[Machinekit] remote components connecting 2 machinekit machines (bridge?)

[Bas de Bruijn]

Hi,

I was wondering if I have the following thinking correct regarding connecting 2 
machines.

I’m only interested in pin fiddling for now, so for example machine has an 
input connected to a remote component, so pushing the switch will raise the 
remote pin (like a LED on a QtQuickVCP remote UI)

Now I would like to connect the hal logic of a second machine (2) to the remote 
component of the first machine (1) with as little code as possible. No (remote) 
UI’s necessary whatsoever.

What is the “best” solution (if “best” exists) for this? Load a python script 
(loadusr) on machine 2 which listens to (define the IP address etc etc) the 
remote component of machine 1, and acts on changing values. Like some sort of 
bridge…

Is there a way to “configure” hal (give an ip/remote name) during startup so 
that remote components listen to other remote components on other machines?

Thanks,
Bas


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Re: [Machinekit] Re: remote components connecting 2 machinekit machines (bridge?)

[Bas de Bruijn]

> On 21 Sep 2017, at 07:57, John Morris  wrote:
> 
> 
> 
>> On 09/20/2017 11:00 PM, Rob M wrote:
>> 
>> 
>> On Thursday, September 21, 2017 at 5:11:08 AM UTC+10, Bas de Bruijn wrote:
>> 
>>Hi,
>> 
>>I was wondering if I have the following thinking correct regarding
>>connecting 2 machines.
>> 
>>I’m only interested in pin fiddling for now, so for example machine
>>has an input connected to a remote component, so pushing the switch
>>will raise the remote pin (like a LED on a QtQuickVCP remote UI)
>> 
>>Now I would like to connect the hal logic of a second machine (2) to
>>the remote component of the first machine (1) with as little code as
>>possible. No (remote) UI’s necessary whatsoever.
>> 
>>What is the “best” solution (if “best” exists) for this? Load a
>>python script (loadusr) on machine 2 which listens to (define the IP
>>address etc etc) the remote component of machine 1, and acts on
>>changing values. Like some sort of bridge…
>> 
>>Is there a way to “configure” hal (give an ip/remote name) during
>>startup so that remote components listen to other remote components
>>on other machines?
>> 
>>Thanks,
>>Bas
>> 
>> Hi Bas,
>> 
>> Just throwing an idea around.
>> I suppose you could use the mb2hal hal component on one machine and whip
>> up a python (python confuses me...but rumor has it is easy to do stuff)
>> script to act as "the other end". If the machines are close enough and
>> you have enough physical pins you can just "run a wire" between the two.
>> Tho the method you chose would have to take into account timing
>> requirements.
>> I've had a bit of a play around with mb2hal connecting to an Arduino via
>> modbus tcp (not the way you wanna go) and can confirm it's an easy thing
>> to setup.
>> 
>> Maybe this might be a library you could use.
>> http://pythonhosted.org/pyModbusTCP/index.html
>> 
> 
> Another idea, HALTalk and remote components?
> 
>John
> 

Hi John,
Yes, that's the idea. I know how to implement remote components. So i'd like to 
use the same mechanism, machinetalk. But afaik you need a second application 
connecting to a remote Machinekit machine. 

Thinking aloud if this needs to be a client (on second machine, started with 
loadusr) listening to the first machine, putting values into the second machine 
HAL.

Or if there is another (ready to use) machinetalk mechanism.

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Re: [Machinekit] Re: remote components connecting 2 machinekit machines (bridge?)

[Bas de Bruijn]

> On 21 Sep 2017, at 06:00, Rob M  wrote:
> 
> 
> 
>> On Thursday, September 21, 2017 at 5:11:08 AM UTC+10, Bas de Bruijn wrote:
>> Hi, 
>> 
>> I was wondering if I have the following thinking correct regarding 
>> connecting 2 machines. 
>> 
>> I’m only interested in pin fiddling for now, so for example machine has an 
>> input connected to a remote component, so pushing the switch will raise the 
>> remote pin (like a LED on a QtQuickVCP remote UI) 
>> 
>> Now I would like to connect the hal logic of a second machine (2) to the 
>> remote component of the first machine (1) with as little code as possible. 
>> No (remote) UI’s necessary whatsoever. 
>> 
>> What is the “best” solution (if “best” exists) for this? Load a python 
>> script (loadusr) on machine 2 which listens to (define the IP address etc 
>> etc) the remote component of machine 1, and acts on changing values. Like 
>> some sort of bridge… 
>> 
>> Is there a way to “configure” hal (give an ip/remote name) during startup so 
>> that remote components listen to other remote components on other machines? 
>> 
>> Thanks, 
>> Bas 
>> 
> Hi Bas,
> 
> Just throwing an idea around.
> I suppose you could use the mb2hal hal component on one machine and whip up a 
> python (python confuses me...but rumor has it is easy to do stuff) script to 
> act as "the other end". If the machines are close enough and you have enough 
> physical pins you can just "run a wire" between the two. Tho the method you 
> chose would have to take into account timing requirements.
> I've had a bit of a play around with mb2hal connecting to an Arduino via 
> modbus tcp (not the way you wanna go) and can confirm it's an easy thing to 
> setup.
> 
> Maybe this might be a library you could use. 
> http://pythonhosted.org/pyModbusTCP/index.html

Hi Rob,

I would like to use haltalk/machinetalk as a vehicle. Mainly because I'd like 
to keep it simple and it works perfect with the remote UI's. But sometimes 
there's no need to talk to people but to other machines.

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Re: [Machinekit] installing MachineKit on RPI3

[Bas de Bruijn]

> On 25 Sep 2017, at 01:47, Stephane Kolijn  wrote:
> 
> Hi all,
> 
> I have been trying to get machinekit up and running on my RPI3. As you might 
> guess out of this post. No succes yet :)
> 
> I have the latest rasbian, meaning stretch. debian 9
> 
> So i have been googling and reading. So i followed first following:
> 
> 10K replied the topic: LinuxCNC on Debian Stretch
> TIm-
> LIke you, I installed Stretch. I then added the rt kernel. I put in 
> linuxcnc-uspace, but not from the buildbot. Here's what I did, in case it 
> helps.
> 
> sudo apt-get install dirmngr
> sudo apt-key adv --keyserver hkp://keys.gnupg.net --recv-key 3cb9fd148f374fef
> 
> Required version of libboost-python is not in stretch repository.  
> Temporarily point to jessie
> 
> sudo nano /etc/apt/sources.list with nano to contain:
>   deb http://ftp.us.debian.org/debian jessie main
> sudo apt-get update
> sudo apt-get install linuxcnc-uspace
> 
> Now remove the pointer to jessie in sources.list
> sudo apt-get update
> 
> I did this but only the nano contain part i didnt understand.so skipped this. 
> than i followed the machinekit for kernel jessie RPÏ2
> and after i did the previous, i was able to do the first 2 steps. Kernel and 
> building it. I didn't get any errors.
> 
> But now how do i start Machinekit, cause strangely enough, i can not find 
> anything on my Pi?
> 
> I find to start a program you run in terminal simply machinekit, but that 
> results in command not found. 
> 
> So now i am lost. Hope someone can help out.
> 
> Regards,
> 
> Stephane
Looks like you're mixing linuxcnc and Machinekit.
Did you follow the instructions here 
http://www.machinekit.io/docs/getting-started/getting-started-platform/

And specifically for the rpi (5)
http://www.machinekit.io/docs/getting-started/installing-packages/

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Re: [Machinekit] Howto create DE10_Nano_SoC_DB25

[Bas de Bruijn]

> On 2 Oct 2017, at 08:56, Mario Scholz 
>  wrote:
> 
> Hi,
> 
> Thanks for your response.
> 
> I think there is a misunderstanding. I would like to use Terasic DE10:
> http://www.terasic.com.tw/cgi-bin/page/archive.pl?Language=English&No=1046

I think this thread may interest you.
https://groups.google.com/forum/m/#!topic/machinekit/fleGyyOwDgE

> 
> together with the db25 interface board from Charles Steinkühler:
> https://oshpark.com/shared_projects/ZSjsiCUd
> 
> In order to use HDMI and db25 interface board I need to reprogram the FPGA 
> and generate a bitstream+device tree to support both. The DE0 bitstream files 
> will not work as it didn't included an HDMI section supported by the DE10. Do 
> you agree?
> 
> Nevertheless I loop mounted the image you referred to and found only DE0 
> (predecessor of DE10) bitstream biles and dtbs
> e.g.
> lib/firmware/socfpga/DE0_Nano_SoC_DB25.7I76_7I76_7I76_7I76.rbf
> lib/firmware/socfpga/DE0_Nano_SoC_DB25.7I76_7I85S_GPIO_GPIO.rbf
> lib/firmware/socfpga/DE0_Nano_SoC_DB25.7I77_7I76_GPIO_GPIO.rbf
> 
> Best regards,
> Mario
> 
>> On 2017-10-02 08:13, schoone...@btinternet.com wrote:
>> You don't need to make your own.
>> There is an image pre-built here
>> http://deb.machinekit.io/uploads/de0-nano/debian-8.5-console-armhf-2017-02-14/

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Re: [Machinekit] Arcus3D-C1 Open source tripodkins cable printer.

[Bas de Bruijn]

> On 6 Oct 2017, at 23:10, Daren Schwenke  wrote:
> 
> Built this with the intent of running Machinekit/tripodkins with it.
> Have not worked on the config yet, but the hardware looks like it will work 
> now, so soon.
> 
> https://hackaday.io/project/26938-arcus-3d-c1-cable-printer
> 
> https://youtu.be/KQ19fT4BQQU

That's nice to see! You use a spring to keep tension on the threads? Looking 
forward to your progress. Should be a very lightweight effector!

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[Machinekit] Error with CRAMPS.hal

[Bas de Bruijn]

Sorry, i replied instead "reply to all" so this didnt get to the list.


Begin forwarded message:

> From: Bas de Bruijn 
> Date: 9 October 2017 at 14:45:01 GMT+2
> To: Dimitar Dobrev 
> Subject: Re: [Machinekit] Error with CRAMPS.hal
> 
> 
> 
>> On 9 Oct 2017, at 13:57, 'Dimitar Dobrev' via Machinekit 
>>  wrote:
>> 
>> I created /usr/lib/linuxcnc/xenomai and copied pru_generic.bin there. After 
>> trying again I got:
>> 
>> Traceback (most recent call last):
>>   File "/usr/bin/hal_temp_bbb", line 198, in 
>> checkAdcInput(pin)
>>   File "/usr/bin/hal_temp_bbb", line 156, in checkAdcInput
>> pin.filename = tempName[0]
>> IndexError: list index out of range
> 
> I think you should check if you use the hal_temp_bbb component correctly. 
> This message points specifically to that.
> Does adc work correctly?
> Other messages in /var/log/linuxcnc.log when you "export DEBUG=5" before 
> starting machinekit?
> 
> This issue https://github.com/machinekit/machinekit/issues/1238 (with the 
> link to a thread to this forum) might shed some light on the adc.
> 
>> In case the pru_generic.bin for rt-preempt cannot work in xenomai, do I 
>> correctly understand that switching from xenomai to rt-preempt on an 
>> existing installation is impossible and I need to install a new image 
>> instead?
>> 
>>> On Saturday, October 7, 2017 at 5:06:38 PM UTC+3, Schooner wrote:
>>> I don't use a BBB, it looks like Debian only provide i386 and amd64 
>>> rt-preempt kernels for Stretch.
>>> 
>>> I don't know which rt kernel others have used, probably one from here
>>> https://elinux.org/Beagleboard:BeagleBoneBlack_Debian#Mainline_.284.14.x_lts.29
>>> 
>>> The one I used on my server is 4.4.68-ti-rt-r112, but there are probably 
>>> newer ones.
>>> Looks like linux-image-4.9.40-bone-rt-r7 is quite new, the BBG people have 
>>> to use rt-preempt I believe to get everything working.
>>> 
>>> Someone should be able to give you a link
>>> In fact if you have a root around here 
>>> https://rcn-ee.com/rootfs/bb.org/testing/
>>> you may find an image which suits
>>> 
>>> rt-preempt kernels are quite easy to build, I have even built one on a 4 
>>> core aarm64, but that has much more processing power
>>> than a BBB, might take quite a while on a BBB
>>> 
>>> Is there any reason why you have to use a BBB at all?
>>> Life is much simpler with a proper computer ;\
>>> 
>>>> On 07/10/17 14:39, 'Dimitar Dobrev' via Machinekit wrote:
>>>> Schooner, thank you very much for all of your help. I am definitely going 
>>>> to try it. Would you have some directions about the switch to rt-preempt? 
>>>> Do I need to compile it from source code or is it just a matter of 
>>>> installing packages?
>>>> 
>>>>> On Saturday, October 7, 2017 at 4:25:21 PM UTC+3, Schooner wrote:
>>>>> In that case, get hold of the rt-preempt kernel from Stretch and use that.
>>>>> 
>>>>> Then you will be able to install machinekit-rt-preempt for stretch-armhf 
>>>>> from my repo and it should work, with the pru_* binaries built and
>>>>> symlinked to the /usr/lib/linuxcnc/rt-preempt directory where they can be 
>>>>> found by hal_pru_generic
>>>>> 
>>>>> Xenomai is becoming of lessening importance, as the rt-preempt kernel 
>>>>> latency improves.
>>>>> Because the BBB uses the PRU for step generation etc, all that is 
>>>>> required is a stable servo thread which rt-preempt should be able to 
>>>>> provide.
>>>>> 
>>>>> Bas is already using rt-preempt on his BBB, as has Charles.
>>>>> The reason for the recent commit to make pru_generic.* available to all 
>>>>> armhf kernel flavours, was to allow this, without the user having to 
>>>>> kludge
>>>>> together symlinks or copy the binaries from another install.
>>>>> 
>>>>> Be aware there will be a major change to the libczmq and libzeromq 
>>>>> dependencies in a few days.
>>>>> The packages as they are now will work together, but if you upgrade at a 
>>>>> later date, you will probably need to remove all packages and re-install
>>>>> to get the correct deps.
>>>>> 
>>>>> Good luck
>>>>> 
>>>

Re: [Machinekit] Error with CRAMPS.hal

[Bas de Bruijn]

> On 9 Oct 2017, at 23:14, 'Dimitar Dobrev' via Machinekit 
>  wrote:
> 
> Hello Alexander,
> 
> Thank you very much for your help. It allowed me to get further.
> I ran the script and restarted the machine. Now "uname -a" gives me the 
> following:
> 
> Linux beaglebone 4.4.90-ti-rt-r132 #1 SMP PREEMPT RT Sat Oct 7 02:00:37 UTC 
> 2017 armv7l GNU/Linux
> 
> So everything went fine. I then reinstalled the package for machinekit. Now I 
> get this message in the terminal:
> 
> grep: /sys/devices/bone_capemgr.*/slots: No such file or directory
> bash: /sys/devices/bone_capemgr.*/slots: No such file or directory
> Error loading device tree overlay file: cape-universal
> CRAMPS.hal:10: program './setup.sh' failed, returned 1

See this comment from Robert:
https://github.com/machinekit/Machinekit-HAL/issues/17#issuecomment-324726740

> I have also attached my new log.
> My guess is that I need to somehow load these bone_capemgr devices. I have 
> found https://elinux.org/Capemgr but it advises to manually load them. Would 
> there be any way to automatically load them?
> 
>> On Monday, October 9, 2017 at 4:56:17 PM UTC+3, Alexander Rössler wrote:
>> Hi Dimitar,
>> 
>> Here are some things that will help you with the Stretch image:
>> 
>> ### 3. Install PREEMPT_RT kernel
>> 
>> ```bash
>> cd /opt/scripts/tools/
>> sudo su
>> git pull
>> ./update_kernel.sh --ti-rt-channel --lts-4_4
>> ```
>> 
>> ### 4. Setup UIO
>> 
>> Old bootloader on eMMC might cause conflicts.
>> 
>> ```bash
>> sudo dd if=/dev/zero of=/dev/mmcblk1 count=1 seek=1 bs=128k
>> ```
>> 
>> In `/boot/uEnv.txt` change:
>> ```
>> ###Disable auto loading of virtual capes (emmc/video/wireless/adc)
>> #disable_uboot_overlay_emmc=1
>> disable_uboot_overlay_video=1
>> disable_uboot_overlay_audio=1
>> disable_uboot_overlay_wireless=1
>> #disable_uboot_overlay_adc=1
>> ```
>> 
>> ### Install Machinekit - arceye version
>> ```bash
>> su -c 'echo "deb http://deb.mgware.co.uk/ stretch main" >> 
>> /etc/apt/sources.list.d/mgware.list'
>> wget -O /tmp/arc...@mgware.co.uk.gpg.key 
>> http://deb.mgware.co.uk/arc...@mgware.co.uk.gpg.key 
>> sudo apt-key add /tmp/arc...@mgware.co.uk.gpg.key
>> sudo apt-get update
>> ```
>> 
>> You may need to run machinekit with FLAVOR=rt-preempt.
>> 
>> Cheers,
>> Alexander
>> 
>> 
>> 
>> Am Montag, 9. Oktober 2017 15:34:04 UTC+2 schrieb Dimitar Dobrev:
>>> 
>>> My packages are from:
>>> 
>>> http://deb.mgware.co.uk/
>>> 
>>> They are for POSIX and rt-preempt only.
>>> About the index, I actually don't have iio:device0 under 
>>> /sys/bus/iio/devices/ so that's the problem.
>>> I could try changing the kernel on my existing installation, I hope it's 
>>> possible. Another option would be to build Machinekit from source for 
>>> Stretch. Do you think it's possible?
>>> 
 On Monday, October 9, 2017 at 4:25:15 PM UTC+3, Schooner wrote:
 
> On 09/10/17 12:57, 'Dimitar Dobrev' via Machinekit wrote:
> I created /usr/lib/linuxcnc/xenomai and copied pru_generic.bin there. 
> After trying again I got:
> 
> Traceback (most recent call last):
>   File "/usr/bin/hal_temp_bbb", line 198, in 
> checkAdcInput(pin)
>   File "/usr/bin/hal_temp_bbb", line 156, in checkAdcInput
> pin.filename = tempName[0]
> IndexError: list index out of range
 
 This is not an error linked to pru_generic.bin AFAIK, but you need someone 
 who knows about BBB.
 
 If it is saying that an index of 0 is out of range, 
 you need to look at what it is trying to do and work out how it can be 
 empty.
 https://github.com/machinekit/machinekit/blob/master/src/hal/user_comps/hal_temp_bbb.py#L156
 
> 
> In case the pru_generic.bin for rt-preempt cannot work in xenomai,
 
 The pru_generic.bin is identical for all kernel flavours so you can just 
 copy it across
 
 The rt-preempt component modules may work with xenomai, there has been 
 discussion as to whether they are actually different, 
 but the bigger problem is that you will lack ulapi_xenomai.so and 
 rtapi_app_xenomai.
 
 There are no xenomai packages for Stretch either, as Stretch is on 
 Xenomai3, which does not work with Machinekit
 I assume you have manually installed the Jessie ones?
 
 I suggest you read this thread
 https://groups.google.com/forum/#!topic/machinekit/RrNLUo4ASP4
 and contact Darren or one of the others to find where you can download an 
 image with the rt-preempt kernel, 
 or even just the kernel, modules etc and install it into your existing 
 image
 
> do I correctly understand that switching from xenomai to rt-preempt on an 
> existing installation is impossible and I need to install a new image 
> instead?
> 
>> On Saturday, October 7, 2017 at 5:06:38 PM UTC+3, Schooner wrote:
>> I don't use a BBB, it looks like Debian only provide i386 and amd64 
>> rt-preempt kernels for Stretch.
>> 

Re: [Machinekit] Error with CRAMPS.hal

[Bas de Bruijn]

> On 11 Oct 2017, at 03:50, 'Dimitar Dobrev' via Machinekit 
>  wrote:
> 
> Thank you for the tip. I followed the link which in turn leads to 
> https://elinux.org/Beagleboard:BeagleBoneBlack_Debian#U-Boot_Overlays 
> <https://elinux.org/Beagleboard:BeagleBoneBlack_Debian#U-Boot_Overlays> . I 
> have so far followed the instructions up to:
> 
> U-Boot /boot/uEnv.txt configuration
> /boot/uEnv.txt:
> enable_uboot_overlays=1
> 
> I keep getting the same error. Do I need to complete all steps? Up to where, 
> "Debian Build Instructions"? Please help.

what does the following say?
grep -c bone_capemgr.uboot_capemgr_enabled=1 /proc/cmdline


> 
> 
> On Tuesday, October 10, 2017 at 7:54:27 AM UTC+3, Bas de Bruijn wrote:
> 
> 
> On 9 Oct 2017, at 23:14, 'Dimitar Dobrev' via Machinekit  <>googlegroups.com <http://googlegroups.com/>> wrote:
> 
>> Hello Alexander,
>> 
>> Thank you very much for your help. It allowed me to get further.
>> I ran the script and restarted the machine. Now "uname -a" gives me the 
>> following:
>> 
>> Linux beaglebone 4.4.90-ti-rt-r132 #1 SMP PREEMPT RT Sat Oct 7 02:00:37 UTC 
>> 2017 armv7l GNU/Linux
>> 
>> So everything went fine. I then reinstalled the package for machinekit. Now 
>> I get this message in the terminal:
>> 
>> grep: /sys/devices/bone_capemgr.*/slots: No such file or directory
>> bash: /sys/devices/bone_capemgr.*/slots: No such file or directory
>> Error loading device tree overlay file: cape-universal
>> CRAMPS.hal:10: program './setup.sh' failed, returned 1
> 
> See this comment from Robert:
> https://github.com/machinekit/Machinekit-HAL/issues/17#issuecomment-324726740 
> <https://github.com/machinekit/Machinekit-HAL/issues/17#issuecomment-324726740>
>> I have also attached my new log.
>> My guess is that I need to somehow load these bone_capemgr devices. I have 
>> found https://elinux.org/Capemgr <https://elinux.org/Capemgr> but it advises 
>> to manually load them. Would there be any way to automatically load them?
>> 
>> On Monday, October 9, 2017 at 4:56:17 PM UTC+3, Alexander Rössler wrote:
>> Hi Dimitar,
>> 
>> Here are some things that will help you with the Stretch image:
>> 
>> ### 3. Install PREEMPT_RT kernel
>> 
>> ```bash
>> cd /opt/scripts/tools/
>> sudo su
>> git pull
>> ./update_kernel.sh --ti-rt-channel --lts-4_4
>> ```
>> 
>> ### 4. Setup UIO
>> 
>> Old bootloader on eMMC might cause conflicts.
>> 
>> ```bash
>> sudo dd if=/dev/zero of=/dev/mmcblk1 count=1 seek=1 bs=128k
>> ```
>> 
>> In `/boot/uEnv.txt` change:
>> ```
>> ###Disable auto loading of virtual capes (emmc/video/wireless/adc)
>> #disable_uboot_overlay_emmc=1
>> disable_uboot_overlay_video=1
>> disable_uboot_overlay_audio=1
>> disable_uboot_overlay_wireless=1
>> #disable_uboot_overlay_adc=1
>> ```
>> 
>> ### Install Machinekit - arceye version
>> ```bash
>> su -c 'echo "deb http://deb.mgware.co.uk/ <http://deb.mgware.co.uk/> stretch 
>> main" >> /etc/apt/sources.list.d/mgware.list'
>> wget -O /tmp/a...@mgware.co.uk.gpg <>.key 
>> http://deb.mgware.co.uk/arc...@mgware.co.uk.gpg.key 
>> <http://deb.mgware.co.uk/arc...@mgware.co.uk.gpg.key> 
>> sudo apt-key add /tmp/a...@mgware.co.uk.gpg <>.key
>> sudo apt-get update
>> ```
>> 
>> You may need to run machinekit with FLAVOR=rt-preempt.
>> 
>> Cheers,
>> Alexander
>> 
>> 
>> 
>> Am Montag, 9. Oktober 2017 15:34:04 UTC+2 schrieb Dimitar Dobrev:
>> My packages are from:
>> 
>> http://deb.mgware.co.uk/ <http://deb.mgware.co.uk/>
>> 
>> They are for POSIX and rt-preempt only.
>> About the index, I actually don't have iio:device0 under 
>> /sys/bus/iio/devices/ so that's the problem.
>> I could try changing the kernel on my existing installation, I hope it's 
>> possible. Another option would be to build Machinekit from source for 
>> Stretch. Do you think it's possible?
>> 
>> On Monday, October 9, 2017 at 4:25:15 PM UTC+3, Schooner wrote:
>> 
>> On 09/10/17 12:57, 'Dimitar Dobrev' via Machinekit wrote:
>>> I created /usr/lib/linuxcnc/xenomai and copied pru_generic.bin there. After 
>>> trying again I got:
>>> 
>>> Traceback (most recent call last):
>>>   File "/usr/bin/hal_temp_bbb", line 198, in 
>>> checkAdcInput(pin)
>>&

Re: [Machinekit] Re: Arcus3D-C1 Open source tripodkins cable printer.

