Dear Helpers,
Now I'm going to compile EMC2 for the control of simultaneous 5-axis
manufacturing, but something puzzles me deeply.
I tried to modify some files which correlate with the hexapod-sim, as
shown below ("--->" means "has been changed to" ) :
../configs/hexapod-sim/core_sim_6.hal:
"newsig Cpos float
linksp Cpos <= axis.5.motor-pos-cmd" deleted.
"linksp Cpos => axis.5.motor-pos-fb" deleted.
"newsig cena bit
linksp cena axis.5.amp-enable-out" deleted.
"newsig cflt bit
linksp cflt axis.5.amp-fault-in" deleted.
../configs/hexapod-sim/minimetra.ini:
EMCMOT = motmod ---> EMCMOT =
freqmod.o
AXES = 6 ---> AXES = 5
COORDINATES = X Y Z A B C ---> COORDINATES
= X Y Z A B
HOME = 0 0 -20 0 0 0 ---> HOME
= 0 0 -20 0 0
"#+ Sixth axis ... # HOME_IGNORE_LIMITS = NO" deleted
After I "make", and "sudo make setuid" and ran EMC2 and chose the
hexapod-sim, the teminal showed:
EMC2 - pre-2.2 CVS HEAD
Machine configuration directory is
'/home/cm/Desktop/emc2/20070518/configs/hexapod-sim'
Machine configuration file is 'minitetra.ini'
Starting EMC2...
insmod: error inserting '/usr/realtime-2.6.15-magma/modules/rtai_smi.ko': -1
No such device
Realtime system did not load
Shutting down and cleaning up EMC2...
ERROR: Module hal_lib does not exist in /proc/modules
ERROR: Module rtapi does not exist in /proc/modules
ERROR: Module rtai_smi does not exist in /proc/modules
Cleanup done
EMC terminated with an error. You can find more information in the log
files
/root/emc_debug.txt
and
/root/emc_print.txt
as well as in the output of the shell command 'dmesg' and in the terminal
What should I do? Is there any file left to be modified?
David
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