On 10/15/2016 9:41 PM, euerka wrote:
> 
>     CRAMPS.hal:10: Program './setup.sh' finished
>     CRAMPS.hal:18: Realtime module 'trivkins' loaded
>     CRAMPS.hal:22: Realtime module 'tp' loaded
>     CRAMPS.hal:23: Realtime module 'motmod' loaded
>     CRAMPS.hal:27: Realtime module 'hal_bb_gpio' loaded
>     CRAMPS.hal:28: Realtime module 'hal_pru_generic' loaded
>     CRAMPS.hal:29:
>     Invalid argument 'num_chan=2' to instantiated component
>     NB. Use of personality or cfg is deprecated
>     Singleton components cannot have multiple instances

The problem is the loadrt command on line 29.  My configuration file
is for a very old version of Machinekit.  You need to change the
existing lines 29-30:

loadrt pid num_chan=2
loadrt limit1 count=2

...to use the "newinst" command:

newinst pid pid.0
newinst pid pid.1
newinst limit1 limit1.0
newinst limit1 limit1.1

I think that should get you running.

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

-- 
website: http://www.machinekit.io blog: http://blog.machinekit.io github: 
https://github.com/machinekit
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