[Bas de Bruijn]

> On 12 Oct 2017, at 18:55, Daren Schwenke  wrote:
> 
> Featured on Hackaday, again. :) 
> 
> 
> http://hackaday.com/2017/10/12/this-3d-cable-printer-remixes-the-delta/
> 
> Go Machinekit!  

Go Daren!

> 
> Still need to build a tripodkins config with Machineface...
> 
>> On Friday, October 6, 2017 at 5:10:35 PM UTC-4, Daren Schwenke wrote:
>> Built this with the intent of running Machinekit/tripodkins with it.
>> Have not worked on the config yet, but the hardware looks like it will work 
>> now, so soon.
>> 
>> https://hackaday.io/project/26938-arcus-3d-c1-cable-printer
>> 
>> https://youtu.be/KQ19fT4BQQU
>> 

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Re: [Machinekit] BBB PRU Would 3-phase 3-axis with feedback (18 channel PRU) be possible?

[Bas de Bruijn]

> On 17 Oct 2017, at 23:57, Chris Albertson  wrote:
> 
> My opinion of PRUs is that I just don't want to invest in writing PRU code 
> because that chip is likely is disappear soon.  When the platform vanishes 
> the code will need complete re-write.   

Hi Chris, how come you think that the chip:platform wil vanish soon?

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Re: [Machinekit] Re: BBB PRU Would 3-phase 3-axis with feedback (18 channel PRU) be possible?

[Bas de Bruijn]

Hi Pauluzs

> On 20 Oct 2017, at 12:43, Pauluzs  wrote:
> 
> This might be the way small con/pro-sumer goods are going to take, 
> Although having an industrial background, i don't see this trend going to 
> change soon.
> Can't imagene larger motor with integrated drives etc. just not practical, 
> modulair and to costly.

Apart from that, introducing an external microprocessor will introduce 
communication with the hal. And when looking at canopen devices (with 
integrated encoder and closed loop into the device) one runs into bandwidth 
problems pretty fast with the default 1ms servo rate.

I'm not convinced the ti processor with PRU will disappear soon. Look at the 
recent Octavio system chips.

> All that aside and back to the beaglebone, still wondering if the pru's would 
> be capable of generating the (s)pwm for 18 pins at a reasonable rate.
> lets say at least 20khz  which is above audible at my age and seems to be 
> about the switching frequency used in several drives.

Getting back to your original question:
I'm afraid I'm not savvy enough to answer the pwm part. Maybe the beagleboard 
forum can answer this better.

About the blcd component:
Iirc the commutation is calculated in the hal component. So depending on the 
update rate and the processor you probably are limited in speed. But in all 
honestly I have not tried a blcd setup (yet).

Hope this helps a bit.

> 
> 
>> On Tuesday, October 17, 2017 at 10:14:17 PM UTC+2, Pauluzs wrote:
>> Hi all,
>> 
>> Currently i'm looking into driving 3 phase (steppers) motors on 3 axis with 
>> encoders the Beaglebone.
>> This because i got several 3 phase pm bldc motors, some small 48v ac servo's 
>> and 2 large 220v ac servo's i would like to drive.
>> While looking into the 3 phase bldc steppers the idea came it would 
>> potentially also being able to support ac servo's.
>> 
>> After making a pinmux layout it would be possible to connect:
>>3 encoders eqep A/B/INDEX (or 3 hall sensors on the same inputs)
>>6 PRU 0 signals U/V/W phase hi and low
>>  12 PRU 1 signals U/V/W phase hi and low
>> 
>> This would mean each phase could have a hi and low pru capable pin driving 
>> it.
>> Using discrete power components it would be cheap and simple to build a 
>> drive.
>> Or power driver IC such as the International Rectifier [IRAMS] (according to 
>> http://wiki.linuxcnc.org/cgi-bin/wiki.pl?BLDC)
>> 
>> There are some questions i run into:
>>  Can the beaglebone/machinekit even keep up with this amount of pwm pins?
>>  Should i use the pru stepgen code? (stepgen does not seem to support 3 
>> phase)
>>  Should i use the pru pwm code?
>>  Use the bldc component with standard writes?
>>  Or use the bldc component with pru_pwm?
>> 
>> Usefull thoughts or comments are most welcome,
>> 
>> Thanks,
>> 
>> Paul
>> 
> 
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Re: [Machinekit] MachineKit Install directions (Cape, U-boot, Device Tree Overlay confusion)

[Bas de Bruijn]

> On 01 Nov 2017, at 06:09, Jerry Trantow  wrote:
> 
> It seems like there is a missing step for configuring the cape???
> 
> http://www.machinekit.io/docs/getting-started/getting-started-platform/ show 
> a choice of installing Images, Packages, or a Development Platform. I have a 
> home built gantry router/G540 that I originally controlled using LinuxCNC 
> from an old Laptop and recently controlled with BBB MachineKit using the 
> Comet Metric configuration using Images upto and including:
> 2017-10-02 - Debian 8 (Jessie) - Monthly
> BBW/BBB (All Revs) Machinekit
> 
> microSD/Standalone: (machinekit) Based on Debian Jessie with 3.8.x kernel
> 
> 
> I have been using Axis running on the BBB and thought it was about time to 
> try some of the other GUIs. Before I took this leap, I figured I would update 
> to a newer Jessie version. I thought there would be little risk in updating 
> to one of the image snapshots, but I have been stuck for the last several 
> nights trying to get the following image to work.
> microSD/Standalone: (machinekit) Based on Debian Jessie with 4.13.x kernel 
> with U-Boot Overlays
> 
> 
> I have my BBB GPIO directly connected to the G540 parallel port cable, so I 
> don't have any external cape. I thought everything would be ok as the 
> cape-universal should load by default? But running machinekit straight from 
> the latest Image this is not the case.
> 
> In the terminal window, I see 
> MACHINEKIT - 0.1
> Machine configuration directory is 
> '/home/machinekit/machinekit/configs/ARM.BeagleBone.Probotix'
> Machine configuration file is 'Comet_Metric.ini'
> Starting Machinekit...
> io started
> Unrecognized line skipped: POC FMS LEN DIAMCOMMENT
> halcmd loadusr io started
> grep: /sys/devices/bone_capemgr.*/slots: No such file or directory
> Loading cape-universal overlay
> bash: /sys/devices/bone_capemgr.*/slots: No such file or directory
> Error loading device tree overlay file: cape-universal
> Comet.hal:5: program './setup.sh' failed, returned 1
> Shutting down and cleaning up Machinekit..
> 
> It seems like there is a step in the install directions missing for the 
> latest kernels? 
> 
> The directions at 
> https://elinux.org/Beagleboard:BeagleBoneBlack_Debian#Loading_custom_capes 
> didn't make sense to me. 
> First, I tried adding each of the following line to /etc/default/capemgr with 
> no success.
> CAPE=cape-universal
> CAPE=cape-universal-00A0
> CAPE=cape-universal:00A0
> 
> Then I looked up and tried to follow some device tree tutorials but I don't 
> even see bone_capemgr in cd /sys/devices/bone_capemgr.*
> Some tutorials mention /mtn/boot/uEnv.txt
> 
> In /boot/uEnv.txt, I verified enable_uboot_cape_universal=1 and tried adding 
> cape_enable/cape-universal 
> ##Example v4.1.x
> #cape_disable=bone_capemgr.disable_partno=
> cape_enable=bone_capemgr.enable_partno=cape-universal
> 
> But, I am still stick with "Error loading device tree overlay file: 
> cape-universal". Shouldn't this just work with the machinekit image? What do 
> I need to do to setup the cape-universal device tree overlay. Any help would 
> be appreciated. (and should probably be added to the 
> www.machinekit.io/docs/getting-started.

you probably still try to boot from the eMMC
have a look 
https://groups.google.com/forum/#!topic/machinekit/vSPXdPspyEs
or here
https://github.com/machinekit/Machinekit-HAL/issues/17#issuecomment-324722580
(and following comments)

grep -c bone_capemgr.uboot_capemgr_enabled=1 /proc/cmdline

should output a “1”
it probably doesn’t in your situation

have a look 
so enable booting from the SD card:

sudo dd if=/dev/zero of=/dev/mmcbkl1 count=1 seek=1 bs=128k 


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Re: [Machinekit] MachineKit Install directions (Cape, U-boot, Device Tree Overlay confusion)

[Bas de Bruijn]

> On 1 Nov 2017, at 19:45, Jerry Trantow  wrote:
> 
> Thanks, disable_uboot_overlay_audio=1 fixed the problems with all (P9_25, 
> P9_28, P9_29, P9_31) the GPIO assignment in setup.sh. But, I'm still failing 
> with:
> 
> MACHINEKIT - 0.1
> Machine configuration directory is 
> '/home/machinekit/machinekit/configs/ARM.BeagleBone.Probotix'
> Machine configuration file is 'Comet_Metric.ini'
> Starting Machinekit...
> io started
> Unrecognized line skipped: POC FMS LEN DIAMCOMMENT
> halcmd loadusr io started
> Skip cape-universal overlay load with kernel >3.8.
> Comet.hal:20: insmod failed, returned -1:
> rtapi_app_main(hal_pru_generic): -1 Operation not permitted
> 
> Here's what I see in /var/log/linixcnc.txt
> 
> machinekit@beaglebone:~/machinekit$ cat  /var/log/linuxcnc.log
> Nov  1 18:33:14 beaglebone msgd:0: startup pid=4623 flavor=rt-preempt 
> rtlevel=1 usrlevel=1 halsize=524288 shm=Posix cc=gcc 4.9.2  
> version=v0.1~-detached~fd30aa2
> Nov  1 18:33:14 beaglebone msgd:0: ØMQ=4.0.5 czmq=4.0.2 protobuf=2.6.1 
> atomics=gcc intrinsicslibwebsockets=
> Nov  1 18:33:14 beaglebone msgd:0: configured: sha=fd30aa2
> Nov  1 18:33:14 beaglebone msgd:0: built:  Oct 28 2017 06:41:40 
> sha=fd30aa2
> Nov  1 18:33:14 beaglebone msgd:0: register_stuff: actual hostname as 
> announced by avahi='beaglebone.local'
> Nov  1 18:33:14 beaglebone msgd:0: zeroconf: registering: 'Log service on 
> beaglebone.local pid 4623'
> Nov  1 18:33:15 beaglebone msgd:0: zeroconf: registered 'Log service on 
> beaglebone.local pid 4623' _machinekit._tcp 0 TXT 
> "uuid=a42c8c6b-4025-4f83-ba28-dad21114744a" 
> "instance=1ee034c8-bf33-11e7-a2ac-6cecebb9ef46" "service=log" 
> "dsn=ipc:///tmp/0.log.a42c8c6b-4025-4f83-ba28-dad21114744a"
> Nov  1 18:33:16 beaglebone rtapi:0: rtapi_app_main(hal_pru_generic): -1 
> Operation not permitted
> 
> This looks like the PRU isn't setup?
> The Comet configuration uses two Y axis in the gantry code which is a little 
> bit out of the ordinary. I could try some other configs if that would narrow 
> down the problem.

There was some re-arranging of pru_generic.bin location.
https://github.com/machinekit/machinekit/pull/1279

Can you show a more detailed output by first doing:
export DEBUG=5

Then run machinekit and check what /var/log/linuxcnc.log file shows

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Re: [Machinekit] MachineKit Install directions (Cape, U-boot, Device Tree Overlay confusion)

[Bas de Bruijn]

> On 1 Nov 2017, at 21:42, Jerry Trantow  wrote:
> 
> 8) export DEBUG=5 and run MachineKit again.
> MACHINEKIT - 0.1
> Machine configuration directory is 
> '/home/machinekit/machinekit/configs/ARM.BeagleBone.Probotix'
> Machine configuration file is 'CometNP_Metric.ini'

The problem could be this line:
https://github.com/machinekit/machinekit/blob/master/configs/ARM/BeagleBone/Probotix/CometNP_Metric.ini#L8

Can you you remove xenomai and try again?

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Re: [Machinekit] QML Live Coding with MachinekitClient

[Bas de Bruijn]

> On 08 Nov 2017, at 20:01, Alexander Rössler  
> wrote:
> 
> Hello everyone,
> 
> I have added a new feature to MachinekitClient that enables you to edit
> QtQuickVcp UIs without the QtSDK installed on your system.
> 
> A video introducing the feature is here: https://youtu.be/B5rYhq06wio
> 
> Greetings,
> Alex

Wicked!

Request for when you are bored brainless:
Could you do a similar tutorial on the proper techniques of UI development? 
nothing fancy, but just like how to break up a large file into smaller ones, 
the use of tabs etc? I’ve got a horrible big file which I’d like to split up.

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Re: [Machinekit] real time CNC using Python on Pi3

[Bas de Bruijn]

> On 20 Nov 2017, at 20:07, Charles Steinkuehler  
> wrote:
> 
>> On 11/20/2017 11:36 AM, John Morris wrote:
>> 
>>> On 11/20/2017 04:09 AM, Chris Albertson wrote:
>>> I just found this other project.  It is a g-code interpreter that
>>> runs on RPi3 boards and other ARMs like that.
>>> 
>>> What is interesting is that it is written in 100% python and they
>>> get very good real time step generation using the standard non-real
>>> time kernel.  Yes python step generation and standard Linux
>>> 
>>> How?
>>> 
>>> The method is so simple I'm mad at myself for not thinking of it. 
>>> They use an ARM DMA channel to copy bits to GPIO.If you set up
>>> bits in RAM correctly the DMA copies them using hardware with zero
>>> software overhead, the bits are clocked with the system crystal
>>> clock.  Nearly zero jitter. The method is portable across any ARM A
>>> type.
>>> 
>>> DMA seem an obvious solution.   I think the idea could be adapted to
>>> MK.
>>> 
>>> This appears to be new, code put in git hub 2017
>>> https://github.com/Nikolay-Kha/PyCNC
>> 
>> Clever indeed.  It would be neat to see a HAL comp using that scheme.
> 
> This is a classic technique used to generate high precision pulse
> trains.  In the old (pre-DMA) days we'd also use a serial ports to
> output pulses with accurate timings.  Particularly the fancy ports
> with a small FIFO made it a lot easier to get good results than raw
> bit-twiddling with the CPU.  :)
> 
> If anyone wants to write a HAL module for this it would be a welcome
> addition.  It could give the RPi reasonable stepgen performance.

So is there no need for an Realtime kernel? How can one be sure that the HAL 
realtime thread is finished on time?

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Re: [Machinekit] Looking for examples of conversational machine interface

[Bas de Bruijn]

> On 20 Nov 2017, at 00:29, Chris Albertson  wrote:
> 
> 
> 
> As the title says.  I'm collecting ideas and the best place to start is with 
> good examples of what is currently available today.
> 
> A conversational interface to a milling machine is one that does not expose 
> G-Code or CAD/CAM to the user.  The user "tells" the machine what he wants, 
> usually by selecting from a short menu.  The machine provides a preview of 
> what he asked for.  Possibly the user sees a mistake and makes a correction 
> and then finally says "Do it."
> 
> There are some serious limits to what can be done with this kind of 
> interface.  But also the simple kinds of operations that can be done are 
> common and useful.   For example surface milling a large flat area, boring a 
> hole of a given diameter and depth or making a pocket.
> 
> What I'm looking for is examples of this kind of user interface and opinions, 
> good or bad.  Anyone have links to products and experience (good or bad) 
> using them.
> 
> My goals to make something VERY SIMPLE to do one-off machine tasks.  This 
> kind of software is NOT real-time so it could run on any hardware, even a 
> cell phone.
> 
> Please don't say you would never us this because you write g-code.  No, you 
> do that only because it is the least bad option.
> 
> 
> Sorry to cross post this.  I know some of you will see this twice

I don't think this will be what you look for wrt interface, but here is a very 
simple program/repo for doing just an xyz interpolated move.

https://github.com/luminize/mk-xyz-config/tree/170901

The points given in the array 
https://github.com/luminize/mk-xyz-config/blob/170901/machineclass.py#L34
are played out via a state machine
https://github.com/luminize/mk-xyz-config/blob/170901/machineclass.py#L52
And a queue
https://github.com/luminize/mk-xyz-config/blob/170901/machineclass.py#L210

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Re: [Machinekit] Home switches randomly triggered.

[Bas de Bruijn]

> On 21 Nov 2017, at 20:27, cmcclos...@phillips-safety.com wrote:
> 
> I'm using 24v hall effect proximity switches linked to a mechanical relay to 
> interface with the logic voltage (3.3v). I am not using a resistor, should I 
> be adding it on the 24v side or the 3.3v side? 

Mechanical relays are a great way to introduce spikes/noise. You could start 
out with wiring a diode parallel on the coil contact points, so that when the 
coil is disconnected the induced current (the current will want to keep 
flowing) of the coil can be dissipated ( not sure if my translation is correct )

Or better: remove the mechanical relays :)

> 
>> On Tuesday, November 21, 2017 at 12:35:44 PM UTC-6, Eric Keller wrote:
>> This is obviously a hardware issue that has nothing to do with the software. 
>>  Nothing hooked up to inputs is not that great for noise immunity.  A limit 
>> switch grounding a power supply through a resistor should be pretty immune 
>> to noise, is that what you are doing? Shields probably not required.
>> Eric Keller
>> Boalsburg, Pennsylvania
>> 
>>> On Tue, Nov 21, 2017 at 12:13 PM,  wrote:
>>> I've managed to get up and running with machinekit except for being able to 
>>> set up home switches. Even with no wires connected to the home switch pins, 
>>> the home switch input will sporadically be triggered as soon as the machine 
>>> is powered up. It None of the stepper motor cables are shielded, but I 
>>> still would not expect noise to be triggering endstops without any wires 
>>> leading to the inputs. Is there some way to resolve this issue? Should I 
>>> physically move the beaglebone away from all the other hardware? Or is 
>>> something else going on here that I don't understand?
>>> 
>>> My configuration is just the default Xylotex board. 
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>> 
> 
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Re: [Machinekit] help upgrading to latest 4.14 kernel machinekit image

[Bas de Bruijn]

> On 14 Dec 2017, at 20:06, Robert Nelson  wrote:
> 
> On Thu, Dec 14, 2017 at 12:37 PM, John Allwine  > wrote:
>> Looks like it:
>> git:/opt/scripts/:[ef2c5982e3788e07d9ec4a3d23089dc5e5a3f9cd]
>> eeprom:[A335BNLT000C1625BBBG0497]
>> model:[TI_AM335x_BeagleBone_Black]
>> dogtag:[Machinekit Debian Image 2017-12-10]
>> bootloader:[eMMC-(default)]:[/dev/mmcblk1]:[U-Boot
>> 2018.01-rc1-2-g87ef84]
>> kernel:[4.14.4-bone-rt-r7]
>> nodejs:[v4.8.7]
>> uboot_overlay_options:[enable_uboot_overlays=1]
>> uboot_overlay_options:[uboot_overlay_addr0=/lib/firmware/PocketNCdriver-00A0.dtbo]
>> uboot_overlay_options:[uboot_overlay_pru=/lib/firmware/AM335X-PRU-UIO-00A0.dtbo]
>> uboot_overlay_options:[enable_uboot_cape_universal=1]
>> pkg:[bb-cape-overlays]:[4.4.20171207.0-0rcnee1~jessie+20171207]
>> pkg:[bb-wl18xx-firmware]:[1.20170829-0rcnee1~jessie+20170829]
>> pkg:[firmware-ti-connectivity]:[20170823-1rcnee0~jessie+20170830]
> 
> Okay everything is setup correctly in u-boot/kernel for using the pru
> over uio...
> 
> is there a way to enable more verbosity in the linuxcrc log file..
> 
> rtapi_app_main(hal_pru_generic): -1 Operation not permitted

before starting machinekit from the terminal do an “export DEBUG=5” which will 
give a more fine-grained debug output in /var/log/linuxcnc.log

> 
> Regards,
> 
> 
> -- 
> Robert Nelson
> https://rcn-ee.com/
> 
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Re: [Machinekit] Is there any interest in a turnkey solution?

[Bas de Bruijn]

Hi Alexander,

> On 15 Dec 2017, at 13:56, Alexander Rössler  
> wrote:
> 
> Hello everyone,
> 
> I'm wondering if you or anyone you know would be interested in a turnkey
> solution based on Machinekit.

short answer: yes


long answer: see below

> From what I have seen so far, it looks like a lot people are struggling
> with the basics of getting Machinekit up and running.
> 
> Even if you buy a well supported BBB cape and you are lucky to get the
> Machinekit image running in one try, you still need to setup Machinekit
> for your particular machine. Right now, you will not get around basic
> Linux skills to do this.
> 
> I was thinking about creating a Mach3 alike solution based on
> Machinekit. Not including the bad parts of Mach3, but the good ones like
> proper (runtime) configuration wizards and an easily re-configurable UI.
> 
> However, I don't think it's possible to create such a system just on the
> side, because if you already know Machinekit in and out, then you just
> don't have the incentive to build it. Also I don't think it's
> financially possible to fund such a thing just by selling electronics
> with Machinekit support at the marginal production costs, or else we
> would have already seen it.
> 
> So I wonder if you would be willing to pay more for a turnkey Machinekit
> solution that is easy to setup, easy to use and simply works.

What I would like, and be willing to pay for, is a system - be it Beaglebone 
Black, Beagleboard X15, a De0 nano or similar board, or a PC with mesa cards, 
depending on the need of the application - where I would have a program that 
helps setting up an (initial) application which is not a CNC application per 
se. Better still, a program which can change the initial setup easily when a 
project matures. This would have to be done on proper hardware of which I or a 
customer would be convinced that it’s still available in 7 or 10 years. Not 
only the PC/Board, but the cape and daughter boards as well.

I (and I hope machine builders too) would pay for an application which sets up 
machine behaviour, and forces a user to write behaviour that’s not resulting in 
spaghetti code. So that the end user can open the configuration, and see what 
behaviour the machine has and not worry about the colleague who wrote bad code 
and has left the company 4 years ago).

> I personally don't like the idea of hiding the costs for creating such
> system in the final costs of the electronics. So this would be mean paying for
> extra software on top of Machinekit.

Sure, provide the hardware, and the installation/basic configuration as a 
service. As long as one has the confidence that it’s better set up, and faster 
to start with than doing it all yourself it’s an easy calculation in a customer 
project. Even if one has configured machines before and knows its way around 
Machinekit.

> All in all, this would come down to the idea of using Machinekit just
> because it's gratis or because it's great. In my opinion, if you are
> just looking for a cheap solution, then you might be better of with grbl
> anyway.

> From what I have seen so far, there is nothing that fills this
> market. Being easy to use and user friendly, being scale-able from a 7$
> ARM computer up to a high end x86 machine and with good commercial
> support.
> 
> I really would like to invest more time into improving Machinekit and in
> my opinion being a commercial baker of an open source project is the
> most efficient way to do this.
> 
> For you as a community member this would mean more work being put into
> improving Machinekit, for you as potential commercial user of Machinekit
> this would mean less development costs and better support, for me this
> would mean I can spend more time doing what I like. Sounds like a win,
> win, win situation, doesn't it?
> 
> Please let me know what you think. If you don't want to respond
> publicly, feel free to shoot me a PM.
> 
> Best regards,
> Alexander


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Re: [Machinekit] Is there any interest in a turnkey solution?

