David wrote: > Jon wrote: >> You may have to add some system components with the apt-get >> facility to have everything you need to do a compile. There is >> some info in the wiki under "Installing EMC2" and then under > >> "Preparing other versions of Linux to compile emc2". > > I follow the steps of "Installing EMC2", but EMC2 doesn't work after > "building EMC2 (realtime)" > , > while "building EMC2 (simulator)" is OK. > Does it have something to do with my operating system? > I'm using the virtual machine Vmware Workstation to run ubuntu. > > Yes. I seriously doubt you can control a real machine with a virtual OS. The sim version is not real-time, and doesn't call on any of the RT components. You may be able to run EMC from a virtual machine, and it may seem to work, but it will not work correctly when it is moving real hardware, as it won't have consistent scheduling. > > Jeff wrote: >> Never run emc2 as root. Instead, use "sudo make setuid" to make the >> emc_module_helper program able to load modules, and run it as a "regular >> user". For instance, I have been informed that when you run as root, > >> the special device file "/dev/tty" is removed when emc exits; this >> does not happen when you run as a user. > > If I don't ran EMC2 as root when building EMC2 (realtime) , the terminal will > show: > > > Can't write to /dev/rtai_shm - aborting > Realtime system did not load I'm not clear what is happening here, as you apparently do have the RT functions, as shown below :
> [ 3071.658591] c02d1680 0 Linux 100 > [ 3071.697330] RTAI[malloc]: vmalloced extent ceb31000, size 2097152. > [ 3071.700746] RTAI[malloc]: loaded (global heap size=2097152 bytes). > > [ 3071.706667] RTAI[sched_lxrt]: loaded (IMMEDIATE, UP, USER/KERNEL SPACE > <with RTAI TASKs>). > [ 3071.706704] RTAI[sched_lxrt]: hard timer type/freq = 8254-PIT/1193180(Hz); > default timing mode is periodic; linear ordering of timed lists. > > [ 3071.706769] RTAI[sched_lxrt]: Linux timer freq = 1000 (Hz), CPU freq = > 1664243000 hz. > [ 3071.706800] RTAI[sched_lxrt]: timer setup = 2010 ns, resched latency = > 2688 ns. > [ 3071.833153] RTAI[math]: loaded. > [ > 3083.649971] RTAI[math]: unloaded. > [ 3083.693318] RTAI[malloc]: vfreed extent ceb31000, size 2097152. > [ 3083.694201] RTAI[malloc]: unloaded. > [ 3083.793849] RTAI[sched_lxrt]: unloaded (forced hard/soft/hard transitions: > traps 0, syscalls 0). > > [ 3083.806556] I-pipe: Domain RTAI unregistered. > [ 3083.806744] RTAI[hal]: unmounted. > [ 5362.292449] I-pipe: Domain RTAI registered. > [ 5362.292624] RTAI[hal]: <magma> mounted over IPIPE-NOTHREADS 1.3-00 > . Re: the real-time workability of virtual OS, we see : > 6285.613928] RTAPI: ERROR: Unexpected realtime delay on task 1 > [ 6285.618664] 6: ERROR: Unexpected realtime delay: check dmesg for details. > [ 6285.618671] > [ 6285.618676] In recent history there were > [ 6285.618678 > ] 2361920, 738301, 1621540, 1747690, and 1577223 > [ 6285.618679] elapsed clocks between calls to the motion controller. > [ 6285.618691] This time, there were 1803960 which is so anomalously > [ 6285.618693] large that it probably signifies a problem with your > > [ 6285.618694] realtime configuration. For the rest of this run of > [ 6285.618696] EMC, this message will be suppressed. > [ 6285.618697] > > However, if I run EMC2 as follow: > sudo su > scripts/emc > and choose "tkemc", it runs with nothing wrong. The above logs show that parts of EMC did, indeed start, at least enough to schedule the servo task. No modules were installed, so that is likely the problem. Jon ------------------------------------------------------------------------- This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now >> http://get.splunk.com/ _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
