Hi I have a project that works under linuxcnc, and due to the ROS capability of machinekit am trying to get it set up with the latter. It is a 6DOF robot arm being run by STMBL drives. These are driven by Mesa 7i74 motion control card through a 7i92m I/O Anything card. Firmware was installed and working with linuxcnc. On Debian wheezy it ran with *kernel 3.4-9-rtai-686-pae*.
Under MK I am able to ping the card from the host PC, which is an old Intel Core 2 Duo E7400 based machine. My starting point with machinekit was to build from source, but I switched to binary install as I was unable to get any flavor working. If details on the separate set of issues encountered there are helpful, I will post those. For now for the sake of clarity here are there errors encountered with the *binary* install. The behaviour is induced by running MK from menu or terminal and selecting my project from the gui. *From linuxcnc.log*: Jan 3 14:36:44 home msgd:0: startup pid=10774 flavor=rt-preempt rtlevel=1 usrlevel=1 halsize=524288 shm=Posix cc=gcc 4.9.2 version=v0.1~-detached~57e93bf Jan 3 14:36:44 home msgd:0: ØMQ=4.0.5 czmq=4.0.2 protobuf=2.6.1 atomics=gcc intrinsics libwebsockets=<no version symbol> Jan 3 14:36:44 home msgd:0: configured: sha=57e93bf Jan 3 14:36:44 home msgd:0: built: Jan 2 2019 16:19:23 sha=57e93bf Jan 3 14:36:44 home msgd:0: register_stuff: actual hostname as announced by avahi='home.local' Jan 3 14:36:44 home msgd:0: zeroconf: registering: 'Log service on home.local pid 10774' Jan 3 14:36:44 home rtapi:0: rtapi_app_main(motmod): -1 Operation not permitted Jan 3 14:36:45 home msgd:0: zeroconf: registered 'Log service on home.local pid 10774' _machinekit._tcp 0 TXT "uuid=a42c8c6b-4025-4f83-ba28-dad21114744a" "instance=fe02fdf2-0f64-11e9-9c5a-0023ae8fd383" "service=log" "dsn=ipc:///tmp/0.log.a42c8c6b-4025-4f83-ba28-dad21114744a" Jan 3 14:36:47 home rtapi:0: unload: 'genserkins' not loaded Jan 3 14:36:47 home msgd:0: rtapi_app exit detected - scheduled shutdown Jan 3 14:36:49 home msgd:0: msgd shutting down Jan 3 14:36:49 home msgd:0: zeroconf: unregistering 'Log service on home.local pid 10774' Jan 3 14:36:49 home msgd:0: log buffer hwm: 0% (0 msgs, 0 bytes out of 524288) Jan 3 14:36:49 home msgd:0: normal shutdown - global segment detached *And from the terminal:* machine-user@home:~$ machinekit MACHINEKIT - 0.1 Machine configuration directory is '/home/machine-user/machinekit/configs/rx60' Machine configuration file is 'rx60.ini' Starting Machinekit... rtapi_msgd command: /usr/libexec/linuxcnc/rtapi_msgd --instance=0 --rtmsglevel=1 --usrmsglevel=1 --halsize=524288 rtapi_app command: /usr/libexec/linuxcnc/rtapi_app_rt-preempt --instance=0 io started halcmd loadusr io started hm2-stepper.hal:5: insmod failed, returned -1: rtapi_app_main(motmod): -1 Operation not permitted *linuxcnc_print.txt* RUN_IN_PLACE=no LINUXCNC_DIR= LINUXCNC_BIN_DIR=/usr/bin LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc LINUXCNC_SCRIPT_DIR= LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc LINUXCNC_CONFIG_DIR= LINUXCNC_LANG_DIR=/usr/share/linuxcnc/tcl/msgs INIVAR=/usr/libexec/linuxcnc/inivar HALCMD=halcmd LINUXCNC_EMCSH=/usr/bin/wish8.6 INIFILE=/home/machine-user/machinekit/configs/rx60/rx60.ini PARAMETER_FILE=hm2-stepper.var TASK=milltask HALUI= DISPLAY=axis Starting Machinekit server program: linuxcncsvr Loading Real Time OS, RTAPI, and HAL_LIB modules Starting Machinekit IO program: io Killing task linuxcncsvr, PID=14341 Removing HAL_LIB, RTAPI, and Real Time OS modules Removing NML shared memory segments *Relevant entries from my hal file * # kinematics loadrt [KINS]KINEMATICS # motion controller, get name and thread periods from ini file loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]TRAJ_PERIOD num_joints=[KINS]JOINTS # hostmot2 driver loadrt hostmot2 # load low-level driver loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG) # load wrist.comp #loadrt wrist # load estop latch component loadrt estop_latch loadrt not # ################################################ # THREADS # ################################################ addf hm2_[HOSTMOT2](BOARD).0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread # addf hm2_[HOSTMOT2](BOARD).0.write servo-thread addf estop-latch.0 servo-thread addf not.0 servo-thread *I have also attached my ini file* Dmesg shows no entries relating to this (checked by clearing dmesg and starting again). Linuxcnc_debug.txt does not contain anything apart from default text. I have a feeling this is all kernel related, however is sudo make setuid needed for binary installs, and if so which directory should it be run in? If not needed, can anyone suggest how to proceed here please? -- 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 [email protected]. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
rx60.ini
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