[Bas de Bruijn]

> On 16 Dec 2017, at 12:10, Alexander Rössler  
> wrote:
> 
> 
> Bas de Bruijn writes:
> 
>> Hi Alexander,
>> 
>>> On 15 Dec 2017, at 13:56, Alexander Rössler  
>>> wrote:
>>> 
>>> Hello everyone,
>>> 
>>> I'm wondering if you or anyone you know would be interested in a turnkey
>>> solution based on Machinekit.
>> 
>> short answer: yes
>> 
>> 
>> long answer: see below
>> 
>>> From what I have seen so far, it looks like a lot people are struggling
>>> with the basics of getting Machinekit up and running.
>>> 
>>> Even if you buy a well supported BBB cape and you are lucky to get the
>>> Machinekit image running in one try, you still need to setup Machinekit
>>> for your particular machine. Right now, you will not get around basic
>>> Linux skills to do this.
>>> 
>>> I was thinking about creating a Mach3 alike solution based on
>>> Machinekit. Not including the bad parts of Mach3, but the good ones like
>>> proper (runtime) configuration wizards and an easily re-configurable UI.
>>> 
>>> However, I don't think it's possible to create such a system just on the
>>> side, because if you already know Machinekit in and out, then you just
>>> don't have the incentive to build it. Also I don't think it's
>>> financially possible to fund such a thing just by selling electronics
>>> with Machinekit support at the marginal production costs, or else we
>>> would have already seen it.
>>> 
>>> So I wonder if you would be willing to pay more for a turnkey Machinekit
>>> solution that is easy to setup, easy to use and simply works.
>> 
>> What I would like, and be willing to pay for, is a system - be it
>> Beaglebone Black, Beagleboard X15, a De0 nano or similar board, or a
>> PC with mesa cards, depending on the need of the application - where I
>> would have a program that helps setting up an (initial) application
>> which is not a CNC application per se. Better still, a program which
>> can change the initial setup easily when a project matures. This would
>> have to be done on proper hardware of which I or a customer would be
>> convinced that it’s still available in 7 or 10 years. Not only the
>> PC/Board, but the cape and daughter boards as well.
> Interesting thought, that might be hard to prove when you start out with
> the business. Do you think it would help to make the hardware open
> hardware and select proper components with long term support? So in case
> the company goes bankrupt (which I don't hope) the customer still can go
> to hardware manufacturer XYZ to produce the electronics themselves?

This might help, though that’s just my common sense feeling. In the end a small 
machine manufacturer does not want to build their own electronics. They just 
want to buy something they can use, they can refer to in their (service) 
manual, keep on stock, and not worry about the pains of manufacturing their own 
board.
However, if there are alternative manufacturers (which can be easier if one 
uses an open source hardware design) which have a “stamp of approval” and you 
can support in your turnkey setup then this would lower (but im not sure of it 
will entirely take away some fear) the barrier i think.

> I rarely have seen open hardware projects that are sold commercially in
> this industry. I wonder why, maybe too much IP involved in the process
> or to easy to copy by knock-off companies? On the other hand, if you
> business models focuses around software, a knock-off product wouldn't be
> easy to build.

It’s mostly the manufacturers of brands that keep their hardware closed because 
their business model is about making money on selling the hardware and they 
have to provide software to use their hardware (and in a lot of cases you’ll 
pay for the software to use their hardware too). Each brand has their USP, and 
when a manufacturer has chosen a brand, they are hooked (see paragraph below). 
Brands don’t have incentive to be interchangeable.

Industry (OEM) has other demands than consumers/makers/tinkerers/one-offs. 
Buyers of these components don’t care about the PCB, components and the like. 
They just need it to be available for a long time and it needs to work in an 
industrial environment. They need to have not rewrite their entire codebase 
even if they must switch to other hardware manufacturers (hence the IEC-61131 
which is _almost_ useable on different brands. Excluded the brand specific 
hardware libraries of course).
Imagine a small (OEM) manufacturer with 2 engineers and 2 service persons who 
sells 20 machines per year, what it would mean to switch

Re: [Machinekit] loadrt motmod not permitted

[Bas de Bruijn]

Hi Jeff,

> On 18 Dec 2017, at 18:09, Jeff Washburn  wrote:
> 
> There must be a permission file. The linuxcnc_module_helper documentation 
> implies that there is a group list somewhere.
> 
> This happens whether it's a self generated halfile or one put together by 
> Pncconf.
> 
> Perhaps it's because the 5i25 is not hooked up to the G540?

What configuration do you use? A github repo you can link to? Pastebin? (No 
attachment please)

What does /var/log/linuxcnc.log say after starting your config after you've 
done "export DEBUG=5" in the terminal?

We cant guess what's going on.

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Re: [Machinekit] loadrt motmod not permitted

[Bas de Bruijn]

> On 19 Dec 2017, at 00:12, Jeff Washburn  wrote:
> 
> Here is the linuxcnc.log output:
> 
> Dec 18 16:04:06 debian msgd:0: startup pid=3743 flavor=rt-preempt rtlevel=1 
> usrlevel=1 halsize=524288 shm=Posix cc=gcc 6.3.0 20170516  
> version=v0.1~-~025ac3b
> Dec 18 16:04:06 debian msgd:0: ØMQ=4.2.1 czmq=4.0.2 protobuf=3.0.0 
> atomics=gcc intrinsicslibwebsockets=2.0.3
> Dec 18 16:04:06 debian msgd:0: configured: sha=025ac3b
> Dec 18 16:04:06 debian msgd:0: built:  Nov 17 2017 17:21:35 sha=025ac3b
> Dec 18 16:04:06 debian msgd:0: register_stuff: actual hostname as announced 
> by avahi='debian.local'
> Dec 18 16:04:06 debian msgd:0: zeroconf: registering: 'Log service on 
> debian.local pid 3743'
> Dec 18 16:04:07 debian rtapi:0: rtapi_app_main(motmod): -1 Operation not 
> permitted
> Dec 18 16:04:07 debian msgd:0: zeroconf: registered 'Log service on 
> debian.local pid 3743' _machinekit._tcp 0 TXT 
> "uuid=a42c8c6b-4025-4f83-ba28-dad21114744a" 
> "instance=bfcb122a-e447-11e7-9912-b8ac6fa25b72" "service=log" 
> "dsn=ipc:///tmp/0.log.a42c8c6b-4025-4f83-ba28-dad21114744a"
> Dec 18 16:04:09 debian rtapi:0: unload: 'gantrykins' not loaded
> Dec 18 16:04:09 debian msgd:0: rtapi_app exit detected - scheduled shutdown
> Dec 18 16:04:11 debian msgd:0: msgd shutting down
> Dec 18 16:04:11 debian msgd:0: zeroconf: unregistering 'Log service on 
> debian.local pid 3743'
> Dec 18 16:04:11 debian msgd:0: log buffer hwm: 0% (0 msgs, 0 bytes out of 
> 524288)
> Dec 18 16:04:11 debian msgd:0: normal shutdown - global segment detached
> 
> for this input from the halfile:
> 
> # Generated by PNCconf at Mon Dec 18 08:40:09 2017
> # If you make changes to this file, they will be
> # overwritten when you run PNCconf again
> 

Have a look at this configuration hal file
https://github.com/machinekit/machinekit/tree/master/configs/hm2-stepper

Especially the part about the "loadrt tp" and the next line where you also 
should load the tp=... and kins=...

> loadrt gantrykins coordinates=XYYZ
> loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD 
> num_joints=[TRAJ]AXES
> loadrt probe_parport
> loadrt hostmot2
> loadrt hm2_pci config=" num_encoders=1 num_pwmgens=0 num_3pwmgens=0 
> num_stepgens=5 sserial_port_0=00xx " 
> setp hm2_5i25.0.watchdog.timeout_ns 1000
> loadrt abs names=abs.0,abs.1,abs.2,abs.3,abs.4
> 
> truncated at the end of the core input. This is from the Pncconf generated 
> version. I have debug=5 in the INI.
> 
>> On Monday, December 18, 2017 at 11:26:35 AM UTC-7, Bas de Bruijn wrote:
>> Hi Jeff,
>> 
>>> On 18 Dec 2017, at 18:09, Jeff Washburn  wrote:
>>> 
>>> There must be a permission file. The linuxcnc_module_helper documentation 
>>> implies that there is a group list somewhere.
>>> 
>>> This happens whether it's a self generated halfile or one put together by 
>>> Pncconf.
>>> 
>>> Perhaps it's because the 5i25 is not hooked up to the G540?
>> 
>> What configuration do you use? A github repo you can link to? Pastebin? (No 
>> attachment please)
>> 
>> What does /var/log/linuxcnc.log say after starting your config after you've 
>> done "export DEBUG=5" in the terminal?
>> 
>> We cant guess what's going on.
> 
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Re: [Machinekit] Re: When machinekit icon is clicked, linuxcnc error message results

[Bas de Bruijn]

> On 20 Dec 2017, at 19:24, John Hammond  wrote:
> 
> Thanks for info Schooner.
> I copied files from BeagleBone Black to SD card.

Hi John,
If you are running on a beaglebone black, how come you have a “parport”? what 
configuration do you use?
Did you copy a configuration from a PC and use that? 

> The LinuxCNC Error file, I copied from terminal to clipboard and made txt 
> file.
> Attached are the files. I get and error about parport 0 and will try to edit 
> hal file changing Loadrt parport "0 out" to Loadrt parport "0x378 out" (as 
> shown in LinuxCNC Forum #84912) next. I haven't looked at the hal file yet 
> but will within 2 hours.
> Thanks,
> John
> 
> On Monday, December 18, 2017 at 4:22:14 PM UTC-8, John Hammond wrote:
> Linuxcnc error terminal window appears, but nothing runs. 
> I can start linuxcnc by opening terminal window and entering “linuxcnc &” . 
> This stops when it does not find my configuration file. 
> I have copied the linuxcnc error message along with two other files that are 
> created. I am willing to attach those files if shown how. 
> Thank you, 
> John Hammond 
> 
> 
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Re: [Machinekit] Re: When machinekit icon is clicked, linuxcnc error message results

[Bas de Bruijn]

> On 20 Dec 2017, at 22:12, John Hammond  wrote:
> 
> Actually I just copied the settings that I had used before in the PC setup 
> into the stepconf.

Stepconf shouldn't be able to generate configs for a BBB. So take your 
generated config and change the part for the parport driver to use the hal PRU 
driver. I'd suggest looking at a CRAMPS configuration for that (config/arm 
section) and change the pinout to suit your HobbyCNC board. (I'm not familiar 
with that one)

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Re: [Machinekit] rtapi_app_main(motmod): -1 Operation not permitted

[Bas de Bruijn]

> On 22 Dec 2017, at 03:25, steve.bette...@gmail.com wrote:
> 
> My OS is Lubuntu 17.10, board CPU is ATOM, Linux Kernel is 4.14.6-rt-preempt.
> I build machinekit from source with command below:
> cd src
> ./autogen.sh
> ./configure --with-rt-preempt
> make
> sudo make setuid
> 
> source ../scripts/rip-environment
> machinekit
> 
> ("touch /var/log/linuxcnc.log", chmod, etc Needed, After That)
> 
> I get the following error:
> 
> Starting Machinekit...
> io started
> halcmd loadusr io started
> emcweb.hal: 4: insmod failed, return -1;
> rtapi_app_main(motmod): -1 Operation not permitted.
> 
> 
> Can every on help? Thank you!

Probably not because we cannot guess. Please read the getting help page on the 
website which will help you get response.

Please search this Google group too because the same question has been asked a 
few days ago. You probably need to fix your configuration/hal file.

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Re: [Machinekit] Re: BBB and new cramps board delta homing problems

[Bas de Bruijn]

> On 7 Jan 2018, at 17:16, gary  wrote:
> 
> Ok i will give it a try, the setup was copied from my BeBoPr++ board as far 
> as far as home and offsets speeds exc,,,

You should probably check/compare your config with an original CRAMPS config to 
see if all the right pins are used.

> 
> Thanks gary
> 
>> On Saturday, January 6, 2018 at 8:42:16 PM UTC-5, gary wrote:
>> I just connected a BBB and Cramps board to my delta printer, but i have been 
>> having homing problem
>> I have optic switches installed if i go into the hal configuration when 
>> machinekit it booted, and then to the show  window with xmax ymax and zmax 
>> displayed  then when axis's are off the switches there red, and when i 
>> trigger the switches they turn yellow
>> So i assume the switches are working and being read by the software.
>> 
>> But when i do home all the motors they move up to the switches in the 
>> correct direction but never stop just keeps running into the optic end stops 
>> and i have to power down..
>> 
>> any suggestions?
>> 
>> Thanks gary
> 
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Re: [Machinekit] Re: BBB and new cramps board delta homing problems

[Bas de Bruijn]

> On 7 Jan 2018, at 23:19, gary  wrote:
> 
> I set home_sequence to 0 1 2 and the search_vel to 3.5 and latch to 1 then 
> ran the halmeter runs real slow like real real slow even at the old settings 
> it was running real slow don't think it was going anywhere fast enough to run 
> right though the stops i could sit there and wait a few seconds for it to run 
> though the stops and go from false to true and still be able  to kill it 
> before ramming into the stops.  
> 
> tried X it didn't home X, it Homed the Z axis and stayed false on the 
> halmeter for max X limit of course the axis never moved
> tried Y it didn't home Y, it Homed the Z axis and stayed false on the 
> halmeter for max Y limit of course the axis never moved
> tried Z it  homed  Z,  it Homed the Z axis and turned to True but keep going 
> thought the switch till it turned  false again on the halmeter for max Z 
> limit  and event though it turned true it didn't stop homing
> So for some reason when i home one axis it only moves the Z no matter what 
> axis is checked. but the dro changes for the correct axis 
> when i have home_sequence set to 0 0 0 and home all then all 3 will move but 
> don't stop on True trigged
> 
> For Bas De Bruijn
> I can't use the same pins my original pins were setup for the bebopr board.. 
> if I'm not mistaken cramps pin numbers are different.

Good, that was my idea. Not forgetting to use the CRAMPS pins instead of the 
bebopr pins.

> Thanks gary 
> 
>> On Saturday, January 6, 2018 at 8:42:16 PM UTC-5, gary wrote:
>> I just connected a BBB and Cramps board to my delta printer, but i have been 
>> having homing problem
>> I have optic switches installed if i go into the hal configuration when 
>> machinekit it booted, and then to the show  window with xmax ymax and zmax 
>> displayed  then when axis's are off the switches there red, and when i 
>> trigger the switches they turn
>> So i assume the switches are working and being read by the software.
>> 
>> But when i do home all the motors they move up to the switches in the 
>> correct direction but never stop just keeps running into the optic end stops 
>> and i have to power down..
>> 
>> any suggestions?
>> 
>> Thanks gary
> 
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Re: [Machinekit] Re: BBB and new cramps board delta homing problems

[Bas de Bruijn]

> On 13 Jan 2018, at 15:34, gary  wrote:
> 
> thanks got it was using lower caps j guess it had to be upper caps J
> the doc's said to set all joints to 0 after finished and  homed, is this 
> correct don't want the z to be zero at home?
> Set all the debug pins lineardeltakins.J{n}off to zero.

When you've calibrated, you have to correct the home distances in your i Ini 
file, because without that, the next time you start your machine everything 
will be forgotten.

> 
>> On Saturday, January 6, 2018 at 8:42:16 PM UTC-5, gary wrote:
>> I just connected a BBB and Cramps board to my delta printer, but i have been 
>> having homing problem
>> I have optic switches installed if i go into the hal configuration when 
>> machinekit it booted, and then to the show  window with xmax ymax and zmax 
>> displayed  then when axis's are off the switches there red, and when i 
>> trigger the switches they turn yellow
>> So i assume the switches are working and being read by the software.
>> 
>> But when i do home all the motors they move up to the switches in the 
>> correct direction but never stop just keeps running into the optic end stops 
>> and i have to power down..
>> 
>> any suggestions?
>> 
>> Thanks gary
> 
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Re: [Machinekit] Re: BBB and new cramps board delta homing problems

[Bas de Bruijn]

> On 13 Jan 2018, at 20:06, gary  wrote:
> 
> is there a formula for calculating the radius to figure the distance i need 
> to change it after all corners are done?
> 
> I have the 3 corners set so there is slight drag on paper, now the center is 
> 0.5 above 0.0.

No there isn't. You have to change the delta radius so in small steps so that 
the you have the same drag at (0,0) as at one of your towers.

> 
> Thanks gary  
> 
>> On Saturday, January 6, 2018 at 8:42:16 PM UTC-5, gary wrote:
>> I just connected a BBB and Cramps board to my delta printer, but i have been 
>> having homing problem
>> I have optic switches installed if i go into the hal configuration when 
>> machinekit it booted, and then to the show  window with xmax ymax and zmax 
>> displayed  then when axis's are off the switches there red, and when i 
>> trigger the switches they turn yellow
>> So i assume the switches are working and being read by the software.
>> 
>> But when i do home all the motors they move up to the switches in the 
>> correct direction but never stop just keeps running into the optic end stops 
>> and i have to power down..
>> 
>> any suggestions?
>> 
>> Thanks gary
> 
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Re: [Machinekit] Machinekit BBB getting started......

[Bas de Bruijn]

Hi Erik

> On 18 Jan 2018, at 05:19, Erik Green  wrote:
> 
> Hello everyone.  I am a Machinekit wannabe with the intention of using it to 
> integrate a servo system.  Spent the last week studying .ini and .hal files 
> to get a feel for building/modifying them.
> I'm trying to experiment with BBB hardware under HALRUN and I'm having no 
> luck  getting any drivers to load.
> 
> Can anyone point me in the right direction to begin understanding/loading the 
> hal_arm335xQEP and Hal_Pru_Generic drivers.
> 
> It would be nice to have an 'idiots guide' for us neophytes the can barely 
> make our way around linux but have no problem following 
> step by step type guides etc.
> 
> Appreciate any help given.

Have a look at how things are done in the CRAMPS hal file.
If you type halrun -I at the terminal you can use the commands and see what's 
happening.
If you first 'export DEBUG=5' before halrun you get feedback.

Also check /var/log/linuxcnc.log to see the debug output.

If you want to run a single command then you can type in the terminal 'halcmd 
' where  can be something like "show pin" or "loadrt 

Start here:
http://www.machinekit.io/docs/index-HAL/

> 
> 
> 
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Re: [Machinekit] Re: comp missing

[Bas de Bruijn]

> On 20 Jan 2018, at 19:37, gary  wrote:
> 
> tried it and now get the insmod failed-1 message
> didn't get any errors removing or installing all went smooth

We cannot help you with this.
Please read thru the getting help section in the documentation.

Looking at error logs is not optional. It's mandatory. Your message says us 
nothing, and you should do some investigation yourself if you want to increase 
your chance on success.

This has been said on this group before:
Before running Machinekit: 'export DEBUG=5'
Then look at the /var/log/linuxcnc.log contents and study that to see if you 
can make sense on the error output. No use copy-paste this before you've had a 
look yourself.

Tell us your exact setup, the exact configuration you run, etc etc.
Link to your GitHub branch if you have it. Or the reference on the config you 
run.

Then search this group for the error you got, and if that is not clear then go 
ahead and ask.

This may sound a bit harsh but if you show us what you have already done, we 
don't have to puzzle and you increase the chances of a satisfactory solution.

Bas


> 
> gary
> 
>> On Friday, January 19, 2018 at 8:38:59 PM UTC-5, gary wrote:
>> comp missing, i installed a machinekit iso package and i am getting the 
>> error comp missing
>> its a older package from debian 7.9,  is it missing in the older packages?.
>> 
>> I don't seem to be able to do an update, upgrade every time i do then i 
>> can't boot machinekit it errors out and aborts
>> tried a number of times reinstalled the package and then did update upgrade 
>> and never could run machinekit after that
>> 
>> any one run into this?
>> 
>> thanks gary
> 
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Re: [Machinekit] Project suggestion

[Bas de Bruijn]

Hi Marco,

> On 30 Jan 2018, at 18:57, Marco Negrini  wrote:
> 
> Hi everybody,
> 
> I have an idea for a project, but I would really like to know what all of you 
> think about it.
> 
> I am going to develop a project involving RasperryPi with Machinekit and and 
> a MCU from Microhip (atsame54 in particular).
> 
> The main part of the project is implementing the Hardware Abstraction Layer 
> on the MCU, and making it communicate with the RPi via SPI (or any other 
> protocol, for what is worth)
> The idea is copying the Sitara (ARM processor with PRU embedded) with RPi and 
> MCU.
> The Machinekit in the Rpi should see the HAL modules in the MCU and manage 
> signals througth them, just like native modules.
> 
> The MCU should have some predefined HAL module i.e. a PWM module allocable 
> for certain PINs that takes PWM value from other module i.e a PID.
> Examples for MCU modules are PWM, frequency meter, a simple contact, a motor 
> stepgen, a timer, logic (and, or, xor..), a coutner, a limiter... I think you 
> got the idea.
> HAL signals should be able to go from and to any device (RPi-RPi / MCU-RPi / 
> RPi-MCU / MCU-MCU)
> I think I can make it by implementing an HAL module for the RPi that 
> communicates via SPI with the MCU, where the firmware receives the HAL 
> configuration (modules to load and connection between them).
> 
> The reason behind all that is making a PLC where Rpi and MCU cooperate to 
> manage complex interfaces (video, ethernet, usb) and the machine (fast PWM, 
> analogic signal, and a big number of PIN), and it would solve a problem of 
> the comunication between the two.
> I.e a thing like OpenPLC uses just readPin(pin) writePin(Pin, value) to 
> manage the communication, so the MCU is simply a pin expansion, I think it 
> can do more. 
> One thing that I consider important is that the MCU could (given the right 
> implementation...) be stand alone, so RPi could be rebooted or removed where 
> not necessary (cheaper PLC where no video is requested)
> 
> What do you think about all that? Does it make sense?

my 2 cents:

I think that MK HAL on “dedicated platform x” has less value.
The power of the HAL is like the name, the Hardware Abstraction Layer. And what 
you’re proposing is to add HAL on a specific hardware, and thus removing the 
“A” in HAL.

What makes more sense is a HAL driver with defined communication between 
“hardware x” and the host. Then the messaging part of "hardware x” could be 
implemented on the hardware specific stuff.
In essence the PRU’s on a sitara chip take care of hard realtime stuff (PWM, 
step generating, encoder), and communicate in a latency low way with the 
realtime thread on the main processor. So I’m not clear on the benefits of 
using a Rpi with additional hardware. Seems like a lot of work for something 
that’s already there.

What problem are you exactly trying to solve?

I see a lot of other considerations too. Is this a one-off project “because it 
can be done”? Have you considered what happens if people are going to ask for 
support? Can you support that? Do you expect other people to join in?
You talk about making a PLC out of the Rpi and MCU. Are you going to make a 
product out of this?


> Is there anything that I can / should use to avoid reinvent the wheel or to 
> stick to an API?
> I am referring to protobuf, or any piece of Machinetalk. Anything that I 
> should look before starting?
> 
> Obviously all of this would work with BB instead of RPi, but there is no 
> reason for having both MCU and PRU.
> 
> Any question is welcome! This could be my graduating project, I will talk 
> about it with the prof. in these days.
> 
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Re: [Machinekit] Re: machinekit stretch error help

[Bas de Bruijn]

> On 6 Feb 2018, at 02:05, gary  wrote:
> 
> application-specific initialization failed: no display name and no $DISPLAY 
> environment variable

Try googling the error. Solutions mention using the -X or -Y option with using 
ssh like Marco pointed to.
This is not a Machinekit error. 

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Re: [Machinekit] Hal pin problem?

[Bas de Bruijn]

> On 12 Feb 2018, at 17:28, gary  wrote:
> 
> I am getting an error lineardelta.hal:739: parameter or pin 
> 'hpg.pwmgen.00.out.04.pin' not found
> can't seem to find the error or why the pin is not found

Have a look at where you set up the hpg component. It looks like you do not 
instantiate a 5th pwmgen. But without any links to your configuration setup 
this is impossible to guess.

Look for the config string in the beginning of the Hal where the hpg component 
is instantiated.

> i have it set
> got it here first then commented it out
> # E2 Heater FET 4
> #setp hpg.pwmgen.00.out.03.pin   921
> #setp hpg.pwmgen.00.out.03.enable1
> #setp hpg.pwmgen.00.out.03.value 0.0
> 
> now getting it at next one in line the fan 'hpg.pwmgen.00.out.04.pin' not 
> found
> 
> The bed, E0 and E1 are not having a pin problem
> 
> its with a cramps.hal I have used this config setup before no problem
> i am running, run.py and loading the cramps_bbio
> 
> any suggestions as where to look for the pin problem?
> 
> Thanks gary 
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[Bas de Bruijn]

> On 18 Feb 2018, at 09:40, Damien D  wrote:
> 
> That's why I would like to know the list of G-codes command supported by 
> Machinekit/LinuxCNC

They are here: http://www.machinekit.io/docs/index-user/#using-machinekit

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Re: [Machinekit] Machinekit XHC-WHB04B-6

[Bas de Bruijn]

Hi Aurelien,

> On 23 Feb 2018, at 02:12, Aurelien  wrote:
> 
> this message is sended by the driver i have found the output text error in 
> source code
> 
>   xhc.hal = (xhc_hal_t *)hal_malloc(sizeof(xhc_hal_t));
>   if (xhc.hal == NULL) {
>   fprintf(stderr, "%s: ERROR: unable to allocate HAL 
> shared memory\n", modname);
>   exit(1);

Try this to see if you can get some info on why this happens.
Before you run Machinekit from terminal type:
export DEBUG=5

Then open /var/log/linuxcnc.log and see if you can find more info on the crash.

