensdag 24 mei 2017 13:51:15 UTC+2 schreef michelvand...@gmail.com:
>
> Sorry,
> I know this is getting a long thread. 
>
> It seems as if the rtapi_app is unable to connect to shared memory. When I 
> start the app standalone, the following appears in the syslog
>
> *rtapi:0: rtapi_app:0 ERROR: cannot attach glocal segment key=0x154711 No 
> such file or directory*
>
>
>
> Op woensdag 24 mei 2017 13:39:32 UTC+2 schreef michelvand...@gmail.com:
>>
>> How do I prevent the build-script from building a RIP version? It seems 
>> that it does this automaticly
>>
>>
>> Op woensdag 24 mei 2017 13:12:33 UTC+2 schreef Schooner:
>>>
>>>
>>>
>>> On 24/05/17 11:36, michelvand...@gmail.com wrote:
>>>
>>> Strange thing is that the same config file works when I start it with 
>>> the prebuild machinekit on the same machine. 
>>>
>>> It looks like the rtapi_app fails, or is unresponsive for some reason
>>>
>>>
>>> It is always possible that this is just where it got to when the process 
>>> died, so not directly relevant.
>>>
>>> Do what Bas suggested and use DEBUG=5 and look at /var/log/linuxcnc.log 
>>> after a failure
>>>
>>> libwebsockets is optional now since 
>>> https://github.com/machinekit/machinekit/commit/320e76dbd51ab5bd2fa8a04dcb4ea90f2394bfbe
>>>
>>> If you built a RIP without enabling libwebsockets, it will be undefined, 
>>> even though the library is still there, should not be connected to your 
>>> problem.
>>>
>>>
>>>
>>>
>>> Op woensdag 24 mei 2017 11:44:45 UTC+2 schreef Schooner: 

 It is saying it cannot find the section [DISPLAY] INTRO_GRAPHIC 

 can't say further without your .ini file 

 You should not need INTRO_GRAPHIC or INTRO_TIME, but if you do have 
 them 
 what they point to must be valid 



 On 24/05/17 10:32, michelvand...@gmail.com wrote: 
 > Can not find -sec DISPLAY -var INTRO_GRAPHIC -num 1 
 > 2511 
 >   PID TTY  STAT   TIME COMMAND 
 > Stopping realtime threads 
 > Unloading hal components 

 -- 
>>> website: http://www.machinekit.io blog: http://blog.machinekit.io 
>>> github: https://github.com/machinekit
>>> --- 
>>> You received this message because you are subscribed to the Google 
>>> Groups "Machinekit" group.
>>> To unsubscribe from this group and stop receiving emails from it, send 
>>> an email to machinekit+...@googlegroups.com.
>>> Visit this group at https://groups.google.com/group/machinekit.
>>> For more options, visit https://groups.google.com/d/optout.
>>>
>>>
>>>

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https://github.com/machinekit
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Re: [Machinekit] How is joint position interpolated with non-trivial kinematics?

[pcwcol]

On Wednesday, May 24, 2017 at 8:07:52 AM UTC-7, Ryan Carlyle wrote:
>
> Thanks Charles! Let me see if I'm getting this right: within each servo 
> loop period, a fixed velocity (step pulse frequency) is output by the step 
> generator. Then at each servo loop update, the target position is updated, 
> and the servo PID feedback adjusts the velocity to try to reach that 
> position. Is that right? I'm not sure I'm clear on what's running on 
> velocity and what's running on position. 
>
> If I'm understanding correctly, this is functionally equivalent to running 
> Marlin/Smoothieware at 1000 segments per second (or whatever your servo 
> loop frequency is set to). Although they're pure open-loop so there's no 
> servo PID element.
>
> On Tuesday, May 23, 2017 at 4:33:46 PM UTC-5, Charles Steinkuehler wrote:
>>
>> On 5/23/2017 4:00 PM, Ryan Carlyle wrote: 
>> > Not sure if this is a simple question or not. I THINK I'm getting 
>> y'all's 
>> > terminology right? Forgive me if something isn't right. 
>> > 
>> > Most 3D printer controllers derived from GRBL (like Smoothieware) do 
>> non-linear 
>> > kinematics (for deltas etc) by chopping gcode commands into small 
>> segments, 
>> > right? All the step pulse generation is linearly interpolated, ie done 
>> at fixed 
>> > frequency within each segment. So the motion in joint space is all 
>> linear, but 
>> > by using lots of segments for each gcode command you get a faceted 
>> approximation 
>> > of the proper motion. 
>> > 
>> > RepRapFirmware calculates the timing of the next motor step after each 
>> step, and 
>> > uses an interrupt timer to make sure the next step fires at the right 
>> time. So 
>> > it's not doing segmentation but it seems to require bare-metal firmware 
>> on an ARM. 
>> > 
>> > How does MachineKit do it? 
>>
>>
>> http://www.machinekit.io/docs/code/Code_Notes/#motion-controller-introduction
>>  
>>
>> After the gcode is converted into a path to follow, the real time 
>> motion component calculates target points in world space at the servo 
>> thread rate (typically 1 mS, or 1 KHz but it can be adjusted).  These 
>> points are run through the kinematics to generate joint positions 
>> which are passed to the HAL driver for you particular hardware ("AXIS 
>> 1" in the diagram linked above, which shows a PID loop for a 
>> servo-motor).  The interpolator shown in the diagram is typically not 
>> used, it stems from very early versions of EMC where the servo thread 
>> was too fast for running the trajectory planner and kinematics.  The 
>> advent of machines with hardware floating point support has made this 
>> a non-problem (even for ARMs). 
>>
>> In between the (typ) 1ms control updates by the servo thread, the 
>> logic that generates pulses (a high-speed base thread, the PRU, FPGA 
>> gates, or some combination of all of the above) typically runs in 
>> velocity mode, with the commanded velocity getting updated each servo 
>> period based on the desired vs. actual machine state. 
>>
>> Note that everything from (and including) the kinematics modules to 
>> the physical motors can be examined and re-wired at run-time via the 
>> HAL layer.  There is a virtual meter and oscilloscope for inspecting 
>> signals, and it's possible to do things like hook sliders up for PID 
>> parameters which can be very helpful in tuning a new system: 
>>
>>
>> http://www.machinekit.io/docs/hal/tutorial/#halscope-a-id-sec-tutorial-halscope-a
>>  
>>
>> -- 
>> Charles Steinkuehler 
>> cha...@steinkuehler.net 
>>
>

