Eric H. Johnson wrote: > Hi all, > > I get the following error when trying to manually do a loadrt of motmod: > > Insmod: error inserting > /usr/realtime-2.6.24.16-rtai/modules/emc2/motmod.ko:-1 unknown symbol in > module. > > This is the error when using ubuntu 8.04, but I get essentially the same > error under 6.06. It can be easily reproduced by doing the following: > > Run EMC with the tkemc sim configuration, then save it to a file, for > example: > halcmd save > tkemc.hal > > Shut down EMC. > Start the realtime, i.e.: > realtime start > > Reload the configuration, such as: > halcmd source tkemc.hal > > Which will result in the above error, although everything else seems to be > processed correctly. > > Manually typing in: > halcmd loadrt motmod base_period_nsec=1000000 servo_period_nsec=1000000 > traj_period_nsec=10000000 key=111 num_joints=3 > > Results in the same error. > > I tried to find the source code for motmod.ko, but I was unable to locate > something like motmod.c. There were a couple of similar files, but don't > appear to be the source for motmod.ko. I haven't really tried grepping for > it yet. > > Anyway, does anyone have some insight on the cause of this error? > > Thanks, > Eric >
"unknown symbol in module." If you look in dmesg it will probably tell you what symbol is undefined. At the moment I don't know what might be missing, the symbol name would be a clue. Regarding the source for motmod - you are right there is no single file motmod.c. The motion module is the result of linking together several C files. Most are in src/emc/motion, although a few get pulled in from elsewhere like src/emc/kinematics. Ah, found the relevant chunk of the main Makefile: obj-$(CONFIG_MOTMOD) += motmod.o motmod-objs := emc/kinematics/cubic.o motmod-objs += emc/kinematics/tc.o motmod-objs += emc/kinematics/tp.o motmod-objs += emc/motion/motion.o motmod-objs += emc/motion/command.o motmod-objs += emc/motion/control.o motmod-objs += emc/motion/homing.o motmod-objs += emc/motion/emcmotglb.o motmod-objs += emc/motion/emcmotutil.o motmod-objs += libnml/posemath/_posemath.o motmod-objs += libnml/posemath/sincos.o $(MATHSTUB) Regards, John Kasunich ------------------------------------------------------------------------- This SF.net email is sponsored by the 2008 JavaOne(SM) Conference Don't miss this year's exciting event. There's still time to save $100. Use priority code J8TL2D2. http://ad.doubleclick.net/clk;198757673;13503038;p?http://java.sun.com/javaone _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