Please don't attach the log, but paste on pastebin.com 

The author opened some issues, that could be a starting point.
Issues 1254, 1255, 1256, 1257, 1266 and 1267

Bas

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Re: [Machinekit] Pico-Systems ppmc setup

[Bas de Bruijn]

> On 12 Mar 2018, at 15:48, Maxime Lemonnier  wrote:
> 
> Any interest in ROS, expecially ROS2?

ROS, absolutely. Work has been done on this in the past, and there's ongoing 
work on ros_control which is not mature enough yet.
Here's a link to a past GH issue.
https://github.com/machinekit/machinekit/issues/689
And a video of my robot running on Machinekit, planned by Moveit.
https://www.youtube.com/watch?v=h_oO0OhFvQY&app=desktop

Is there a reason why you specifically mention ROS2. Do you have a special need 
for that?

Bas

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Re: [Machinekit] Re: Replicape config adapted to Debian Stretch + kernel 4.14.x + delta support

[Bas de Bruijn]

> On 24 Mar 2018, at 20:54, Karl Jacobs  wrote:
> 
> I would be glad to, but I am bit of a noob in terms of github, I'm afraid. 
> Let me see if I get this right:
> 1) fork the machinekit repo, clone locally
> 2) create a new branch locally
> 3) add machinekit-replicape to the configs/ARM/BeagleBone folder
> 4) commit to branch
> 5) push to my fork
> 6) create pull request
> I hope I did not misuse this forum to teach me github...

We all have to start somewhere. You've got the above right.

Although this link is an example on making a PR for the documentation it can 
applied for the MK repo too.
http://www.machinekit.io/docs/documenting/contributing-documentation/#extending-documentation-locally

> 
> Am Samstag, 24. März 2018 19:46:05 UTC+1 schrieb Alexander Rössler:
>> 
>> Great work!
>> 
>> Can you please also push the config to 
>> https://github.com/machinekit/machinekit/tree/master/configs/ARM/ for other 
>> people as a reference?
>> 
>> Am Samstag, 24. März 2018 09:52:43 UTC+1 schrieb Karl Jacobs:
>>> 
>>> If anyone is interested, I forked and adapted the machinekit-replicape 
>>> config written by Sam Wong on 
>>> https://github.com/sam0737/machinekit-replicape
>>> to Debian Stretch and kernel 4.14.x. on a BeagleBoneBlack. You can find it 
>>> on https://github.com/airborneastro/machinekit-replicape
>>> The config supports velocity extrusion mode only.
>>> I added support for delta printers (lineardeltakins), M106 fan 
>>> functionality, M710 filament jog etc.
>>> I tested it with the B3A board revision and my Kossel Mini printer. From 
>>> Sam Wong's original version, the config should also support
>>>  CoreXY and cartesian geometries and should also work for board revision 
>>> A4A, all untested.
>>> My repository on github has a fairly extensive README that should get you 
>>> going even from scratch.
>>> Many posts in this forum were very helpful in getting things to work. 
>>> Thanks for that!
>>> Regards,
>>> Karl
> 
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Re: [Machinekit] LinuxCNC and BeagleBone Black - a road well travelled?

[Bas de Bruijn]

Hi Andrew,

> On 28 Mar 2018, at 18:50, Andrew Voelkel  wrote:
> 
> Hi,
> 
> I was referred to the MachineKit group after discussing plans to switch my 
> router machine control from Mach3 on Windoze. He told me that people are 
> using the PRU on the BBB to do the stepper motor control for LinuxCNC. That 
> sounded attractive. 
> 
> (I have a Gecko motor driver. My system is 4 motors, but only because the x 
> motor is mirrored.)
> 
> So I did a forum search here and it didn't really clear things up that much. 
> It was pretty down in the weeds.
> 
> What I'm trying to figure out is whether using MachineKit LinuxCNC and the 
> BBB with the PRU is standard fare or not. I have basically two choices as far 
> as I can tell:
> Use MachineKit and a BBB I have lying around, and the PRU as stepper control. 
> Ride off into the sunset.
> Use a Mesa 7i92 for stepper motor control and standard LinuxCNC instead of 
> MachineKit, making sure that I have a realtime kernel installed one way or 
> the other. I'd probably still use the BBB as my CPU.
Yes, BBB with Machinekit is standard fare. There are images you can put on an 
SD.
Charles has made the pru_generic driver, and that basically means that step 
generation is done on the PRU.

If you use the BBB, you’d have to make sure you get proper isolation from the 
BBB pins to whatever you use down the line. It’s easy to fry a BBB. So only a 
PRU does not do the job. It’s the electronics coming after.

Am I correct that you want to run the 7i92 from the BBB? Although I personally 
have no experience with this setup.

You have to take into account that the BBB is not great when it comes to 
graphics, Axis is known to have problems when you have a lot of small segments. 
So if you want to have proper screens you could use a proper PC (which IMO are 
not very expensive).

> Although I like the idea #1 above because it is a one board solution (and I 
> save $89), the most important thing is that I choose the system that is 
> easiest to set up and most reliable.

In that case (depending on your budget) I’d go for a PC with a mesanet card, 
like the 5i25_7i76
Or depending on your skills, do some level shifting and take care of the BBB 
pins to your drivers. Which should definitely be doable.

> 
> Does anyone have any opinions of which that might be? If both of these 
> configurations are regularly used, then I'll go with BBB and PRU and 
> MachineKit, since I can try it all out for the cost of my own time. But I 
> value my time so I don't want to get too experimental.
> 
> Thanks for any help!!
> 
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Re: [Machinekit] LinuxCNC and BeagleBone Black - a road well travelled?

[Bas de Bruijn]

> On 28 Mar 2018, at 22:02, Rick Mann  wrote:
> 
> I'm just starting on building a CNC router using MachineKit and a BBB. You'll 
> still need a board of some kind, if for no other reason than to isolate the 
> BBB from the rest of your system. I bought an OPTOCAPE ($165) to experiment 
> with, but I will be designing and building my own board at the same time 
> (mostly because I want all the right connectors on it).
> 
> So far, I have not had any success figuring out how to get MachineKit up and 
> running. I also haven't tried that hard, but it's really non-obvious, and 
> there are huge gaps in the documentation. I finally have enough pieces in 
> place to try this in earnest, but my shop office buildout has taken priority 
> (can't make room for the router until I finish that).

Hi Rick,

Can you give an example where you find documentation lacking?
here’s a link on how to set up Machinekit. 
http://www.machinekit.io/docs/getting-started/getting-started-platform/

> 
> I'm fairly sure MachineKit and BBB is the right way to go. MachineKit seems 
> to want a real-time Linux kernel even though I don't think it's necessary 
> because of the PRUs. There's also this project which might be worth 
> considering:

The PRU’s only do step generation. You basically want to have an RT kernel 
because you want to update the commanded position and read out the current 
position in a timely manner. RT preempt kernels are common enough not to have 
them build yourself. The Beagleboard has RT kernels.

> .
> 
>> On Mar 28, 2018, at 09:50 , Andrew Voelkel  
>> wrote:
>> 
>> Hi,
>> 
>> I was referred to the MachineKit group after discussing plans to switch my 
>> router machine control from Mach3 on Windoze. He told me that people are 
>> using the PRU on the BBB to do the stepper motor control for LinuxCNC. That 
>> sounded attractive. 
>> 
>> (I have a Gecko motor driver. My system is 4 motors, but only because the x 
>> motor is mirrored.)
>> 
>> So I did a forum search here and it didn't really clear things up that much. 
>> It was pretty down in the weeds.
>> 
>> What I'm trying to figure out is whether using MachineKit LinuxCNC and the 
>> BBB with the PRU is standard fare or not. I have basically two choices as 
>> far as I can tell:
>>  • Use MachineKit and a BBB I have lying around, and the PRU as stepper 
>> control. Ride off into the sunset.
>>  • Use a Mesa 7i92 for stepper motor control and standard LinuxCNC 
>> instead of MachineKit, making sure that I have a realtime kernel installed 
>> one way or the other. I'd probably still use the BBB as my CPU.
>> Although I like the idea #1 above because it is a one board solution (and I 
>> save $89), the most important thing is that I choose the system that is 
>> easiest to set up and most reliable.
>> 
>> Does anyone have any opinions of which that might be? If both of these 
>> configurations are regularly used, then I'll go with BBB and PRU and 
>> MachineKit, since I can try it all out for the cost of my own time. But I 
>> value my time so I don't want to get too experimental.
>> 
>> Thanks for any help!!
>> 
>> -- 
>> 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 
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>> For more options, visit https://groups.google.com/d/optout.
> 
> 
> -- 
> Rick Mann
> rm...@latencyzero.com
> 
> 
> -- 
> website: http://www.machinekit.io blog: http://blog.machinekit.io github: 
> https://github.com/machinekit
> --- 
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https://github.com/machinekit
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Re: [Machinekit] LinuxCNC and BeagleBone Black - a road well travelled?

[Bas de Bruijn]

> On 3 Apr 2018, at 06:54, Roderick Mann  wrote:
> 
> 
> 
>> On Mar 29, 2018, at 00:37 , Bas de Bruijn  wrote:
>> 
>> 
>>> On 28 Mar 2018, at 22:02, Rick Mann  wrote:
>>> 
>>> I'm just starting on building a CNC router using MachineKit and a BBB. 
>>> You'll still need a board of some kind, if for no other reason than to 
>>> isolate the BBB from the rest of your system. I bought an OPTOCAPE ($165) 
>>> to experiment with, but I will be designing and building my own board at 
>>> the same time (mostly because I want all the right connectors on it).
>>> 
>>> So far, I have not had any success figuring out how to get MachineKit up 
>>> and running. I also haven't tried that hard, but it's really non-obvious, 
>>> and there are huge gaps in the documentation. I finally have enough pieces 
>>> in place to try this in earnest, but my shop office buildout has taken 
>>> priority (can't make room for the router until I finish that).
>> 
>> Hi Rick,
>> 
>> Can you give an example where you find documentation lacking?
>> here’s a link on how to set up Machinekit. 
>> http://www.machinekit.io/docs/getting-started/getting-started-platform/
> 
> So, here's just a small bit of how the documentation is lacking.
> 
> - There's no 30,000' view of how MachineKit is structured and runs. I'm 
> vaguely aware via osmosis that there are some layers, and possibility for 
> remote UI.

It's there. Legacy linuxcnc CNC stack but outdated

> - The Getting Started/Setting up machinekit on a platform really just tells 
> you how to get the software installed. Perfectly fine place to start, but 
> then says nothing more.
> 
> - So, I try the next line in the list of Getting Started links: System 
> Requirements. Well, that doesn't really help, and in fact adds confusion, 
> since I'm doing this on a Beaglebone Black, which doesn't meet the minimum 
> requirements. So I ignore that knowing people are successful with BBB.

Outdated, we're looking forward for any PR

> - Next is Stepper Quickstart, which "assumes you have done a standard install 
> from the Live CD," but the previous instructions make no mention of a Live 
> CD. Okay, ignore that, it's clearly out of date.

Indeed, Outdated, we're looking forward for any PR

>- Latency Test. I can probably ignore this because I'm on BBB.

Should work

>- Sherline & Xylotex. What? Okay, I know a Sherline is a brand of small 
> mill/lathe. I google Xylotex to see what that is. Some kind of DIY CNC? 
> Neither of these seems important to my setup, and certainly don't merit the 
> same level in the outline of Stepper Quickstart as Latency Test or Machine 
> Information.
> 
>- Machine Information. Okay, this looks like something to pay attention 
> to. But wow, is this sparse, and does it presume a lot of MachineKit-specific 
> knowledge. Good thing I know a fair bit about what it would take to implement 
> this stuff from scratch, so I can infer some of this, but I feel already like 
> some basic introductory material has been skipped.
> 
>(Note: these tables look like screen shots from a UI I have yet to 
> experience. This is the 10th time I've looked at this page, and only now do I 
> realize it's just a table showing the info I'm intended to gather. I think)
> 
>- Pinout Information: Talks about parallel port. Well, that's clearly not 
> applicable.
> 
>- Mechanical Information: Okay, I don't really care about this stuff right 
> now, I'm literally just trying to get one ClearPath stepper to work with my 
> BBB setup as a proof of concept. Back to Getting Started list.
> 
> - Stepper Configuration Wizard: Better introductory information than anything 
> else so far, but says it's for "standard parallel port." Does that mean I 
> can't use it on BBB?

Yes, the BBB does not have a parallel port. Machinekit is not a beaglebone 
project. So there will always be options not applicable to your hardware 

> Not sure. But I still don't know how to even get to this. Maybe the item 
> "Running MachineKit" I saw further down the list is helpful. Not sure why it 
> wasn't the first thing after installation.
> 
> - Mesa Configuration Wizard: Okay, I own a Tormach, so I know what "Mesa" 
> probably means, I'm gonna skip this one.
> 
> - Running Machinekit: Hey! Figured out how to run mk. Okay, I see there is a 
> pru_examples option in the configuration UI that pops up. There's no 
> information displayed with it, but let's choose it. It

Re: [Machinekit] Re: Does machinekit have to run as root? pru-stepper example doesn't work

[Bas de Bruijn]

> On 3 Apr 2018, at 10:29, Rick M  wrote:
> 
> Bit of an update. I'm still stuck in the same issue. I re-flashed my BBB with 
> the latest image:
> 
> bone-debian-9.4-machinekit-armhf-2018-03-25-4gb
> 
> And I get the same problem. Either it can't insmod because it lacks 
> permission, or if I run as root, I get:

You should not run as root. What is the error when you run normally?

export DEBUG=5
machinekit 

What does /var/log/linuxcnc.log say?

Please pastebin that session.

Bas

> 
> Creating machinekit directory
> 
> MACHINEKIT - 0.1
> 
> Machine configuration directory is 
> '/usr/share/linuxcnc/examples/sample-configs/pru-examples'
> 
> Machine configuration file is 'pru-stepper.ini'
> 
> Starting Machinekit...
> 
> /usr/libexec/linuxcnc/rtapi_msgd: FATAL - will not run as root
> 
> rtapi_msgd startup failed - aborting
> 
> rtapi_app startup failed - aborting
> 
> halcmd: cant connect to rtapi_app: -1 (uri= 
> uuid=a42c8c6b-4025-4f83-ba28-dad21114744a): rtapi_rpc(): reply timeout
> 
> 
> Additional info:
> 
> # /opt/scripts/tools/version.sh 
> 
> git:/opt/scripts/:[70edebd65fe6ea7de16ea8efe3c48b2a4062034a]
> 
> eeprom:[A335BNLT00C04417BBBK0741]
> 
> model:[TI_AM335x_BeagleBone_Black]
> 
> dogtag:[Machinekit Debian Image 2018-03-25]
> 
> bootloader:[eMMC-(default)]:[/dev/mmcblk1]:[U-Boot 
> 2018.03-2-g254339602c]:[location: dd MBR]
> 
> kernel:[4.14.29-ti-rt-r40]
> 
> uboot_overlay_options:[enable_uboot_overlays=1]
> 
> uboot_overlay_options:[disable_uboot_overlay_adc=1]
> 
> uboot_overlay_options:[uboot_overlay_pru=/lib/firmware/AM335X-PRU-UIO-00A0.dtbo]
> 
> uboot_overlay_options:[enable_uboot_cape_universal=1]
> 
> pkg:[bb-cape-overlays]:[4.4.20180322.0-0rcnee0~stretch+20180322]
> 
> pkg:[bb-wl18xx-firmware]:[1.20180328-0rcnee2~stretch+20180328]
> 
> pkg:[firmware-ti-connectivity]:[20170823-1rcnee1~stretch+20180328]
> 
> cmdline:[console=ttyO0,115200n8 bone_capemgr.uboot_capemgr_enabled=1 
> root=/dev/mmcblk1p1 ro rootfstype=ext4 rootwait coherent_pool=1M 
> net.ifnames=0 quiet]
> 
> dmesg | grep pinctrl-single
> 
> [1.468808] pinctrl-single 44e10800.pinmux: 142 pins at pa f9e10800 size 
> 568
> 
> dmesg | grep gpio-of-helper
> 
> [1.481251] gpio-of-helper ocp:cape-universal: ready
> 
> END
> 
> 
> 
>> On Monday, April 2, 2018 at 9:55:54 PM UTC-7, Rick M wrote:
>> I launched machinekit and selected the pru-stepper example, but it quit with 
>> this output: 
>> 
>> MACHINEKIT - 0.1 
>> Machine configuration directory is 
>> '/home/machinekit/machinekit/configs/pru-examples' 
>> Machine configuration file is 'pru-stepper.ini' 
>> Starting Machinekit... 
>> io started 
>> emc/iotask/ioControl.cc 768: can't load tool table. 
>> halcmd loadusr io started 
>> pru-stepper.hal:37: insmod failed, returned -1: 
>> rtapi_app_main(hal_pru_generic): -1 Operation not permitted 
>> 
>> See /var/log/linuxcnc.log for more information. 
>> Shutting down and cleaning up Machinekit... 
>> Cleanup done 
>> Machinekit terminated with an error.  You can find more information in the 
>> log: 
>> /home/machinekit/linuxcnc_debug.txt 
>> and 
>> /home/machinekit/linuxcnc_print.txt 
>> as well as in the output of the shell command 'dmesg' and in the terminal 
>> 
>> Does it have to run as root? 
>> 
>> $ sudo /opt/scripts/tools/version.sh 
>> git:/opt/scripts/:[e307a944e0be0610ff5296e0abe4ad31a6e70daa] 
>> eeprom:[A335BNLT00C04417BBBK0741] 
>> model:[TI_AM335x_BeagleBone_Black] 
>> dogtag:[Machinekit Debian Image 2018-03-05] 
>> bootloader:[eMMC-(default)]:[/dev/mmcblk1]:[U-Boot 
>> 2018.01-2-ge9ff418fb8]:[location: dd MBR] 
>> kernel:[4.14.20-ti-rt-r36] 
>> uboot_overlay_options:[enable_uboot_overlays=1] 
>> uboot_overlay_options:[uboot_overlay_pru=/lib/firmware/AM335X-PRU-UIO-00A0.dtbo]
>>  
>> uboot_overlay_options:[enable_uboot_cape_universal=1] 
>> pkg:[bb-cape-overlays]:[4.4.20180307.0-0rcnee0~stretch+20180307] 
>> pkg:[bb-wl18xx-firmware]:[1.20170829-0rcnee2~stretch+20180104] 
>> pkg:[firmware-ti-connectivity]:[20170823-1rcnee0~stretch+20170830] 
>> cmdline:[console=ttyO0,115200n8 bone_capemgr.uboot_capemgr_enabled=1 
>> root=/dev/mmcblk1p1 ro rootfstype=ext4 rootwait coherent_pool=1M 
>> net.ifnames=0 quiet] 
>> dmesg | grep pinctrl-single 
>> [1.495063] pinctrl-single 44e10800.pinmux: 142 pins at pa f9e10800 size 
>> 568 
>> dmesg | grep gpio-of-helper 
>> [1.507259] gpio-of-helper ocp:cape-universal: ready 
>> END 
>> 
>> 
>> -- 
>> Rick
> 
> -- 
> 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 
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-- 
website: http://www.machinekit.io blog: http://blog.machinekit.i

Re: [Machinekit] Does machinekit have to run as root? pru-stepper example doesn't work

[Bas de Bruijn]

> On 04 Apr 2018, at 02:51, Rick Mann  wrote:
> 
> 
> 
>> On Apr 3, 2018, at 02:23 , Bas de Bruijn  wrote:
>> 
>> 
>> 
>> On 3 Apr 2018, at 10:29, Rick M  wrote:
>> 
>>> Bit of an update. I'm still stuck in the same issue. I re-flashed my BBB 
>>> with the latest image:
>>> 
>>>bone-debian-9.4-machinekit-armhf-2018-03-25-4gb
>>> 
>>> And I get the same problem. Either it can't insmod because it lacks 
>>> permission, or if I run as root, I get:
>> 
>> You should not run as root. What is the error when you run normally?
>> 
>> export DEBUG=5
>> machinekit 
>> 
>> What does /var/log/linuxcnc.log say?
>> 
>> Please pastebin that session.
> 
> linuxcnc.log: https://pastebin.com/fzc4zXuq


line 452

Apr  3 17:43:12 beaglebone rtapi:0: 1:rtapi_app:6959:user hal_pru_generic: cant 
find /home/maker/machinekit-dev.arm/configs/pru-examples/pru_generic.bin in 
/home/machinekit/machinekit/configs/pru-examples or /lib/firmware/pru/
Apr  3 17:43:12 beaglebone rtapi:0: 1:rtapi_app:6959:user hpg: ERROR: failed to 
initialize PRU

in this line 
https://github.com/machinekit/machinekit/blob/master/configs/pru-examples/pru-stepper.ini#L4
 
<https://github.com/machinekit/machinekit/blob/master/configs/pru-examples/pru-stepper.ini#L4>
 the location is
CONFIG=prucode=/home/maker/machinekit-dev.arm/configs/pru-examples/pru_generic.bin
 pru=1 num_stepgens=3 num_pwmgens=1

I very strongly doubt that’s the correct location.

sudo find / -name pru_generic.bin

that will show where it’s located to the right location. So you probably should 
have on the line above the following path ”rt-preempt/pru_generic.bin” instead 
of "/home/maker/machinekit-dev.arm/configs/pru-examples/pru_generic.bin"

similar (but not xenomai) to this:
https://github.com/machinekit/machinekit/blob/master/configs/ARM/BeagleBone/CRAMPS/CRAMPS.ini#L4
 
<https://github.com/machinekit/machinekit/blob/master/configs/ARM/BeagleBone/CRAMPS/CRAMPS.ini#L4>


> linuxcnc_print.txt:   https://pastebin.com/hrw78Hcp
> dmesg:https://pastebin.com/q8ausFhr
> 
> machinekit@beaglebone:~$ machinekit
> MACHINEKIT - 0.1
> Machine configuration directory is 
> '/home/machinekit/machinekit/configs/pru-examples'
> Machine configuration file is 'pru-stepper.ini'
> Starting Machinekit...
> io started
> emc/iotask/ioControl.cc 768: can't load tool table.
> :0: Component 'iocontrol' ready
> :0: Program 'io' started
> halcmd loadusr io started
> pru-stepper.hal:29: Realtime module 'trivkins' loaded
> pru-stepper.hal:33: Realtime module 'tp' loaded
> pru-stepper.hal:34: Realtime module 'motmod' loaded
> pru-stepper.hal:37: insmod failed, returned -1:
> rtapi_app_main(hal_pru_generic): -1 Operation not permitted
> 
> See /var/log/linuxcnc.log for more information.
> Shutting down and cleaning up Machinekit...
> :0: Realtime threads stopped
> :0: Realtime module 'motmod' unloaded
> :0: Realtime module 'tp' unloaded
> :0: Realtime module 'trivkins' unloaded
> Cleanup done
> Machinekit terminated with an error.  You can find more information in the 
> log:
>/home/machinekit/linuxcnc_debug.txt
> and
>/home/machinekit/linuxcnc_print.txt
> as well as in the output of the shell command 'dmesg' and in the terminal
> 
> 
> 
> 
> 
> 
>> Bas
>> 
>>> 
>>> Creating machinekit directory
>>> 
>>> MACHINEKIT - 0.1
>>> 
>>> Machine configuration directory is 
>>> '/usr/share/linuxcnc/examples/sample-configs/pru-examples'
>>> 
>>> Machine configuration file is 'pru-stepper.ini'
>>> 
>>> Starting Machinekit...
>>> 
>>> /usr/libexec/linuxcnc/rtapi_msgd: FATAL - will not run as root
>>> 
>>> rtapi_msgd startup failed - aborting
>>> 
>>> rtapi_app startup failed - aborting
>>> 
>>> halcmd: cant connect to rtapi_app: -1 (uri= 
>>> uuid=a42c8c6b-4025-4f83-ba28-dad21114744a): rtapi_rpc(): reply timeout
>>> 
>>> 
>>> Additional info:
>>> 
>>> # /opt/scripts/tools/version.sh 
>>> 
>>> git:/opt/scripts/:[70edebd65fe6ea7de16ea8efe3c48b2a4062034a]
>>> 
>>> eeprom:[A335BNLT00C04417BBBK0741]
>>> 
>>> model:[TI_AM335x_BeagleBone_Black]
>>> 
>>> dogtag:[Machinekit Debian Image 2018-03-25]
>>> 
>>> bootloader:[eMMC-(default)]:[/dev/mmcblk1]:[U-Boot 
>>> 2018.03-2-g254339602c]:[location: dd MBR]
>

Re: [Machinekit] Does machinekit have to run as root? pru-stepper example doesn't work

[Bas de Bruijn]

> On 04 Apr 2018, at 08:48, Rick Mann  wrote:
> 
> Good morning, and thank you! I'll see if I can track it down, and then I'll 
> let Robert Nelson know to fix it in the image.