It would certainly be possible to add acceleration to the step generation 
software/firmware, but the gain is not significant 
unless you have extremely high centripetal acceleration.  For example,the 
chord errors due to fixed velocity between 1 ms samples
are in the 50 uinch range at 1G of centripetal acceleration. This position 
error is typically swamped by mechanical errors or chord errors
in CAM files with lower than sample rate G1 codes per second. The chord 
errors due to fixed velocity between samples 
are proportional to centripetal acceleration and inversely proportional to 
the sample rate squared so a simple doubling of the sample 
rate will divide the maximum error by 4.

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Re: [Machinekit] How is joint position interpolated with non-trivial kinematics?

[Charles Steinkuehler]

On 5/24/2017 10:07 AM, Ryan Carlyle wrote:
> Thanks Charles! Let me see if I'm getting this right: within each servo loop 
> period, a fixed velocity (step pulse frequency) is output by the step 
> generator. 
> Then at each servo loop update, the target position is updated, and the servo 
> PID feedback adjusts the velocity to try to reach that position. Is that 
> right? 
> I'm not sure I'm clear on what's running on velocity and what's running on 
> position.
> 
> If I'm understanding correctly, this is functionally equivalent to running 
> Marlin/Smoothieware at 1000 segments per second (or whatever your servo loop 
> frequency is set to). Although they're pure open-loop so there's no servo PID 
> element.

Yes, that's pretty much correct.  I've had discussions with Peter
Wallace (he makes the Mesa FPGA cards) about having the motion planner
output velocity and acceleration (instead of just position).  It would
be very easy to modify the FPGA hardware and PRU code to support this,
but I'm not familiar enough with the guts of the motion component to
add this.

...and with the FPGA or the PRU, the steppers are always running in
velocity mode, with either an implicit PID loop (contained within the
HAL driver when running in position mode):

PRU:
https://github.com/machinekit/machinekit/blob/master/src/hal/drivers/hal_pru_generic/stepgen.c#L168-L174

FPGA:
https://github.com/machinekit/machinekit/blob/master/src/hal/drivers/hal_pru_generic/stepgen.c#L168-L174

...or an explicit PID hal component (more complicated, but you have
more knobs to tune and can adjust better for interrupt latency and
jitter):

https://github.com/machinekit/machinekit/blob/master/configs/ARM/BeagleBone/Xylotex/Xylotex.hal#L80-L84

-- 
Charles Steinkuehler
char...@steinkuehler.net

-- 
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Re: [Machinekit] How is joint position interpolated with non-trivial kinematics?

[Ryan Carlyle]

Got it, thanks guys!

On Wednesday, May 24, 2017 at 11:10:39 AM UTC-5, Charles Steinkuehler wrote:
>
> On 5/24/2017 10:07 AM, Ryan Carlyle wrote: 
> > Thanks Charles! Let me see if I'm getting this right: within each servo 
> loop 
> > period, a fixed velocity (step pulse frequency) is output by the step 
> generator. 
> > Then at each servo loop update, the target position is updated, and the 
> servo 
> > PID feedback adjusts the velocity to try to reach that position. Is that 
> right? 
> > I'm not sure I'm clear on what's running on velocity and what's running 
> on 
> > position. 
> > 
> > If I'm understanding correctly, this is functionally equivalent to 
> running 
> > Marlin/Smoothieware at 1000 segments per second (or whatever your servo 
> loop 
> > frequency is set to). Although they're pure open-loop so there's no 
> servo PID 
> > element. 
>
> Yes, that's pretty much correct.  I've had discussions with Peter 
> Wallace (he makes the Mesa FPGA cards) about having the motion planner 
> output velocity and acceleration (instead of just position).  It would 
> be very easy to modify the FPGA hardware and PRU code to support this, 
> but I'm not familiar enough with the guts of the motion component to 
> add this. 
>
> ...and with the FPGA or the PRU, the steppers are always running in 
> velocity mode, with either an implicit PID loop (contained within the 
> HAL driver when running in position mode): 
>
> PRU: 
>
> https://github.com/machinekit/machinekit/blob/master/src/hal/drivers/hal_pru_generic/stepgen.c#L168-L174
>  
>
> FPGA: 
>
> https://github.com/machinekit/machinekit/blob/master/src/hal/drivers/hal_pru_generic/stepgen.c#L168-L174
>  
>
> ...or an explicit PID hal component (more complicated, but you have 
> more knobs to tune and can adjust better for interrupt latency and 
> jitter): 
>
>
> https://github.com/machinekit/machinekit/blob/master/configs/ARM/BeagleBone/Xylotex/Xylotex.hal#L80-L84
>  
>
> -- 
> Charles Steinkuehler 
> cha...@steinkuehler.net  
>

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