I don’t think is has to do with the image. More like a configuration with the 
wrong path (looks like it’s a very old and rarely used configuration)

> 
>> On Apr 3, 2018, at 23:46 , Bas de Bruijn  wrote:
>> 
>> 
>>> On 04 Apr 2018, at 02:51, Rick Mann  wrote:
>>> 
>>> 
>>> 
>>>> On Apr 3, 2018, at 02:23 , Bas de Bruijn  wrote:
>>>> 
>>>> 
>>>> 
>>>> On 3 Apr 2018, at 10:29, Rick M  wrote:
>>>> 
>>>>> Bit of an update. I'm still stuck in the same issue. I re-flashed my BBB 
>>>>> with the latest image:
>>>>> 
>>>>>   bone-debian-9.4-machinekit-armhf-2018-03-25-4gb
>>>>> 
>>>>> And I get the same problem. Either it can't insmod because it lacks 
>>>>> permission, or if I run as root, I get:
>>>> 
>>>> You should not run as root. What is the error when you run normally?
>>>> 
>>>> export DEBUG=5
>>>> machinekit 
>>>> 
>>>> What does /var/log/linuxcnc.log say?
>>>> 
>>>> Please pastebin that session.
>>> 
>>> linuxcnc.log:   https://pastebin.com/fzc4zXuq
>> 
>> 
>> line 452
>> 
>> Apr  3 17:43:12 beaglebone rtapi:0: 1:rtapi_app:6959:user hal_pru_generic: 
>> cant find 
>> /home/maker/machinekit-dev.arm/configs/pru-examples/pru_generic.bin in 
>> /home/machinekit/machinekit/configs/pru-examples or /lib/firmware/pru/
>> Apr  3 17:43:12 beaglebone rtapi:0: 1:rtapi_app:6959:user hpg: ERROR: failed 
>> to initialize PRU
>> 
>> in this line 
>> https://github.com/machinekit/machinekit/blob/master/configs/pru-examples/pru-stepper.ini#L4
>>  the location is
>> CONFIG=prucode=/home/maker/machinekit-dev.arm/configs/pru-examples/pru_generic.bin
>>  pru=1 num_stepgens=3 num_pwmgens=1
>> 
>> I very strongly doubt that’s the correct location.
>> 
>> sudo find / -name pru_generic.bin
>> 
>> that will show where it’s located to the right location. So you probably 
>> should have on the line above the following path 
>> ”rt-preempt/pru_generic.bin” instead of 
>> "/home/maker/machinekit-dev.arm/configs/pru-examples/pru_generic.bin"
>> 
>> similar (but not xenomai) to this:
>> https://github.com/machinekit/machinekit/blob/master/configs/ARM/BeagleBone/CRAMPS/CRAMPS.ini#L4
>> 
>> 
>>> linuxcnc_print.txt: https://pastebin.com/hrw78Hcp
>>> dmesg:  https://pastebin.com/q8ausFhr
>>> 
>>> machinekit@beaglebone:~$ machinekit
>>> MACHINEKIT - 0.1
>>> Machine configuration directory is 
>>> '/home/machinekit/machinekit/configs/pru-examples'
>>> Machine configuration file is 'pru-stepper.ini'
>>> Starting Machinekit...
>>> io started
>>> emc/iotask/ioControl.cc 768: can't load tool table.
>>> :0: Component 'iocontrol' ready
>>> :0: Program 'io' started
>>> halcmd loadusr io started
>>> pru-stepper.hal:29: Realtime module 'trivkins' loaded
>>> pru-stepper.hal:33: Realtime module 'tp' loaded
>>> pru-stepper.hal:34: Realtime module 'motmod' loaded
>>> pru-stepper.hal:37: insmod failed, returned -1:
>>> rtapi_app_main(hal_pru_generic): -1 Operation not permitted
>>> 
>>> See /var/log/linuxcnc.log for more information.
>>> Shutting down and cleaning up Machinekit...
>>> :0: Realtime threads stopped
>>> :0: Realtime module 'motmod' unloaded
>>> :0: Realtime module 'tp' unloaded
>>> :0: Realtime module 'trivkins' unloaded
>>> Cleanup done
>>> Machinekit terminated with an error.  You can find more information in the 
>>> log:
>>>   /home/machinekit/linuxcnc_debug.txt
>>> and
>>>   /home/machinekit/linuxcnc_print.txt
>>> as well as in the output of the shell command 'dmesg' and in the terminal
>>> 
>>> 
>>> 
>>> 
>>> 
>>> 
>>>> Bas
>>>> 
>>>>> 
>>>>> Creating machinekit directory
>>>>> 
>>>>> MACHINEKIT - 0.1
>>>>> 
>>>>> Machine configuration directory is 
>>>>> '/us

Re: [Machinekit] Does machinekit have to run as root? pru-stepper example doesn't work

[Bas de Bruijn]

> On 04 Apr 2018, at 09:17, Rick Mann  wrote:
> 
> 
> 
>> On Apr 3, 2018, at 23:46 , Bas de Bruijn  wrote:
>> 
>> 
>>> On 04 Apr 2018, at 02:51, Rick Mann  wrote:
>>> 
>>> 
>>> 
>>>> On Apr 3, 2018, at 02:23 , Bas de Bruijn  wrote:
>>>> 
>>>> 
>>>> 
>>>> On 3 Apr 2018, at 10:29, Rick M  wrote:
>>>> 
>>>>> Bit of an update. I'm still stuck in the same issue. I re-flashed my BBB 
>>>>> with the latest image:
>>>>> 
>>>>>   bone-debian-9.4-machinekit-armhf-2018-03-25-4gb
>>>>> 
>>>>> And I get the same problem. Either it can't insmod because it lacks 
>>>>> permission, or if I run as root, I get:
>>>> 
>>>> You should not run as root. What is the error when you run normally?
>>>> 
>>>> export DEBUG=5
>>>> machinekit 
>>>> 
>>>> What does /var/log/linuxcnc.log say?
>>>> 
>>>> Please pastebin that session.
>>> 
>>> linuxcnc.log:   https://pastebin.com/fzc4zXuq
>> 
>> 
>> line 452
>> 
>> Apr  3 17:43:12 beaglebone rtapi:0: 1:rtapi_app:6959:user hal_pru_generic: 
>> cant find 
>> /home/maker/machinekit-dev.arm/configs/pru-examples/pru_generic.bin in 
>> /home/machinekit/machinekit/configs/pru-examples or /lib/firmware/pru/
>> Apr  3 17:43:12 beaglebone rtapi:0: 1:rtapi_app:6959:user hpg: ERROR: failed 
>> to initialize PRU
>> 
>> in this line 
>> https://github.com/machinekit/machinekit/blob/master/configs/pru-examples/pru-stepper.ini#L4
>>  the location is
>> CONFIG=prucode=/home/maker/machinekit-dev.arm/configs/pru-examples/pru_generic.bin
>>  pru=1 num_stepgens=3 num_pwmgens=1
>> 
>> I very strongly doubt that’s the correct location.
>> 
>> sudo find / -name pru_generic.bin
>> 
>> that will show where it’s located to the right location. So you probably 
>> should have on the line above the following path 
>> ”rt-preempt/pru_generic.bin” instead of 
>> "/home/maker/machinekit-dev.arm/configs/pru-examples/pru_generic.bin"
>> 
>> similar (but not xenomai) to this:
>> https://github.com/machinekit/machinekit/blob/master/configs/ARM/BeagleBone/CRAMPS/CRAMPS.ini#L4
> 
> Thanks, that gets things farther. I changed the line to:
> 
>CONFIG=prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.bin pru=1 
> num_stepgens=3 num_pwmgens=1
> 
> Now I've run into an issue that might be because I'm trying to run this over 
> X windows instead of with a locally-connected display (so far that has 
> worked):

try ssh -Y user@ipadress and see if that helps

> 
> $ machinekit
> MACHINEKIT - 0.1
> Machine configuration directory is 
> '/home/machinekit/machinekit/configs/pru-examples'
> Machine configuration file is 'pru-stepper.ini'
> Starting Machinekit...
> io started
> emc/iotask/ioControl.cc 768: can't load tool table.
> halcmd loadusr io started
> task pid=7604
> emcTaskInit: using builtin interpreter
> No option 'tto_g11' in section: 'DEFAULT'
> No option 'show_program' in section: 'DEFAULT'
> No option 'show_rapids' in section: 'DEFAULT'
> No option 'program_alpha' in section: 'DEFAULT'
> No option 'show_live_plot' in section: 'DEFAULT'
> No option 'show_tool' in section: 'DEFAULT'
> No option 'show_extents' in section: 'DEFAULT'
> No option 'show_offsets' in section: 'DEFAULT'
> No option 'grid_size' in section: 'DEFAULT'
> No option 'show_machine_limits' in section: 'DEFAULT'
> No option 'show_machine_speed' in section: 'DEFAULT'
> No option 'show_distance_to_go' in section: 'DEFAULT'
> No option 'dro_large_font' in section: 'DEFAULT'
> No option 'block_delete' in section: 'DEFAULT'
> No option 'optional_stop' in section: 'DEFAULT'
> No option 'recentfiles' in section: 'DEFAULT'
> libGL error: No matching fbConfigs or visuals found
> libGL error: failed to load driver: swrast
> X Error of failed request:  BadValue (integer parameter out of range for 
> operation)
>  Major opcode of failed request:  149 (GLX)
>  Minor opcode of failed request:  3 (X_GLXCreateContext)
>  Value in failed request:  0x0
>  Serial number of failed request:  736
>  Current serial number in output stream

Re: [Machinekit] LinuxCNC and BeagleBone Black - a road well travelled?

[Bas de Bruijn]

> On 5 Apr 2018, at 00:37, Chris Albertson  wrote:
> 
> One thing that might help is to lower the barrier to contributors.
> Put the docs on a Wiki.

We have in fact a very low barrier. There's an "edit me" link for directly 
editing a page.

Putting docs on a wiki is not a solution. It's just another format which is 
structureless. 

And it should be maintained as well. And that is the core problem.


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Re: [Machinekit] LinuxCNC and BeagleBone Black - a road well travelled?

[Bas de Bruijn]

> On 5 Apr 2018, at 07:36, Chris Albertson  wrote:
> 
> Whatever the current policy is, it has resulted in the
> current state of the documents.

No. Devs not documenting first place and the general lack of manpower are the 
cause.

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Re: [Machinekit] LinuxCNC and BeagleBone Black - a road well travelled?

[Bas de Bruijn]

> On 5 Apr 2018, at 07:36, Chris Albertson  wrote:
> 
> But I know one thing, If I see a small error I'm not going to bother
> to fork a repository, edit the files and make a pull request, all the
> correct a typo.I'd bet the most users don't much understand what
> any of that is all about.  They are machinists, not software
> developers.

Try it out first time before forming this opinion. Then do it a second time to 
verify if it indeed is so hard.

If you "don't want to bother", then don't.

You don't have to be a dev to correct a typo, and if you are able to install 
Linux then creating a github account and push the "edit this page" link is easy.

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Re: [Machinekit] Step direction changes when slowing down?

[Bas de Bruijn]

> On 5 Apr 2018, at 09:50, Rick Mann  wrote:
> 
> After help from Bas (thank you), I got MachineKit working on a Beaglebone 
> Black and driving a ClearPath stepper. Here's a video:
> 
>https://www.youtube.com/watch?v=f3kdqH8Miyg
> 

That's a hefty stepper.

> I notice on the oscilloscope (but not visible in the video above) that the 
> step direction output changes when I stop jogging and the servo slows down 
> from the jog speed it was going at.
> 
> Can anyone tell me why it does this? Is it in an effort to "apply the brakes" 
> to the moving stepper? This is not necessary with the ClearPath servo, which 
> will faithfully the number of steps commanded at the commanded speed (within 
> limits, of course).

This looks like "hunting" from the Pru stepgen. A solution for this is to drive 
the stepgen in velocity mode, and add a PID loop. Have a search thru the google 
group posts about this phenomenon.

This configuration can be an example on how to do this.
https://github.com/machinekit/machinekit/blob/master/configs/ARM/BeagleBone/Xylotex/Xylotex.hal


One thing to check are the specs of your driver regarding the timing of the 
step and direction signals.

dirsetup dirhold steplen and stepspace.

These should be at least (but longer would be preferable) as long as the specs 
from your driver.

> For reference, the HAL file , and the .ini 
> file . Note I've only adjusted the pin 
> addresses for axis 0 in the HAL, and the path to the PRU binary in the .ini. 
> It's the same as the pru-stepper otherwise.
> 
> Thanks!
> 
> -- 
> Rick
> 
> -- 
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> https://github.com/machinekit
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Re: [Machinekit] Step direction changes when slowing down?

[Bas de Bruijn]

> On 5 Apr 2018, at 11:18, Rick Mann  wrote:
> 
> Oops, sent to soon, and forgot the list.
> 
> In addition to the responses below, I meant to add: I don't think what I'm 
> seeing is overshoot by the PID loop, at least not entirely, because when I'm 
> not jogging it, it only twiddles the direction output. The step output is 
> steady without pulses. If it were hunting, I'd imagine it would be issuing 
> steps as well as direction changes. Check out the other video: 
> https://www.youtube.com/watch?v=tQkF8TRVVpk
> 
> Thanks!
> 
>> On Apr 5, 2018, at 01:21 , Bas de Bruijn  wrote:
>> 
>> 
>> 
>>> On 5 Apr 2018, at 09:50, Rick Mann  wrote:
>>> 
>>> After help from Bas (thank you), I got MachineKit working on a Beaglebone 
>>> Black and driving a ClearPath stepper. Here's a video:
>>> 
>>>  https://www.youtube.com/watch?v=f3kdqH8Miyg
>>> 
>> 
>> That's a hefty stepper.
> 
> They're really nice servo motors from Teknic. The one in the video is 
> <https://www.teknic.com/model-info/CPM-SDSK-3421S-RLS/>. The ones I'm using 
> on my CNC router are a bit smaller.
> 
>> 
>>> I notice on the oscilloscope (but not visible in the video above) that the 
>>> step direction output changes when I stop jogging and the servo slows down 
>>> from the jog speed it was going at.
>>> 
>>> Can anyone tell me why it does this? Is it in an effort to "apply the 
>>> brakes" to the moving stepper? This is not necessary with the ClearPath 
>>> servo, which will faithfully the number of steps commanded at the commanded 
>>> speed (within limits, of course).
>> 
>> This looks like "hunting" from the Pru stepgen. A solution for this is to 
>> drive the stepgen in velocity mode, and add a PID loop. Have a search thru 
>> the google group posts about this phenomenon.
>> 
>> This configuration can be an example on how to do this.
>> https://github.com/machinekit/machinekit/blob/master/configs/ARM/BeagleBone/Xylotex/Xylotex.hal
> 
> The ClearPath servos have drivers, encoders, and PID loops all contained on 
> the motor. There is no position feedback from them (only a configurable fault 
> signal). For this reason, I don't think MachineKit should implement any kind 
> of PID loop, right? There's no feedback for it to use. It should just 
> generate pulses for the desired velocity profile and position, and trust the 
> servo to get there (if it can't, it will assert the fault signal).

This is a pru_generic thingy. Because it can't _exactly_ reach the commanded 
value, it will change direction all the time.

So basically you use a PID component to have position values as input, and give 
out velocity commands to the pru_generic component/driver (in velocity mode 
instead of position mode).

You don't need the position from your hardware. That's a closed loop system, 
driven by pulse/dir right?

Basically you still have an open loop system though, because any pulse lost 
between your cape and the motor is not detected.

> 
> In the pru-stepper.hal, there are these lines:
> 
> # position command and feedback
> net emcmot.01.pos-cmd <= axis.1.motor-pos-cmd
> net emcmot.01.pos-cmd => [PRUCONF](DRIVER).stepgen.01.position-cmd
> 
> net motor.01.pos-fb <= [PRUCONF](DRIVER).stepgen.01.position-fb
> net motor.01.pos-fb => axis.1.motor-pos-fb
> 
> I'm guessing "fb" is feedback. Maybe I can remove those to make it open-loop?

the axis.1 is the feedback going into the motion component. If you break that 
you will get following errors.

>> One thing to check are the specs of your driver regarding the timing of the 
>> step and direction signals.
>> 
>> dirsetup dirhold steplen and stepspace.
> 
> I did check these already. Step and dir hold minimum is 1 µs. The only other 
> minimum time specified is the time between direction change and step, 
> specified as 25 ns. Is that "dirsetup?"
> 
>> 
>> These should be at least (but longer would be preferable) as long as the 
>> specs from your driver.
>> 
>>> For reference, the HAL file <https://pastebin.com/cMTUiW7u>, and the .ini 
>>> file <https://pastebin.com/eBLxpUh4>. Note I've only adjusted the pin 
>>> addresses for axis 0 in the HAL, and the path to the PRU binary in the 
>>> .ini. It's the same as the pru-stepper otherwise.
>>> 
>>> Thanks!
>>> 
>>> -- 
>>> Rick
>>> 
>>> -- 
>>> website: http://www.machinekit.io blog: http://blog.machinekit.io git

Re: [Machinekit] MachineKit HAL API

[Bas de Bruijn]

> On 19 Apr 2018, at 05:03, Michael Labuda  wrote:
> 
> Reading over various posts I have come across mentions of an API centered 
> around ZeroMQ and talk of using machinekit as a "headless" service without a 
> gui. I cannot however find any documentation regarding either this or the 
> api. I also notice that practically all of these posts are over two years 
> old. Have these ideas been implemented or simply abandoned? Is there any 
> central documentation, examples or even a tutorial for using these api's? I 
> would appreciate someone pointing me in the right directon.

Hi Michael,

What you're talking about is called "Machinetalk". The code resides here (the 
API is not much documented.
https://github.com/machinekit/machinekit/tree/master/src/machinetalk

Here's a pretty long video
https://youtu.be/ZehZ5bq4eu0

Alexander has a few blog posts:
First in a series of 5:
https://machinekoder.com/machinetalk-explained-part-1-introduction/

You also want to have a look at QtQuickVCP
https://github.com/machinekit/QtQuickVcp

Hope this gives you enough info for further questions!

Bas

> 
> Thanks,
> Michael
> 
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Re: [Machinekit] Machinekit as a general purpose motor controller?

[Bas de Bruijn]

> On 20 Apr 2018, at 22:23, sliptonic  wrote:
> 
> 
> 
>> On Friday, April 20, 2018 at 11:09:49 AM UTC-5, Schooner wrote:
>> Please see also https://github.com/machinekit/machinekit-hal 
>> 
>> This is a standalone Machinekit HAL stack without interpreter, motion, 
>> NML etc etc. 
>> 
> 
> I would like to learn more about using these tools but it's very difficult to 
> find any practical examples.
> I've seen tantalizing videos of integrating HAL and ROS but it's not clear to 
> me what's possible now and what is still firmly in the realm of 'under 
> development'
> 
> Machinekit insiders:  Please,Please, Please blog more and do more 
> videos/tutorials.

What do you want to know? It's pretty hard to write something a la "Here's 
everything i know".

Do you have a (Preferrably non CNC) project in mind? 

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[Machinekit] Tutorials, examples and such

[Bas de Bruijn]

I'v put this on a new thread so it can be easier to find.

Originating thread:
https://groups.google.com/forum/m/#!topic/machinekit/oxctaPp4n8Q

> On 21 Apr 2018, at 18:21, sliptonic  wrote:
> 
> 
>> On Friday, April 20, 2018 at 4:19:36 PM UTC-5, Bas de Bruijn wrote:
>> 
>> 
>> What do you want to know? It's pretty hard to write something a la "Here's 
>> everything i know".
>> 
>> Do you have a (Preferrably non CNC) project in mind? 
> 
> A couple years ago I bought a scara bot just to play with.  No serious plans, 
> just a learning platform for things like ROS, FreeCAD robot workbench and 
> machinekit on a deeper level.
> I can now control it like a CNC machine but that's not what I want.  Maybe I 
> want to do something silly like sort coins or pick out blue legos.  

Yeah, that Lego sorting problem I know. I've helped with that a few times, but 
after 2 months all is mixed again and they "can't find" the pieces anymore.

> I understand conceptually how ROS works but ROS learning curve is a bitch so 
> getting from concept to actually controlling the robot is going to be a 
> process. 

Yes it is.

> Now that I can control it in Machinekit like a CNC, how do I start connecting 
> it to ROS?

The stuff I did a few years ago was creating a node which listens to a ROS 
joint_path_command topic, jointtrajectory message. These segments (point1 
time1, point2 time2, etc) are put in a HAL ringbuffer.

Then on the HAL side, the ringbuffer samples are read, and interpolated. Which 
results in a position-cmd per HAL cycle (1ms for example)

So in a nutshell: ROS does planning in non-RT and Machinekit Hal does the 
playout.

Mind: you still have to take care of initializing your hardware, homing joints 
etc. ROS doesn't do that. Also creating you robot model urdf and making moveit 
configurations for that.

> What's realistically possible with the current state of machinekit? 

Short now: interpolate segments in HAL and use the values further on, with 
whatever HAL logic/setup you come up with

Later: HAL as a ros_control resource.

> My questions are probably newbie which is why I was looking for blogs and 
> examples to study.

Apart from the ROS learning curve,
I think that the big issue is that the legacy cnc documentation is irrelevant 
for setups that do not use CNC.
Also, the focus has not been on HAL.

Before I even think of writing stuff i'd like to know what you all want to 
know. There's been a lot of effort put into making the documentation easier to 
work with, but that does not mitigate the outdated content.

So updating HAL focused content: what questions would you like to have answered 
that are not here:
http://www.machinekit.io/docs/index-HAL/

Then I'll try to come up with some tutorial/steps which we can all discuss. And 
if the outcome is something sensible I'll put that to the docs.

> Here's a link to my blog with a video I made a couple weeks ago:   
> http://sliptonic.com/lenny-the-big-dumb-bot/ 

That's a nice sturdy looking robot!

> Sorry OP,  I didn't mean to hijack this thread.  Feel free to split it out or 
> I'll start a new thread.

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Re: [Machinekit] Tutorials, examples and such

[Bas de Bruijn]

> On 22 Apr 2018, at 19:48, sliptonic  wrote:
> 
> 
> 
> On Sunday, April 22, 2018 at 7:13:49 AM UTC-5, Bas de Bruijn wrote:
> 
> 
> The stuff I did a few years ago was creating a node which listens to a ROS 
> joint_path_command topic, jointtrajectory message. These segments (point1 
> time1, point2 time2, etc) are put in a HAL ringbuffer.
> 
> Then on the HAL side, the ringbuffer samples are read, and interpolated. 
> Which results in a position-cmd per HAL cycle (1ms for example)
> 
> So in a nutshell: ROS does planning in non-RT and Machinekit Hal does the 
> playout.
> 
> Mind: you still have to take care of initializing your hardware, homing 
> joints etc. ROS doesn't do that. Also creating you robot model urdf and 
> making moveit configurations for that.
>  
> I found the 'hello world' repo in your github account 
> <https://github.com/luminize/ros_hello_machinekit>.  This doesn't seem like a 
> complete example, though.  Are you doing the initialization and homing in the 
> scripts here?  What about your URDF and moveit config?

initialisation, homing of motors etc. is all done thru a patchwork of various 
shell and python scripts.
The URDF files and moveit configuration are here:
https://github.com/luminize/matilda_moveit_config 
<https://github.com/luminize/matilda_moveit_config>
https://github.com/luminize/matilda_support 
<https://github.com/luminize/matilda_support>

you need to have this one, cause it’s called by the launch files
https://github.com/luminize/listener2 <https://github.com/luminize/listener2>

>  
>> What's realistically possible with the current state of machinekit?  
> 
> Short now: interpolate segments in HAL and use the values further on, with 
> whatever HAL logic/setup you come up with
> 
> Later: HAL as a ros_control resource.
> 
> What will a 'ros_control resource'  do that can't be done now?   Is this just 
> packaging and discoverability or are you talking about core functionality?

ros control is the “standard” of ros controlling to hardware
https://github.com/machinekit/machinekit/issues/689#issuecomment-189908110 
<https://github.com/machinekit/machinekit/issues/689#issuecomment-189908110>
https://github.com/machinekit/machinekit/issues/689#issuecomment-190164347 
<https://github.com/machinekit/machinekit/issues/689#issuecomment-190164347>


> 
>> My questions are probably newbie which is why I was looking for blogs and 
>> examples to study.
> 
> Apart from the ROS learning curve,
> I think that the big issue is that the legacy cnc documentation is irrelevant 
> for setups that do not use CNC.
> Also, the focus has not been on HAL.
> 
> Before I even think of writing stuff i'd like to know what you all want to 
> know. There's been a lot of effort put into making the documentation easier 
> to work with, but that does not mitigate the outdated content.
> 
> So updating HAL focused content: what questions would you like to have 
> answered that are not here:
> http://www.machinekit.io/docs/index-HAL/
> 
> Then I'll try to come up with some tutorial/steps which we can all discuss. 
> And if the outcome is something sensible I'll put that to the docs.
> 
> I think the existing HAL documentation as reference material is fine.  What I 
> am looking for is more example projects -- things that demonstrate both HOW 
> to do something but also show WHY Machinekit/HAL is the right tool for the 
> job.  
> 
> These are some really interesting tools but there doesn't seem to be much 
> activity around using them outside the CNC context.  I'd like to see more 
> end-to-end projects, especially where HAL/Machinekit is doing something that 
> would be much harder or impossible otherwise.

Personally, I do a lot thats _not_ CNC related.
So what you’re asking is what steps to take to “make project x do something”

something like:
setup of HAL
show how/why to use some tools like halscope
make a python application using HAL

?

> 
>> Here's a link to my blog with a video I made a couple weeks ago:   
>> http://sliptonic.com/lenny-the-big-dumb-bot/ 
>> <http://sliptonic.com/lenny-the-big-dumb-bot/> 
> 
> That's a nice sturdy looking robot!
> 
> Thanks.  It really is a nice piece of hardware -- servo driven harmonic 
> drives. I'd really like to do something cool with it.
>> Sorry OP,  I didn't mean to hijack this thread.  Feel free to split it out 
>> or I'll start a new thread.
> 
> 
> -- 
> website: http://www.machinekit.io <http://www.machinekit.io/> blog: 
> http://blog.machinekit.io <http://blog.machinekit.io/> github: 
> https://github.com/machinekit <https://gi

Re: [Machinekit] Re: Guidance on 3 axis retrofit

[Bas de Bruijn]

> On 29 Apr 2018, at 07:33, Rob M  wrote:
> 
> But I am considering going the Linuxcnc & Mesa route...maybe.

Just a note: Machinekit works on PC with Mesa hardware too.

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Re: [Machinekit] Can't install machine kit on Beagle Bone stock image

[Bas de Bruijn]

> On 14 May 2018, at 01:29, Eric  wrote:
> 
> Ok, so if you've seen my other posts you're probably figuring out that I'm 
> new to pretty new to Linux. I've fooled around with Pis so I have some base 
> knowledge, but that's about it.
> 
> I'm trying to use a stock BeagleBone wireless image that I'm running. The 
> image I have on it is this: https://beagleboard.org/latest-images (Stretch 
> LXQT)
> 
> I've been trying to use these commands to install MachineKit:
> 
> http://www.machinekit.io/docs/getting-started/APT-packages-stretch/
> 
> I keep getting "failed to start the dirmngr 
> '/tmp/apt-key-gpdhome.ck58yIIcSL/S.dirmngr' failed: No such file or directory"
> 
> What's going on here?

Use:
Sudo apt update
Sudo apt install dirmngr

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Re: [Machinekit] Any interest in Thermocouple support?

[Bas de Bruijn]

> On 24 May 2018, at 10:27, 'schoone...@btinternet.com' via Machinekit 
>  wrote:
> 
> Hi
> 
> Yes, we are trying to get the HAL side of Machinekit as generic as possible, 
> there is a lot more could be done aside from CNC machine control.
> 
> If you fork machinekit, clone to your computer and then create a suitably 
> named branch and put your driver 
> inhttps://github.com/machinekit/machinekit/tree/master/lib/python/drivers 
> , 
> that should be about right.
> 
> Would like to see a document or example config which shows it's use too.
> If a short doc, it can go in the same directory, if a full config, needs a 
> suitable entry inhttps://github.com/machinekit/machinekit/tree/master/configs 
> 
> exact placement depending upon whether it requires specific machine / 
> hardware etc.
> Looks like there is unlikely to be a sim, as it should require hardware 
> present?
> 
> The python string on line one, should specify python2.
> This is so that distros that ship with python3 as default can build without 
> problems.
> 
> As for licence, GPL2 is fine
> A general boiler plate would be
> 
> # This is a HAL component to 
> # Copyright date name 
> #
> # This program is free software; you can redistribute it and/or modify
> # it under the terms of the GNU General Public License as published by
> # the Free Software Foundation; either version 2 of the License, or
> # (at your option) any later version.
> #
> # This program is distributed in the hope that it will be useful,
> # but WITHOUT ANY WARRANTY; without even the implied warranty of
> # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
> # GNU General Public License for more details.
> #
> # You should have received a copy of the GNU General Public License
> # along with this program; if not, write to the Free Software
> # Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
> 
> 
> Then push your new branch back to your fork, and create a pull request from 
> your fork of machinekit in github, to machinekit / machinekit
> and we will check it, test build and authorise.
> 
> If that is beyond your current experience curve, then reply direct when you 
> have your fork with the relevant files in and I will talk you through it
> 
> regards
> 

Karl,
This is a small instruction which also applies for your situation.
http://www.machinekit.io/docs/documenting/contributing-documentation/#extending-documentation-locally


> 
> On 24/05/18 01:50, Karl Nilsson wrote:
>> Hello All,
>>   A while back, I created a HAL component for interfacing thermocouple 
>> amplifiers over the SPI bus (specifically the MAX31855 and MAX6675). I was 
>> curious whether there was any interest in including it in machinekit proper, 
>> and if so, what do I need to do in order to get it included. Specifically, 
>> is there any preferred copyright license for user-contributed components?
>> 
>> Here's the code, feedback is appreciated!
>> 
>> https://github.com/karl-nilsson/MK_config/blob/master/spi_tc.py 
>> 
>> -- 
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>> http://blog.machinekit.io  github: 
>> https://github.com/machinekit 
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> 
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Re: [Machinekit] Machinekit Issue tracker

[Bas de Bruijn]

> Dear All,
> 
> Some while back I undertook work to split out machinekit into its HAL stack 
> and its CNC stack.
> 
> This work has reached maturity, to an extent that if the machinekit-hal 
> package is installed and then the machinekit-cnc package is installed,
> a fully functioning machinekit is available, in tests thus far anyway :)
> 
> In preparation for a two package distribution, the existing open Issues in 
> machinekit have been copied to either machinekit-hal, or
> machinekit-cnc (in a few cases both, with a master issue in machinekit-cnc, 
> where they apply to both).
> 
> There were 6 exceptions, which were too large to copy over without risking 
> data loss and remain in machinekit.
> The remaining Open Issues are now Closed, with a reference to the new 
> location to be used for future comment.
> 
> So, if you have opened, contributed to or just read an Issue in machinekit, 
> it can now be found in either
> machinekit-hal: https://github.com/machinekit/machinekit-hal/issues
> or
> machinekit-cnc: https://github.com/machinekit/machinekit-cnc/issues
> 
> If you wish to open an issue, please do so in the appropriate repos Issues 
> section
> 
> If unsure which repo it should come under, generally a look through the 
> source files should tell you, there are no duplicates between the repos 
> regards actual code.
> 
> If still unsure just ask.
> 
> If you wish to test the machinekit-hal and / or machinekit-cnc packages, 
> please do so, they are available in the main machinekit repo.
> Any feedback gratefully received.
> 
> 
> regards

Thanks for the hard work and persevere!

I've used machinekit-hal for some time in a few small projects, and I'm very 
glad we are at the point where we can have more people testing this stack.

Splitting out machinekit-hal should make it easier to build applications when 
you don't need the CNC stuff.

I've recently started making Jupyter notebook hands-on HAL focused tutorials 
(step by step guides with Python) which should hopefully make the learning 
curve a bit less steep. Especially since there's no real documentation on using 
the (C)Python bindings and its API.

Cheers

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Re: [Machinekit] Re: Xylotex.ini failing to run under Stretch

[Bas de Bruijn]

> On 1 Sep 2018, at 10:13, "schoone...@gmail.com"  wrote:
> 
> You haven't even said which config you are running, we can't guess that it 
> was the last, amongst many you have mentioned.
> 
> Please attach YOUR copies of all the hal files and the ini file
> (in case you have done something stupid like editing it with microsoft word)
> 
> Open a terminal, run 'sudo > /var/log/linuxcnc.log' then  run 'export 
> DEBUG=5' 
> Then start machinekit from the same terminal session.
> 
> Then attach the whole resultant linuxcnc.log too.
> 
> If an error mentioning 'segmentation fault' or 'general protection fault' is 
> displayed,
> attach dmsg (run 'dmsg > dmsg.txt')
> 
> I have an inkling as to what this error is, but am not going to speculate.
> 
> 
>> On 31/08/18 23:15, mugginsac wrote:
>> It looks like it may be failing on insmod of motmod.
>> 
>> This is the line in the Xylotex.hal file that the message points to:
>> loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD 
>> num_joints=[TRAJ]AXES

Without more info: I think your problem is the same as another poster a few 
weeks ago. You have not loaded trivkins kinematics and haven’t told the 
trajectory planner which kinematics to use.

See this thread my comment on July 27th
https://groups.google.com/forum/m/#!topic/machinekit/27N_yfOMP6E



>> 
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Re: [Machinekit] Re: Xylotex.ini failing to run under Stretch

[Bas de Bruijn]

> On 1 Sep 2018, at 17:43, Condit Alan  wrote:
> 
> Bas,
> 
> I modified Xylotex.ini as follows:
> #PRUBIN=xenomai/pru_generic.bin
> PRUBIN=rt-preempt/pru_generic.bin
> 
> and Xylotex.hal as follows
> #loadusr -w 
> /home/machinekit/machinekit/configs/ARM.BeagleBone.Xylotex/setup.sh
> loadusr -w ./setup.sh
> 
> #loadrt hal_bb_gpio output_pins=107,113,119,126,214 
> input_pins=109,110,114,118,241
> loadrt hal_bb_gpio 
> output_pins=807,811,812,813,815,816,819,914,915,923,913,911 
> input_pins=809,810,814,818
> 
> #loadrt [PRUCONF](DRIVER) prucode=$(HAL_RTMOD_DIR)/[PRUCONF](PRUBIN) 
> [PRUCONF](CONFIG)
> loadrt [PRUCONF](DRIVER) prucode=$(LINUXCNC_HOME)/[PRUCONF](PRUBIN) 
> [PRUCONF](CONFIG) pru_period=25000
> 
> I just added "loadrt tp" before this run.
> 
> I am suspicious of some of the pin numbers for the step and dir pins. I don’t 
> know if the change in numbering scheme affects them or not.
> 
> Here is the output to the console from the last attempted run:
> MACHINEKIT - 0.1
> Machine configuration directory is 
> '/home/machinekit/machinekit/configs/ARM.BeagleBone.Xylotex'
> Machine configuration file is 'Xylotex.ini'
> Starting Machinekit...
> rtapi_msgd command:  /usr/libexec/linuxcnc/rtapi_msgd --instance=0 
> --rtmsglevel=5 --usrmsglevel=5 --halsize=524288
> rtapi_app command:  /usr/libexec/linuxcnc/rtapi_app_rt-preempt --instance=0
> io started
> :0: Component 'iocontrol' ready
> :0: Program 'io' started
> emc/iotask/ioControl.cc 768: can't load tool table.
> halcmd loadusr io started
> :0: Component 'halui' ready
> :0: Program 'halui' started
> Xylotex.hal:25: Program './setup.sh' finished
> Xylotex.hal:31: Realtime module 'trivkins' loaded
> Xylotex.hal:34: Realtime module 'tp' loaded
> Xylotex.hal:37: Realtime module 'motmod' loaded
> Xylotex.hal:41: Realtime module 'hal_bb_gpio' loaded
> Xylotex.hal:44: insmod failed, returned -1:
> rtapi_app_main(hal_pru_generic): -1 Operation not permitted
> 
> See /var/log/linuxcnc.log for more information.
> Shutting down and cleaning up Machinekit...
> :0: Realtime threads stopped
> :0: Realtime module 'hal_bb_gpio' unloaded
> :0: Realtime module 'motmod' unloaded
> :0: Realtime module 'tp' unloaded
> :0: Realtime module 'trivkins' unloaded
> Cleanup done
> Machinekit terminated with an error.  You can find more information in the 
> log:
> /home/machinekit/linuxcnc_debug.txt
> and
> /home/machinekit/linuxcnc_print.txt
> as well as in the output of the shell command 'dmesg' and in the terminal
> 
> Thanks,
> Alan
> 
> Xylotex.hal
> https://pastebin.com/0ypeNzV2
> 
> Xylotex.ini
> https://pastebin.com/Kf3PYbx3
> 
> linuxcnc.log
> https://pastebin.com/uwJqtZLZ

Line 791

Sep  1 15:07:30 beaglebone-db25 rtapi:0: 1:rtapi_app:2296:user hal_pru_generic: 
cant find /usr/rt-preempt/pru_generic.bin in 
/home/machinekit/machinekit/configs/ARM.BeagleBone.Xylotex or /lib/firmware/pru/
Sep  1 15:07:30 beaglebone-db25 rtapi:0: 1:rtapi_app:2296:user hpg: ERROR: 
failed to initialize PRU

The debug output in /var/log/linuxcnc.log usually gives the best info, so 
spitting that one thru is very important. So you should find out where the file 
resides. Something like `sudo find / -name pru*` usually gets you on track.
> 
>> On Sep 1, 2018, at 2:08 AM, Bas de Bruijn  wrote:
>> 
>> 
>> 
>>> On 1 Sep 2018, at 10:13, "schoone...@gmail.com"  
>>> wrote:
>>> 
>>> You haven't even said which config you are running, we can't guess that it 
>>> was the last, amongst many you have mentioned.
>>> 
>>> Please attach YOUR copies of all the hal files and the ini file
>>> (in case you have done something stupid like editing it with microsoft word)
>>> 
>>> Open a terminal, run 'sudo > /var/log/linuxcnc.log' then  run 'export 
>>> DEBUG=5' 
>>> Then start machinekit from the same terminal session.
>>> 
>>> Then attach the whole resultant linuxcnc.log too.
>>> 
>>> If an error mentioning 'segmentation fault' or 'general protection fault' 
>>> is displayed,
>>> attach dmsg (run 'dmsg > dmsg.txt')
>>> 
>>> I have an inkling as to what this error is, but am not going to speculate.
>>> 
>>> 
>>>> On 31/08/18 23:15, mugginsac wrote:
>>>> It looks like it may be failing on insmod of motmod.
>>>> 
>>>> This is the line in the X

Re: [Machinekit] Re: Xylotex.ini failing to run under Stretch

[Bas de Bruijn]

> On 1 Sep 2018, at 21:02, mugginsac  wrote:
> 
> I changed:
> loadrt pid num_chan=4
> to
> loadrt pid count=4
> and now it gets past that. Documentation description should be fixed and 
> maybe add someone besides John Kasunich as the guilty party for the change???
> 
> Now it doesn't like
> net home-a bb_gpio.p9.in-41 => axis.3.home-sw-in
> 
> So what is the current correct way to do this?

“Doesn’t like” is an insufficient message.
Nobody can see what is happening.
See /var/log/linuxcnc.log

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Re: [Machinekit] Xylotex.ini failing to run under Stretch

[Bas de Bruijn]

> On 3 Sep 2018, at 05:50, mugginsac  wrote:
> 
> I found the answer in another thread.
> 
>> Seems XQuartz on macOS doesn't enable indirect GLX by default, and it must 
>> be enabled:
>> 
>> $ defaults write org.macosforge.xquartz.X11 enable_iglx -bool true 
>> 
> I fixed the enable indirect GLX on my Mac and then I could get Axis to run 
> under ssh -X.
> It still reports a couple errors but for the moment it is running.
> 
> Now I will see if I can get my Xylotex.ini and Xylotex.hal into github so 
> that others can have a starting point that is closer to working.

Great you solved the problem.
If you need help making a PR let me know.

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Re: [Machinekit] Additional axis outside kinematics?

[Bas de Bruijn]

> On 6 Sep 2018, at 11:31, Daren Schwenke  wrote:
> 
> So I have tripod kinematics working well.
> Now I added an A axis for part rotation via an rc servo now, plumbed it up 
> with scale and limits and such, and it works in joint mode.
> I added my rotation as an axis so the planner can have a relatively good 
> guess as to when it will reach the actual position via setting feedrate/max 
> angular velocity.
> 
> After homing, world mode works fine for X, Y, Z
> But It doesn't work though for G0 A0, G1 A180, etc...
> My ini has:
> 
> AXES = 4
> COORDINATES = X Y Z A
> 
> I'm obviously missing something important here.

Does your 4th Axis need to be coordinated (motion) with the other 3?

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Re: [Machinekit] Additional axis outside kinematics?

[Bas de Bruijn]

> On 6 Sep 2018, at 12:32, Daren Schwenke  wrote:
> 
> No, just respond to G0 A.  It would be better if it wasn't coordinated 
> actually.
> I will not be moving both X Y Z and A in the same command right now.
> For now it will be just G1 X Y Z 
>  
> then G1 A 
> 
> Eventually I would like to be able to G1 X Y Z, and then now wait for it to 
> finish and do G1 A during that move, but I don't need that now.
> Worst case, I can could also just reassign this to some M code, but out of 
> the box it expects A.
> (Openpnp)

In your original question you said: 
>> > But It doesn't work though for G0 A0, G1 A180, etc... 

What exactly does not work?


If you don’t mind an extra step you could set an “analog output” (its a Hal pin 
being set by the g-code command. That hal pin you can wire up to other 
components) in hal with M67 for example. So a script to change (sed) “G1 A” to 
“M67 E0 Q”.

As long as the original G-code file is consistent then that might be the 
fastest result.

Specify the number of analog I/O (end of the line “aio”)
https://github.com/luminize/machinekit/blob/experimental-wire/configs/ARM/BeagleBone/BeBoPr-Bridge/wire-extruding/lineardelta-wire-extr.hal#L29

https://github.com/luminize/machinekit/blob/experimental-wire/configs/ARM/BeagleBone/BeBoPr-Bridge/wire-extruding/lineardelta-wire-extr.hal#L265

> 
>> On Thursday, September 6, 2018 at 6:23:14 AM UTC-4, Bas de Bruijn wrote:
>> 
>> 
>> > On 6 Sep 2018, at 11:31, Daren Schwenke  wrote: 
>> > 
>> > So I have tripod kinematics working well. 
>> > Now I added an A axis for part rotation via an rc servo now, plumbed it up 
>> > with scale and limits and such, and it works in joint mode. 
>> > I added my rotation as an axis so the planner can have a relatively good 
>> > guess as to when it will reach the actual position via setting 
>> > feedrate/max angular velocity. 
>> > 
>> > After homing, world mode works fine for X, Y, Z 
>> > But It doesn't work though for G0 A0, G1 A180, etc... 
>> > My ini has: 
>> > 
>> > AXES = 4 
>> > COORDINATES = X Y Z A 
>> > 
>> > I'm obviously missing something important here. 
>> 
>> Does your 4th Axis need to be coordinated (motion) with the other 3? 
> 
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Re: [Machinekit] Additional axis outside kinematics?

[Bas de Bruijn]

> On 7 Sep 2018, at 01:04, Daren Schwenke  wrote:
> 
> So am I correct in saying that adding the extra axis to trivkins would solve 
> the issue also though?

I’d try out these kind first:
https://github.com/machinekit/machinekit/blob/master/src/emc/kinematics/XYZACkins.c

Add the 5th axis but just don’t use it. See of it works.

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Re: [Machinekit] Additional axis outside kinematics?

[Bas de Bruijn]

> On 8 Sep 2018, at 03:40, Daren Schwenke  wrote:
> 
> I'm not sure what that would tell me here, since I'm using tripodkins.  
> I know the additional joints move appropriately when directed to.  It's just 
> that since they are not part of tripodkins, the ABC are not output.

Hmm, well, I know that lineardeltakins work with an A Axis, 
https://github.com/machinekit/machinekit/blob/master/src/emc/kinematics/lineardeltakins-common.h#L89
https://github.com/machinekit/machinekit/blob/master/src/emc/kinematics/lineardeltakins-common.h#L130

So i took a look at the source to see how this would have to work for 
tripodkins.
These 3 lines seem to be the problem:
https://github.com/machinekit/machinekit/blob/master/src/emc/kinematics/tripodkins.c#L170

> 
> I think I'll just setup an M code to feed joint position, assuming that will 
> work.  I just liked the idea of having the 'motion complete' signal of the 
> command returning (after dwell).  
> As it stands with using the M code, I'll have to add the delay myself or add 
> something to wait for the position, at which point modifying tripodkins would 
> probably be faster.
> 
> I saw they use C in openpnp as the rotational axis.  I'm guessing that XYZ 
> normally map to rotation about axis... ABC then?  So C is rotation about Z 
> axis?
>> On Friday, September 7, 2018 at 12:44:01 AM UTC-4, Bas de Bruijn wrote:
>> 
>> 
>>> On 7 Sep 2018, at 01:04, Daren Schwenke  wrote:
>>> 
>>> So am I correct in saying that adding the extra axis to trivkins would 
>>> solve the issue also though?
>> 
>> I’d try out these kind first:
>> https://github.com/machinekit/machinekit/blob/master/src/emc/kinematics/XYZACkins.c
>> 
>> Add the 5th axis but just don’t use it. See of it works.
> 
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Re: [Machinekit] executing from source, pango problems

[Bas de Bruijn]

> On 22 Sep 2018, at 19:11, mngr  wrote:
> 
> Hi everybody,
> I have compiled from source, and now I am trying to execute, machinekit 
> stars, but axis does not:
> 
> 
> MACHINEKIT - 0.1
> Machine configuration directory is '/home/pi/machinekit/configs/CRAMPS'
> Machine configuration file is 'CRAMPS.ini'
> Starting Machinekit...
> rtapi_msgd command:  /home/pi/machinekit/libexec/rtapi_msgd --instance=0 
> --rtmsglevel=1 --usrmsglevel=1 --halsize=524288
> rtapi_app command:  /home/pi/machinekit/libexec/rtapi_app_rt-preempt 
> --instance=0
> io started
> halcmd loadusr io started
> task pid=25915
> emcTaskInit: using builtin interpreter
> Traceback (most recent call last):
>   File "/home/pi/machinekit/bin/axis", line 3362, in 
> get_coordinate_font(vars.dro_large_font.get())
>   File "/home/pi/machinekit/bin/axis", line 3259, in get_coordinate_font
> glnav.use_pango_font(coordinate_font, 0, 128)
>   File "/home/pi/machinekit/lib/python/glnav.py", line 6, in use_pango_font
> import cairo, pango, pangocairo
> ImportError: No module named pango

Looks like you have a missing Python module.

> Shutting down and cleaning up Machinekit...
> Cleanup done
> Machinekit terminated with an error.  You can find more information in the 
> log:
> /home/pi/linuxcnc_debug.txt
> and
> /home/pi/linuxcnc_print.txt
> as well as in the output of the shell command 'dmesg' and in the terminal
> 
> there is some problem with pango... 
> I found this 
> https://github.com/251/shaape/commit/bc8e07fb4235a7cc6401ab4f8159466ec29cdf67
> 
> but gi.repository PangoCairo has some function defined differently from 
> pangocairo
> 
> pi@realtimepi:~/machinekit/configs/CRAMPS $ uname -a
> Linux realtimepi 4.14.66-rt40-v7 #2 SMP PREEMPT RT Mon Sep 17 21:15:46 UTC 
> 2018 armv7l GNU/Linux
> 
> I tryed installing pango, but I have found problem while compiling, and the 
> site is from 2012...
> 
> any opinion about that?
> 
> 
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Re: [Machinekit] Re: NGCWriter is now in Cura Plugin Repository

[Bas de Bruijn]

> On 15 Oct 2018, at 09:14, mngr  wrote:
> 
> I don't get it, what is the difference between .ngc and .gcode files?
> I am currently just changing the extension

Only the extension. It’s just a text file.
Bas

> 
> Il giorno domenica 14 ottobre 2018 20:25:18 UTC+2, Michael Brown ha scritto:
>> 
>> I have first gotton around to testing this today and I find that NGCWritet 
>> plugin seema to be missing in the latest Cura v. 3.5 Toolboxmenu --> Browse 
>> packages.
>> Also Installing an older version 3.4.1 or 3.4.0 gices an:
>> Could not connect to the Cura Package Database.
>> ...
>> Whats going on ?
>> 
>>> On Monday, 19 March 2018 20:02:36 UTC+1, Alexander Rössler wrote:
>>> I'm proud to announce that the NGCWriter plugin has made it into the 
>>> Cura plugin repository. From Cura 3.2 onward you can install NGCWriter 
>>> just by adding it via Plugins > Browse Plugins... 
>>> 
>>> The plugin generates Machinekit + Velocity Extrusion compatible ngc 
>>> GCode. 
>>> 
>>> -- 
>>> Alexander 
>>> 
> 
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Re: [Machinekit] documentation

[Bas de Bruijn]

> On 25 Oct 2018, at 03:48, "schoone...@gmail.com"  wrote:
> 
> There is a lot of documentation, a lot is generic linuxcnc / machinekit but 
> still valid.
> eg. 
> http://www.machinekit.io/docs/index-user/  will give you block level overview
> 
> http://www.machinekit.io/docs/index-developer/  will give you details 
> including NML
> 
> > I have seen machinetalk with ZMQ and protobuf, and the structure seems 
> > clear.
> 
> Glad you think so, few others do :)
> 
> ringbuffers are just a detail, there is lots of info on the web as to how 
> they work.
> They can be used for passing asynchronous data, no handshake protocols etc.
> The accessing client can retrieve what is important to it, either the whole 
> stream or just the last piece of data for instance.
> 
> The ROS intended jplan uses them
> https://github.com/machinekit/machinekit/tree/master/src/hal/jplanner
> 
> Unfortunately the piece of s**t, google customised search engine for the 
> actual docs, has ceased working again.
> They have undoubtedly changed something in the api again.
> 
> However you just have to use some intelligent searching
> 
> Enter in a google search bar - `site:machinekit.io NML` for instance to get 
> pages of hits where NML is mentioned in machinekit docs.
> 
> The documentation website has been thoroughly harvested by google, because I 
> fed it for weeks to ensure every level was visited
> 
> regards

There are also video’s and talks that Michael Haberler gave. About gcode, 
Canon, NML and a lot of other things.

https://m.youtube.com/watch?v=Bg38894LPPg

https://m.youtube.com/watch?v=xYRNG1Yi1AM

Various subject talks from Machinekit meetups are here:

https://m.youtube.com/channel/UC3FVtrJ8U91iODq5motHMow/videos

Cheers,
Bas

> 
> 
>> On 23/10/18 20:52, mngr wrote:
>> Hi,
>> 
>> I have made a little project developed around Machinekit and now I have to 
>> do a report on the project, I think I will do an introduction to explain 
>> what does Machinekit do, and how it works.
>> That kind of documentation is currently lacking, that can be a good occasion 
>> to write some of it.
>> 
>> In this period I learned something about machinekit and the HAL, but more on 
>> the "how to use" rather than "how it works".
>> I heard often talking about ring-buffer and NML, and it is not really clear 
>> to me what they are and what they are used for. 
>> I have seen machinetalk with ZMQ and protobuf, and the structure seems clear.
>> 
>> I tried to look search in the group, or looking in the code, but it is 
>> hard...
>> I am not expert enough to write that documentation by myself, can you help 
>> me in writing it?
>> First question would be: how do you think it should be structured?
>> 
>> mngr
>> -- 
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Re: [Machinekit] Re: GUI Linuxcnc translation

[Bas de Bruijn]

> On 4 Nov 2018, at 14:57, Federico Torresan  
> wrote:
> 
> Tanks very much Schooner
> 
> So I should Rebuild the project :-(..
> 
> Is there a clear (and tested) procedure to recompile machinekit and reinstall 
> it on my Beaglebone black?? 

You should remove the packages from the BBB and build from source.

Instructions here:
http://www.machinekit.io/docs/getting-started/getting-started-platform/

You need to follow the instructions on setting up a development platform.

Bas

>  
> 
> Il giorno venerdì 2 novembre 2018 19:34:52 UTC+1, Federico Torresan ha 
> scritto:
>> 
>> Hi Everybody.. 
>> 
>> Im working with Linuxcnc installed in beaglebone black but Id like to 
>> traslate the main interface into italian language.. 
>> 
>> is it possible doing it without recompile the source.. Are there some file 
>> for editing the strings??
>> 
>> 
>> Thanks in advance..  
> 
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Re: [Machinekit] Beaglebone machinekit stepconig problem

[Bas de Bruijn]

Hi,

Stepconf does not work for making a configuration for the Beaglebone.
It’s easier to take an existing configuration for a Beaglebone setup and modify 
for your situation.

Bas

> On 7 Nov 2018, at 11:36, Gediminas Dirma  wrote:
> 
> Hello
> 
> I am new to machinekit and i have some problems with stepconfig. After i 
> setup my configuration for lathe and i start it, it doesnt work. Then i read 
> why it stopped it says because my_lathe.hal and the line is 'setp 
> parport.0.reset-time 5000'. Than i comment this line i can launch my config. 
> So what does this line mean, can i leave it commented or maybe i should 
> change something.
> 
> Thanks for help.
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> https://github.com/machinekit
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Re: [Machinekit] Re: GUI Linuxcnc translation

[Bas de Bruijn]

> On 7 Nov 2018, at 13:29, Federico Torresan  
> wrote:
> 
> Hi
> 
> I fallowed the procedure but I have a problem running halrun(rt module)

We can’t guess, please read the getting help section on the machinekit.io 
website

> I read many other had this problem

And what were the solutions?

> Someone know jow fix it? I used the last version of xenomai kernel
> 
> Does it could be a release problem? Maybe i should use an older version
> 
> What do you think

Personally I have not used xenomai in over 3 years. I run RT-preempt kernel 
since it’s a stock RT kernel in recent Debian distro’s. In your case, a BBB 
with a recent SD card image also has stock RT kernels from TI

I think you should take a recent working image (run Machinekit), remove the 
binaries and set up your development environment as per instructions.

> 
> Thanks fede
> 
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Re: [Machinekit] Need an Assist with config

[Bas de Bruijn]

Hi Pierre,

> On 12 Nov 2018, at 00:03, Pierre Auge  wrote:
> 
> This 3D printer CRAMPS config loads Axis with no errors, but hangs and 
> effectively crashes the BBBW.

And what does it say? What are the error messages?
export DEBUG=5 and start Machinekit. Then pastebin (do not attach) the session 
from /var/log/linuxcnc.log

We cannot start to guess what’s happening without some meaningful information.

> It took me a while to wrap my head around this config but I feel like it 
> should work.

Which config exactly?
Again, we’re not looking over your shoulder so you need to provide more input.

Bas

> It is a dual x/y drive system with parallel motors on the X and Y axis. 2X, 
> 2Y, 1Z, and an extruder. Similar to the MPCNC.
> 
> I've tested the standard cramps configs with the machine running with motors 
> in parallel on a single driver and everything is fine.
> 
> 
> Thanks
> -- 
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> https://github.com/machinekit
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> 

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Re: [Machinekit] Need help configuring BeagleBone Black, using Probotix cape

[Bas de Bruijn]

Hi Peter,

> On 12 Nov 2018, at 02:57, peter.huer...@gmail.com wrote:
> 
> 
> I'm having trouble getting my copy of Machinekit configured on the Beaglebone 
> Black.  I am currently getting the below error:
> 
> 
> 
> 
> 
> Any suggestions would be greatly appreciated.  I installed the below build:
> 
> 
> Which was sourced from here:
> 
> https://elinux.org/Beagleboard:BeagleBoneBlack_Debian#BBW.2FBBB_.28All_Revs.29_Machinekit
> 
Is there a reason you’ve taken the (very old) Jessie image? Why not the stretch 
image?

Bas
> If anyone can help me with this I would be eternally thankful.
> 
> 
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Re: [Machinekit] Need an Assist with config

[Bas de Bruijn]

Pierre,

> On 12 Nov 2018, at 20:02, Pierre Auge  wrote:
> 
> Bas,
> 
> It's hard to pastebin an empty file.
> 
> /var/log/linuxcnc.log is empty, no errors are being logged. Hence the the 
> comment "no errors, but hangs and effectively crashes the BBBW."
> You could imagine how hard it is from my end to diagnose a problem when the 
> problem is not being logged as a problem.

I can’t help you without errors. That’s like walking around on bare feet in a 
dark room with LEGO pieces scattered over the floor.

Let’s take one step back.
How is your setup? Meaning what image did you use? Do you run from packages or 
have you compiled yourself?

> I'm referring to the HAL config file I attached.

I’m working from a mobile device. Please post a link to you config, either 
pastebin links or a github account with your (if modified) configuration. If 
stock, then the link from the github repo that you use.

http://www.machinekit.io/docs/getting-help/

> I'm trying to understand what if anything in the HAL config could be causing 
> the beagleboard to become unusable without posting any errors.

Your /var/log/linuxcnc.log file should contain some info at least, for each 
session some general messages. So there’s definitely something strange going on.

> 
> Apologies for any lack of clarity.
> 
> Pierre
> 
> 
> 
> 
>> On Monday, November 12, 2018 at 12:29:23 AM UTC-5, Bas de Bruijn wrote:
>> Hi Pierre,
>> 
>>> On 12 Nov 2018, at 00:03, Pierre Auge  wrote:
>>> 
>>> This 3D printer CRAMPS config loads Axis with no errors, but hangs and 
>>> effectively crashes the BBBW.
>> 
>> And what does it say? What are the error messages?
>> export DEBUG=5 and start Machinekit. Then pastebin (do not attach) the 
>> session from /var/log/linuxcnc.log
>> 
>> We cannot start to guess what’s happening without some meaningful 
>> information.
>> 
>>> It took me a while to wrap my head around this config but I feel like it 
>>> should work.
>> 
>> Which config exactly?
>> Again, we’re not looking over your shoulder so you need to provide more 
>> input.
>> 
>> Bas
>> 
>>> It is a dual x/y drive system with parallel motors on the X and Y axis. 2X, 
>>> 2Y, 1Z, and an extruder. Similar to the MPCNC.
>>> 
>>> I've tested the standard cramps configs with the machine running with 
>>> motors in parallel on a single driver and everything is fine.
>>> 
>>> 
>>> Thanks
>>> -- 
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>>> https://github.com/machinekit
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>>> 
>>> 
> 
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Re: [Machinekit] Need an Assist with config

[Bas de Bruijn]

> On 12 Nov 2018, at 22:28, Pierre Auge  wrote:
> 
> Now i'm getting some error outputs. and here it is. Finally: 
> https://github.com/PierreAuge/machinekit-config/blob/master/linuxcnc.log

Looks like these are just normal messages.
Please in a terminal:
export DEBUG=5

Then start Machinekit from that terminal:
machinekit &


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Re: [Machinekit] Need an Assist with config

[Bas de Bruijn]

> On 15 Nov 2018, at 00:06, Pierre Auge  wrote:
> 
> https://github.com/PierreAuge/machinekit-config/blob/master/linuxcnc.log
> 
> 
> Bas,
> 
> Apologies about the back and forth. I really do appreciate you taking the 
> time to help me. The linked log file should present something more useful now.
> 
> Pierre

Where did you obtain the image from
What’s the output of ‘uname -a’
What’s the output of ‘dmesg’

> 
>> On Tuesday, November 13, 2018 at 12:52:52 AM UTC-5, Bas de Bruijn wrote:
>> 
>> 
>> > On 12 Nov 2018, at 22:28, Pierre Auge  wrote: 
>> > 
>> > Now i'm getting some error outputs. and here it is. Finally: 
>> > https://github.com/PierreAuge/machinekit-config/blob/master/linuxcnc.log 
>> 
>> Looks like these are just normal messages. 
>> Please in a terminal: 
>> export DEBUG=5 
>> 
>> Then start Machinekit from that terminal: 
>> machinekit & 

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Re: [Machinekit] Need an Assist with config

[Bas de Bruijn]

Pierre,

> On 15 nov. 2018, at 06:55, Bas de Bruijn  wrote:
> 
> 
> 
>> On 15 Nov 2018, at 00:06, Pierre Auge  wrote:
>> 
>> https://github.com/PierreAuge/machinekit-config/blob/master/linuxcnc.log

You should look into these lines
https://github.com/PierreAuge/machinekit-config/blob/master/linuxcnc.log#l1120

Which say something about this line
https://github.com/PierreAuge/machinekit-config/blob/master/CRAMPS.ini#l97

Looks like you want a servo thread of 10kHz and on a bbbw and that's a too much 
I think.
Normally you run at 1kHz which is more than enough (look at the original)
https://github.com/machinekit/machinekit/blob/master/configs/ARM/BeagleBone/CRAMPS/CRAMPS.ini#l105

Bas

>> 
>> Bas,
>> 
>> Apologies about the back and forth. I really do appreciate you taking the 
>> time to help me. The linked log file should present something more useful 
>> now.
>> 
>> Pierre
> 
> Where did you obtain the image from
> What’s the output of ‘uname -a’
> What’s the output of ‘dmesg’
> 
>> 
>>> On Tuesday, November 13, 2018 at 12:52:52 AM UTC-5, Bas de Bruijn wrote:
>>> 
>>> 
>>> > On 12 Nov 2018, at 22:28, Pierre Auge  wrote: 
>>> > 
>>> > Now i'm getting some error outputs. and here it is. Finally: 
>>> > https://github.com/PierreAuge/machinekit-config/blob/master/linuxcnc.log 
>>> 
>>> Looks like these are just normal messages. 
>>> Please in a terminal: 
>>> export DEBUG=5 
>>> 
>>> Then start Machinekit from that terminal: 
>>> machinekit & 
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Re: [Machinekit] Need an Assist with config

[Bas de Bruijn]

> On 18 Nov 2018, at 12:39, Pierre Auge  wrote:
> 
> Bas,
> 
> My friend, that is what we call a typo.

Yes, that was certainly a high ranking possibility :)

I was wondering (just curious ) why you use an older debian Jessie xenomai 
image, instead of the newer stretch rt-preempt one.

> Thank you, sooo much! It loaded instantly when I made the correction. 
> 
> You just saved me so much work. Now on to testing.
> 
> Pierre

Glad it worked out!

> 
>> On Sunday, November 18, 2018 at 5:38:36 AM UTC-5, Bas de Bruijn wrote:
>> Pierre,
>> 
>>> On 15 nov. 2018, at 06:55, Bas de Bruijn  wrote:
>>> 
>>> 
>>> 
>>>> On 15 Nov 2018, at 00:06, Pierre Auge  wrote:
>>>> 
>>>> https://github.com/PierreAuge/machinekit-config/blob/master/linuxcnc.log
>>>> 
>> 
>> You should look into these lines
>> https://github.com/PierreAuge/machinekit-config/blob/master/linuxcnc.log#l1120
>> 
>> Which say something about this line
>> https://github.com/PierreAuge/machinekit-config/blob/master/CRAMPS.ini#l97
>> 
>> Looks like you want a servo thread of 10kHz and on a bbbw and that's a too 
>> much I think.
>> Normally you run at 1kHz which is more than enough (look at the original)
>> https://github.com/machinekit/machinekit/blob/master/configs/ARM/BeagleBone/CRAMPS/CRAMPS.ini#l105
>> 
>> Bas
>> 
>>>> 
>>>> Bas,
>>>> 
>>>> Apologies about the back and forth. I really do appreciate you taking the 
>>>> time to help me. The linked log file should present something more useful 
>>>> now.
>>>> 
>>>> Pierre
>>> 
>>> Where did you obtain the image from
>>> What’s the output of ‘uname -a’
>>> What’s the output of ‘dmesg’
>>> 
>>>> 
>>>>> On Tuesday, November 13, 2018 at 12:52:52 AM UTC-5, Bas de Bruijn wrote:
>>>>> 
>>>>> 
>>>>> > On 12 Nov 2018, at 22:28, Pierre Auge  wrote: 
>>>>> > 
>>>>> > Now i'm getting some error outputs. and here it is. Finally: 
>>>>> > https://github.com/PierreAuge/machinekit-config/blob/master/linuxcnc.log
>>>>> >  
>>>>> 
>>>>> Looks like these are just normal messages. 
>>>>> Please in a terminal: 
>>>>> export DEBUG=5 
>>>>> 
>>>>> Then start Machinekit from that terminal: 
>>>>> machinekit & 
>>> -- 
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Re: [Machinekit] Re: Debian package related problem

[Bas de Bruijn]

> On 22 Nov 2018, at 22:33, c...@tuta.io wrote:
> 
> And just to be through I have just tried to install machinekit from source 
> and gotten the same error. Command sudo make setuid made these warnings:
> 
> 
> 
> Warning:  No rate limit in rsyslogd is set.
> 
>   The 'rsyslogd' daemon drops logs when incoming at
>   higher than the rate configured by
>   'SystemLogRateLimitBurst'.  The default rate is lower
>   than Machinekit requires when running in debug mode.
> 
>   Hint:
> $ sudo cp rtapi/rsyslogd-linuxcnc.conf 
> /etc/rsyslog.d/linuxcnc.conf
> $ sudo service rsyslog restart
> 
> Warning:  no configuration for 'memlock' found
> 
>   Hint:
> $ sudo cp rtapi/shmdrv/limits.d-machinekit.conf 
> /etc/security/limits.d/machinekit.conf
> 
> 

Hi, those hints tell you what to do.
Bas


> Cern
> 
> Dne čtvrtek 22. listopadu 2018 1:59:07 UTC+1 ce...@tuta.io napsal(a):
>> 
>> Hello,
>> isn't the newest Machinekit Debian package broken? I upgraded my test system 
>> installation with apt-get upgrade (Debian 9 Stretch: Linux machinekit 
>> 4.9.0-8-rt-686-pae #1 SMP PREEMPT RT Debian 4.9.130-2 (2018-10-27) i686 
>> GNU/Linux) to the newest package (0.1.1542196491.git9c3423c-1~stretch), 
>> however trying to start machinekit with sim.axis/axis.ini I got the error:
>> 
>> machinekit
>> MACHINEKIT - 0.1
>> Machine configuration directory is 
>> '/home/machinekit/machinekit/configs/sim.axis'
>> Machine configuration file is 'axis.ini'
>> Starting Machinekit...
>> rtapi_msgd command:  /usr/libexec/linuxcnc/rtapi_msgd --instance=0 
>> --rtmsglevel=5 --usrmsglevel=5 --halsize=524288
>> rtapi_app command:  /usr/libexec/linuxcnc/rtapi_app_rt-preempt --instance=0
>> io started
>> :0: Component 'iocontrol' ready
>> :0: Program 'io' started
>> halcmd loadusr io started
>> :0: Component 'halui' ready
>> :0: Program 'halui' started
>> core_sim.hal:5: Realtime module 'trivkins' loaded
>> core_sim.hal:7: Realtime module 'tp' loaded
>> core_sim.hal:9: insmod failed, returned -1:
>> rtapi_rpc(): reply timeout
>> See /var/log/linuxcnc.log for more information.
>> 
>> 
>> And in linuxcnc.log
>> 
>> Nov 22 01:44:59 machinekit msgd:0: startup pid=12256 flavor=rt-preempt 
>> rtlevel=5 usrlevel=5 halsize=524288 shm=Posix cc=gcc 6.3.0 20170516  
>> version=v0.1~-~9c3423c
>> Nov 22 01:44:59 machinekit msgd:0: ØMQ=4.2.1 czmq=4.0.2 protobuf=3.0.0 
>> atomics=gcc intrinsicslibwebsockets=2.0.3
>> Nov 22 01:44:59 machinekit msgd:0: configured: sha=9c3423c
>> Nov 22 01:44:59 machinekit msgd:0: built:  Nov 14 2018 12:37:25 
>> sha=9c3423c
>> Nov 22 01:44:59 machinekit msgd:0: register_stuff: actual hostname as 
>> announced by avahi='machinekit.local'
>> Nov 22 01:44:59 machinekit msgd:0: zeroconf: registering: 'Log service on 
>> machinekit.local pid 12256'
>> Nov 22 01:44:59 machinekit rtapi:0: 2:rtapi_app:12261:user rtapi:0: cannot 
>> create core dumps - /proc/sys/fs/suid_dumpable contains 0
>> Nov 22 01:44:59 machinekit rtapi:0: 2:rtapi_app:12261:user you might have to 
>> run 'echo 1 > /proc/sys/fs/suid_dumpable' as root to enable rtapi_app core 
>> dumps
>> Nov 22 01:44:59 machinekit rtapi:0: 4:rtapi_app:12261:user rtapi: loaded 
>> from rtapi.so
>> Nov 22 01:44:59 machinekit rtapi:0: 4:rtapi_app:12261:user hal_lib: loaded 
>> from hal_lib.so
>> Nov 22 01:44:59 machinekit msgd:0: rtapi:12261:rt rtapi_app_main:195 HAL: 
>> initializing RT hal_lib support
>> Nov 22 01:44:59 machinekit msgd:0: hal_lib:12261:rt halg_xinitfv:90 HAL: 
>> initializing component 'hal_lib' type=4 arg1=0 arg2=0/0x0
>> Nov 22 01:44:59 machinekit msgd:0: hal_lib:12261:rt hal_heap_addmem:58 HAL: 
>> extending arena by 262144 bytes
>> Nov 22 01:44:59 machinekit msgd:0: hal_lib:12261:rt halg_export_xfunctfv:85 
>> HAL: exporting function 'newinst' type 2 fp=0 owner=66
>> Nov 22 01:44:59 machinekit msgd:0: hal_lib:12261:rt halg_export_xfunctfv:85 
>> HAL: exporting function 'delinst' type 2 fp=0 owner=66
>> Nov 22 01:44:59 machinekit msgd:0: hal_lib:12261:rt halg_xinitfv:271 HAL: 
>> singleton component 'hal_lib' id=66 initialized
>> Nov 22 01:44:59 machinekit msgd:0: hal_lib:12261:rt rtapi_app_main:199 HAL: 
>> RT hal_lib support initialized rc=66
>> Nov 22 01:44:59 machinekit rtapi:0: 4:rtapi_app:12261:user accepting 
>> commands at ipc:///tmp/0.rtapi.a42c8c6b-4025-4f83-ba28-dad21114744a
>> Nov 22 01:44:59 machinekit rtapi:0: 3:rtapi_app:12261:user rtapi_app:0 ready 
>> flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~-~9c3423c
>> Nov 22 01:44:59 machinekit rtapi:0: 4:rtapi_app:12261:user pid=12261 
>> flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~-~9c3423c
>> Nov 22 01:44:59 machinekit rtapi:0: 4:rtapi_app:12261:user pid=12261 
>> flavor=rt-preempt gcc=6.3.0 20170516 git=v0.1~-~9c3423c
>> Nov 22 01:44:59 machinekit msgd:0: ulapi:12262:user _ulapi_init(): ulapi 
>> rt-preempt v0.1~-~9c3423c loaded
>> Nov 22 01:44:59 machinekit msgd:0: ulapi:12262:user halg_xin

Re: [Machinekit] Re: Debian package related problem

[Bas de Bruijn]

> On 26 Nov 2018, at 00:43, cncbuilder...@gmail.com wrote:
> 
> 
> 
>> On Wednesday, November 21, 2018 at 5:59:07 PM UTC-7, ce...@tuta.io wrote:
>> Hello,
>> isn't the newest Machinekit Debian package broken? I upgraded my test system 
>> installation with apt-get upgrade (Debian 9 Stretch: Linux machinekit 
>> 4.9.0-8-rt-686-pae #1 SMP PREEMPT RT Debian 4.9.130-2 (2018-10-27) i686 
>> GNU/Linux) to the newest package (0.1.1542196491.git9c3423c-1~stretch), 
>> however trying to start machinekit with sim.axis/axis.ini I got the error:
>> 
>> machinekit
>> MACHINEKIT - 0.1
>> Machine configuration directory is 
>> '/home/machinekit/machinekit/configs/sim.axis'
>> Machine configuration file is 'axis.ini'
>> Starting Machinekit...
>> rtapi_msgd command:  /usr/libexec/linuxcnc/rtapi_msgd --instance=0 
>> --rtmsglevel=5 --usrmsglevel=5 --halsize=524288
>> rtapi_app command:  /usr/libexec/linuxcnc/rtapi_app_rt-preempt --instance=0
>> io started
>> :0: Component 'iocontrol' ready
>> :0: Program 'io' started
>> halcmd loadusr io started
>> :0: Component 'halui' ready
>> :0: Program 'halui' started
>> core_sim.hal:5: Realtime module 'trivkins' loaded
>> core_sim.hal:7: Realtime module 'tp' loaded
>> core_sim.hal:9: insmod failed, returned -1:
>> rtapi_rpc(): reply timeout
>> See /var/log/linuxcnc.log for more information.
>> 
> 
>I'm having  the same issue.  same install on a P4 64bit 3.0Ghz  4G ram 
> This system has been running Linuxcnc for more than 4 years.
> Also upgraded to 2.7 last summer. I have 4 machines in total running on P4s 
> Linuxcnc.
> 
> Can't find . 'machinekit_0.1.1537365199.
> gitf63b8a2-1~stretch_i386' you suggested. 
> 
> Is Machinekit for programmers only?

Your remark above is not really helpfull nor is it constructive.

Bas

> 
> Scott
> 
> 
> 
>  
> -- 
> website: http://www.machinekit.io blog: http://blog.machinekit.io github: 
> https://github.com/machinekit
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Re: [Machinekit] Mesa 6i25 Smart Serial ports work with halcmd HAL-file, but not with python-HAL

[Bas de Bruijn]

> On 28 Nov 2018, at 15:01, destra...@gmail.com wrote:
> 
> Hello everyone,
> we have the following problem with machinekit (latest version from 
> repositories, debian stretch):
> 
> If we launch machinekit with an original (linuxcn-style) HAL-file:
> 
> loadrt hostmot2
> loadrt hm2_pci config=" num_encoders=1 num_stepgens=4 sserial_port_0=00xx 
> "
> 
> we can read out a 7i76-daughterboard digital in pin via halmeter.
> 
> On the other hand, if we use a python-HAL:
> 
> rt.loadrt('hostmot2')
> rt.loadrt('hm2_pci', config=' num_encoders=1 num_stepgens=4 
> sserial_port_0=00xx')
> 
> halmeter shows the pins, but they show only false, regardless of the actual 
> input value.

Which pins are that?

What does `halcmd show pin hm2_5i25.0` say?

> Do you have any ideas?

Have you inspected /var/log/linuxcnc.log after setting `export DEBUG=5` in the 
terminal you run your python file?

Have you added the read, write and pet_watchdog functions to your thread?

Have you started the thread?

Bas

> 
> Best regards
> Dennis
> -- 
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Re: [Machinekit] Mesa 6i25 Smart Serial ports work with halcmd HAL-file, but not with python-HAL

[Bas de Bruijn]

> On 28 Nov 2018, at 21:32, destra...@gmail.com wrote:
> 
> Thank you so much Bas,
> indeed we forgot to add the write and watchdog functions to our thread!

Great!

> Best regards
> Dennis
> 
> Am Mittwoch, 28. November 2018 16:19:56 UTC+1 schrieb Bas de Bruijn:
>> 
>> 
>> 
>> On 28 Nov 2018, at 15:01, dest...@gmail.com wrote:
>> 
>>> Hello everyone,
>>> we have the following problem with machinekit (latest version from 
>>> repositories, debian stretch):
>>> 
>>> If we launch machinekit with an original (linuxcn-style) HAL-file:
>>> 
>>> loadrt hostmot2
>>> loadrt hm2_pci config=" num_encoders=1 num_stepgens=4 
>>> sserial_port_0=00xx "
>>> 
>>> we can read out a 7i76-daughterboard digital in pin via halmeter.
>>> 
>>> On the other hand, if we use a python-HAL:
>>> 
>>> rt.loadrt('hostmot2')
>>> rt.loadrt('hm2_pci', config=' num_encoders=1 num_stepgens=4 
>>> sserial_port_0=00xx')
>>> 
>>> halmeter shows the pins, but they show only false, regardless of the actual 
>>> input value.
>> 
>> Which pins are that?
>> 
>> What does `halcmd show pin hm2_5i25.0` say?
>> 
>>> Do you have any ideas?
>> 
>> Have you inspected /var/log/linuxcnc.log after setting `export DEBUG=5` in 
>> the terminal you run your python file?
>> 
>> Have you added the read, write and pet_watchdog functions to your thread?
>> 
>> Have you started the thread?
>> 
>> Bas
>> 
>>> 
>>> Best regards
>>> Dennis
>>> -- 
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Re: [Machinekit] Beaglebone stepper motor as spindle

[Bas de Bruijn]

> On 3 Dec 2018, at 13:44, Gediminas Dirma  wrote:
> 
> Hello
> 
> Has anyone tried setting up stepper motor as spindle with machinekit. Maybe 
> you have some example configs or examples.
> 
> Thanks for help.

My guess is that a stepper motor is not suitable for a spindle. Mostly because 
speed is limited wrt other motor types.

Apart from that, if you set the stepper up in velocity mode instead of position 
mode, then that should work.

There are beaglebone configs in the repo which show how to set stepgens in 
velocity mode.

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Re: [Machinekit] Beaglebone stepper motor as spindle

[Bas de Bruijn]

> On 3 Dec 2018, at 21:02, Gediminas Dirma  wrote:
> 
> My final goal would be to have threading with lathe. So i am trying to find 
> some way how this could be possible done. Because i didnt find much 
> information about encoders or examples on beaglebone and machinekit how to 
> use them.

I don’t have a lathe, so I can’t help you here.
You should have a search thru the docs at http://www.machinekit.io/docs
http://www.machinekit.io/docs/lathe/lathe-user/
Spindle synchronized motion


> 
> 2018 m. gruodis 3 d., pirmadienis 15:53:44 UTC+2, Bas de Bruijn rašė:
>> 
>> 
>> 
>> > On 3 Dec 2018, at 13:44, Gediminas Dirma  wrote: 
>> > 
>> > Hello 
>> > 
>> > Has anyone tried setting up stepper motor as spindle with machinekit. 
>> > Maybe you have some example configs or examples. 
>> > 
>> > Thanks for help. 
>> 
>> My guess is that a stepper motor is not suitable for a spindle. Mostly 
>> because speed is limited wrt other motor types. 
>> 
>> Apart from that, if you set the stepper up in velocity mode instead of 
>> position mode, then that should work. 
>> 
>> There are beaglebone configs in the repo which show how to set stepgens in 
>> velocity mode. 
> 
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Re: [Machinekit] EtherCat / CANopen for lathe retrofit

[Bas de Bruijn]

Hi Frederic,

> On 11 Dec 2018, at 07:43, Frederic Rible  wrote:
> 
> Hello, 
> 
> After having battled with original analog drives, we are considering 
> switching to EtherCat servo drives for our Mori-Seiki SL-0 lathe retrofit. 
> Any information about EtherCat maturity under MK running on a PC? 
> Also, we are studying CANopen alternative, but EtherCat looks more promising: 
> any feedback? 

We’re running the LCEC (LinuxCNC Ethercat Component) in a non-CNC project, and 
Ethercat works fine.
I’d not go towards CANOpen because of the bandwidth and there’s no real driver 
out there.

You could also check out the STMBL project. https://github.com/rene-dev/stmbl 


Bas

> 
> Thanks. 
> Frederic 
> https://www.electrolab.fr/
> https://wiki.electrolab.fr/Tour:MoriSeiki:SL0
> http://cnc.f1oat.org 
> 
> 
> 
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Re: [Machinekit] Machinekit Advanced HAL Tutorial

[Bas de Bruijn]

Hi Scott,

> On 15 Dec 2018, at 02:09, Scott Nortman  wrote:
> 
> Hi,
> 
> Just installed Machinekit to a rpi3b+ via apt-get and I am running through 
> the tutorial here:
> 
> http://www.machinekit.io/docs/hal/tutorial/#introduction-a-id-sec-tutorial-intro-a
> 
> The strange issue:
> 
> When I instantiate the siggen component, all of the pins, signals, and 
> parameters for the component appear as 'Pins'.  For example, after 
> instantiation, when I type
> 
> halcmd: show pin
> Component Pins:
>   Comp   Inst Type  Dir Value  Name   
>  Epsilon Flags  linked to:
> 78float IN  5  siggen.0.amplitude 
> 0.10--l-
> 78bit   OUT  TRUE  siggen.0.clock 
> --l-
> 78float OUT 0.8441676  siggen.0.cosine
> 0.10--l-
> 78float IN  1  siggen.0.frequency 
> 0.10--l-
> 78float IN  0  siggen.0.offset
> 0.10--l-
> 78float OUT  2.78  siggen.0.sawtooth  
> 0.10--l-
> 78float OUT -4.922822  siggen.0.sine  
> 0.10--l-
> 78float OUT 5  siggen.0.square
> 0.10--l-
> 78float OUT  0.56  siggen.0.triangle  
> 0.10--l-
> 78s32   OUT  5261  siggen.0.update.time   
> 
> 78s32   I/O 65155  siggen.0.update.tmax   
> 
> 78bit   OUT FALSE  siggen.0.update.tmax-inc   
> 
> 66s32   OUT999411  test-thread.curr-period
> 
> 66s32   OUT  5261  test-thread.time   
> 
> 66s32   I/O 65155  test-thread.tmax   
> 
> 
> halcmd: 
> 
> And when I attempt to see the parameters, nothing shows up:
> 
> halcmd: show param
> Parameters:
>  CompInst Type   Dir Value  Name
> 
> halcmd: 
> 
> Also, when I run the halmeter, all items show up under the 'Pins' tab and no 
> items show up under the Signals or Parameters tab (see image)
> 
> 
> Any thoughts?

This has to do with the fact that that component has no parameters, nor are 
there signals in your setup.

The term Signal refers to a type which connects 2 pins. Although you think your 
siggen component creates signals (sine, cosine, square, saw, triangle) these 
are not the hal types we call “signal”

Bas


> 
> Thanks and best regards,
> Scott
> 
> 
> 
> 
> 
> -- 
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Re: [Machinekit] Re: bone-debian-9.6-machinekit-armhf-2018-12-10-4gb.img machinekit not starting

[Bas de Bruijn]

> On 25 Dec 2018, at 19:24, Scott Nortman  wrote:
> 
> Hi
> 
> See this page, look at step 9
> 
> https://jetforme.org/2018/04/machinekit-on-bbb/
> 
> Will fix the insmod errors 
> 
> Best regards, 
> Scott 
> 
>> On Tue, Dec 25, 2018, 1:02 PM mugginsac > I have got X11 forwarding working (I got the config picker). However, the 
>> app is still not executing.
>> I got these messages (with DEBUG=5 set):
>> machinekit@beaglebone:~/machinekit/configs/ARM.BeagleBone.Xylotex$ 
>> machinekit Xylotex.ini
>> MACHINEKIT - 0.1
>> Machine configuration directory is 
>> '/home/machinekit/machinekit/configs/ARM.BeagleBone.Xylotex'
>> Machine configuration file is 'Xylotex.ini'
>> Starting Machinekit...
>> rtapi_msgd command:  /usr/libexec/linuxcnc/rtapi_msgd --instance=0 
>> --rtmsglevel=5 --usrmsglevel=5 --halsize=524288
>> rtapi_app command:  /usr/libexec/linuxcnc/rtapi_app_rt-preempt --instance=0
>> io started
>> :0: Component 'iocontrol' ready
>> :0: Program 'io' started
>> emc/iotask/ioControl.cc 768: can't load tool table.
>> halcmd loadusr io started
>> :0: Component 'halui' ready
>> :0: Program 'halui' started
>> Waiting for /sys/class/uio/uio0 OK
>> Xylotex.hal:25: Program './setup.sh' finished
>> Xylotex.hal:32: Realtime module 'trivkins' loaded
>> Xylotex.hal:35: Realtime module 'tp' loaded
>> Xylotex.hal:38: Realtime module 'motmod' loaded
>> Xylotex.hal:41: Realtime module 'hal_bb_gpio' loaded
>> Xylotex.hal:43: insmod failed, returned -1:
>> rtapi_app_main(hal_pru_generic): -1 Operation not permitted
>> 
>> See /var/log/linuxcnc.log for more information.
>> Shutting down and cleaning up Machinekit...
>> :0: Realtime threads stopped
>> :0: Realtime module 'hal_bb_gpio' unloaded
>> :0: Realtime module 'motmod' unloaded
>> :0: Realtime module 'tp' unloaded
>> :0: Realtime module 'trivkins' unloaded
>> Cleanup done
>> Machinekit terminated with an error.  For simple cases more information
>> can be found in the following files:
>> /home/machinekit/linuxcnc_debug.txt
>> /home/machinekit/linuxcnc_print.txt
>> 
>> For other cases get more meaningfull information by restarting after
>> export DEBUG=5
>> 
>> and look at the output of:
>> /var/log/linuxcnc.log
>> dmesg
>> 
>> When looking for errors, specifically look for libraries that fail to load
>> by looking for lines with 'insmod failed' as per example below.
>> 
>> insmod failed, returned -1:
>> do_load_cmd: dlopen: nonexistant-component.so: cannot open shared object 
>> file:
>> No such file or directory
>> 
>> For getting help, please have a look here: 
>> www.machinekit.io/docs/getting-help/
>> 
>> Here is a link to my /var/log/linuxcnc.log

Looking at the linuxcnc.log is not optional but mandatory ;)

Look at line 833
Dec 25 17:45:48 beaglebone rtapi:0: 1:rtapi_app:2023:user hal_pru_generic: cant 
find /usr/rt-preempt/pru_generic.bin in 
/home/machinekit/machinekit/configs/ARM.BeagleBone.Xylotex or /lib/firmware/pru/
Dec 25 17:45:48 beaglebone rtapi:0: 1:rtapi_app:2023:user hpg: ERROR: failed to 
initialize PRU

So “sudo find / -name pru_generic.bin” and make sure the path in you ini/hal 
file is correct.
(The link Scott provided)

Cheers,
Bas

>> Here is a link to my dmesg output .
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Re: [Machinekit] Re: bone-debian-9.6-machinekit-armhf-2018-12-10-4gb.img machinekit not starting

[Bas de Bruijn]

> On 25 Dec 2018, at 23:59, mugginsac  wrote:
> 
> 
> So when I run "machinekit Xylotex.ini"  I see the machinekit logo and then it 
> displays the axis window but immediately hides it (it is so fast that I can't 
> even tell if it is fully drawing the contents. The axis window shows up in 
> the XWindow windows list but I can't get it to re-display. The console looks 
> like it is just waiting for the load process to finish but the only thing I 
> can do is ^C to abort.
> 
> Here is a link to my console_output

Last 2 lines talk of an error. There’s your starting point.
Looks like your setup is finished and started to unload when you pressed CTRL+C

Bas

> Here is a link to my /var/log/linuxcnc.log (It is front trucated because it 
> is too long for my console's scrollback).
> And here is a link to my dmesg_output

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Re: [Machinekit] Re: bone-debian-9.6-machinekit-armhf-2018-12-10-4gb.img machinekit not starting

[Bas de Bruijn]

> On 26 Dec 2018, at 20:51, mugginsac  wrote:
> 
> Bas and Schooner,
> 
> I had seen those errors and had even googled some of them but hadn't yet 
> figured out whether the problem was on my Mac or the BBB. I got those 3 libs 
> on the BBB and that fixed the problem.

Great to hear it was solved!

> 
> Thank you both so much,
> Alan

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Re: [Machinekit] Re: Having Issues with Following Errors

[Bas de Bruijn]

> On 28 Dec 2018, at 05:27, Matthew  wrote:
> 
> I increased the P term to 1000 with no change.  I'd like to try to plot the 
> error with halscope... any idea how to do that?  :-)  I looked at halscope 
> and googled a bit... is there a good tutorial somewhere?

Yes there is. One of the very first links that showed up in my Google search.
Remember that you have to click on the link ;)

http://linuxcnc.org/docs/html/hal/tutorial.html#_halscope

Or if you search the machinekit docs
http://www.machinekit.io/docs/index-HAL/

See section “Halscope”
http://www.machinekit.io/docs/hal/tutorial/#halscope-a-id-sec-tutorial-halscope-a

> 
> Thanks!
> 
> 
>> On Thursday, December 27, 2018 at 7:37:17 AM UTC-8, pcwcol wrote:
>> 
>> 
>>> On Tuesday, December 25, 2018 at 4:42:28 PM UTC-8, Matthew wrote:
>>> The error I usually get is: joint 1 following error
>>> 
>>> 
 On Tuesday, December 25, 2018 at 3:14:55 PM UTC-8, Matthew wrote:
 I recently finished putting together my CNC router using the Beaglebone 
 Black, a 5 axis breakout board, HY-268-N6 drivers, and NEMA23 steppers.  
 Since I received assistance with getting my steppers moving in the correct 
 directions (my earlier post on this forum), everything works great for 
 jogs.  I can jog any axis at 120 in/min without problems.  The issues come 
 when I try to run a gcode file through it.  No matter how slow I set the 
 feeds, it seems like I get following errors.  I've googled the issue and 
 tried:
 
 1. Increasing the min_ferror and ferror values (up to 0.5/1).  
 
 2. Decreasing the pru_period to 5000.
 
 3. Increasing or decreasing the DEFAULT_VELOCITY and MAX_LINEAR_VELOCITY 
 values.  Goal is for a max of 120 in/min but plan to run around 25-50% 
 depending on what I'm working on.
 
 4. Increasing or decreasing the MAX_VELOCITY and MAX_ACCELERATION for each 
 axis (although it seems like the y-axis is usually the one giving me 
 errors).  I've been keeping the stepgen values 20-25% higher than the max 
 velocity/acceleration values.
 
 5. I adjusted the microstepping to lower the steps per inch scale value.  
 Didn't seem to make any difference.  I'm currently at 1/2 stepping I 
 believe.
 
 6.  I've played with the driver timings (DIRSTEP, DIRHOLD, STEPLEN, 
 STEPSPACE) but they didn't seem to change much.  The values are high due 
 to the cheap drivers I'm using but they work just fine when jogging...
 
 Any thoughts?  I've still got my configuration files at the following 
 links (ignore the hal_bb_gpio values - I've corrected the pins since 
 posting the files):
 
 Xylotex.hal: https://pastebin.com/UNtgPpyx
 Xylotex-axis.ini: https://pastebin.com/u5Ba6ULH
 Xylotex.postgui.hal: https://pastebin.com/NFHf6Px9
 
 Thanks for looking!
 
 ~Matthew
>> 
>> 
>> You might try increasing the P term to 1000 
>> 
>> The current P term of 50 with a maxerror setting of .001 means the maximum 
>> correction 
>> applied to velocity is .050 IPS which may not be sufficient
>> 
>> Another thing to try is plotting the following error with halscope to see 
>> whats going wrong
> 
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Re: [Machinekit] Re: Having Issues with Following Errors

[Bas de Bruijn]

> On 28 Dec 2018, at 16:16, Matthew  wrote:
> 
> Yes but which signals should I be watching at what frequency?  The tutorial 
> just goes over basic interface stuff that is mostly obvious playing with the 
> interface.  
> 
> Thanks!

You asked for a tutorial. The links show you how to work with the scope. After 
that it’s depending on what you’re after.

Start like pcwcol said, with one or more following error pins, set a trigger 
level and see if you can get something reproducable.

Bas

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Re: [Machinekit] Machinekit on BBB - long boot times with PREEMPT kernel

[Bas de Bruijn]

> On 29 Dec 2018, at 09:31, "schoone...@gmail.com"  wrote:
> 
> I don't know if this is related  and know nothing specifically about BBB, but 
> the line
> 1min 30.559s dev-mmcblk1p1.device
> raises some suspicions.
> 
> The newer linux kernels are prone to hanging for 1min 30 secs where there are 
> problems with a 'start job'
> which usually relates to mounting a drive.
> 
> What usually happens is often related to the 'resume / suspend to disk' 
> capability of the kernel, whether you use it or not.
> 
> Take this scenario:
> You install a distro on a spare partition.
> The Debian install program will format the partition you have chosen plus the 
> swap partition.
> However the reformatting of the swap partition also changes the UUID
> 
> Next boot of your original partition, the UUID in /etc/fstab for the swap 
> partition is wrong and you
> get a 90 sec wait with the 'A start job for dev-disk-by-uuid-xxx' message

I got the exact situation a few months ago when installing Buster along side 
Stretch on my laptop. When booting Stretch again it was looking for the ‘newer’ 
UUID of the swap partition.
Changed that uuid in fstab file and problem was solved.

> So now you adjust your fstab file to point to the right UUID and reboot
> 
> On booting there is another wait whilst the kernel repeatedly tries to access 
> the UUID it holds for Resume (which is the old swap partition UUID)
> 
> You then need to go to /etc/initramfs-tools/conf.d/resume and change the UUID 
> in that file for the new one for the swap partition
> Then you need to run 'makeinitramfs' for each bootable kernel, to create a 
> new ram image which has the correct UUID for swap in it
> 
> THEN your original partition will boot quickly.
> 
> I would study the elements described above to make sure that the device 
> designation matches the UUID held in fstab / initramfs- etc 
> etc
> 
> If you have introduced a new kernel whose initramfs is not matched to your 
> system, that is a possible cause.
> 
> Either way, would be interested to hear the answer when you find it
> 
> regards
> 
> 
>> On 26/12/18 19:18, Malte Schmidt wrote:
>> Dear all,
>> 
>> this may be the wrong forum but my questions seem to fit neither perfectly 
>> the Machinekit nor Beaglebone forums
>> 
>> I've been following this manual to setup Machinekit with Preempt_RT on a 
>> BBB. 
>> https://machinekoder.com/machinekit-debian-stretch-beaglebone-black/
>> 
>> Resulting in a Strech installation with preempt_rt kernel v4.4. With this 
>> kernel I'm getting long-long boot times of ~2-3 minutes. In the "default" 
>> installation this seems to be related to generic board startup service:
>> The output of systemd-analyze blame with 
>>  51.582s dev-mmcblk1p1.device
>>  47.793s generic-board-startup.service
>>   8.600s NetworkManager-wait-online.service
>>   4.290s systemd-udev-trigger.service
>>   ...
>> 
>> When I disable this serivce I'm getting thisd-analyze blame
>> 1min 30.559s dev-mmcblk1p1.device
>>   9.837s NetworkManager-wait-online.service
>>   4.739s systemd-udev-trigger.service
>>   ...
>> 
>> And I can't make something out of the critical path analysis which shows:
>> graphical.target @55.127s
>> └─multi-user.target @55.121s
>>   └─getty.target @54.807s
>> └─serial-getty@ttyGS0.service @54.785s
>>   └─dev-ttyGS0.device @54.762s
>> 
>> 
>> This issue does not seem to exist with v4.14 or v4.19 but for these kernels 
>> I'm not able to get the additional firmware images. i.e. 
>> (sudo apt install
>>   linux-firmware-image-`uname -r`)
>> fails. 
>> So I went back to v4.4
>> 
>> My var log messages shows this (excerpt, full messages attached)
>> 
>> Dec 26 18:43:30 beaglebone kernel: [1.876960] of_cfs_init: OK
>> Dec 26 18:43:30 beaglebone kernel: [1.882563]  remoteproc0: remote 
>> processor wkup_m3 is now up
>> Dec 26 18:43:30 beaglebone kernel: [1.882629] wkup_m3_ipc 
>> 44e11324.wkup_m3_ipc: CM3 Firmware Version = 0x193
>> Dec 26 18:43:30 beaglebone kernel: [1.890647] Freeing unused kernel 
>> memory: 744K
>> Dec 26 18:43:30 beaglebone kernel: [2.382866] random: systemd-udevd: 
>> uninitialized urandom read (16 bytes read, 2 bits of entropy ava
>> 
>> Dec 26 18:43:30 beaglebone kernel: [2.409655] random: udevadm: 
>> uninitialized urandom read (16 bytes read, 2 bits of entropy available)
>> Dec 26 18:43:30 beaglebone kernel: [   52.999288] EXT4-fs (mmcblk1p1): 
>> mounted filesystem with ordered data mode. Opts: (null)
>> Dec 26 18:43:30 beaglebone kernel: [   53.569319] ip_tables: (C) 2000-2006 
>> Netfilter Core Team
>> Dec 26 18:43:30 beaglebone kernel: [   55.098407] EXT4-fs (mmcblk1p1): 
>> re-mounted. Opts: errors=remount-ro
>> Dec 26 18:43:32 beaglebone kernel: [   62.508226] nf_conntrack version 0.5.0 
>> (7787 buckets, 31148 max)
>> Dec 26 18:43:32 beaglebone kernel: [   62.766767] random: nonblocking pool 
>> is initialized
>> 
>> Which seems 

Re: [Machinekit] testing BBB with Xylotex-DB25 step not changing directions

[Bas de Bruijn]

> On 30 Dec 2018, at 05:53, mugginsac  wrote:
> 
> I have a BBB with a Xylotex-DB25 cape and controller box with a single motor 
> hooked up for testing.
> When I press + or - to jog the motor spins the same direction.
> My control box has 3 Superior SS2000MD4 drives in it (old technology). It 
> requires 25000ns for step, step set up or pause.
> Here are links to my Xylotex.ini and Xylotex.hal
> 
> I have Linuxcnc setup on another computer with the same settings as far as I 
> can tell and it reverses correctly.
> So I have the controller working with Linuxcnc but not with Machinekit.
> 
> Can anyone see anything obvious in the .ini or .hal files?

This sounds similar to a question of last week.
https://groups.google.com/forum/m/#!topic/machinekit/2pLBaJv-rw8
Please check if this is the same problem.

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Re: [Machinekit] testing BBB with Xylotex-DB25 step not changing directions

[Bas de Bruijn]

> On 31 Dec 2018, at 17:28, mugginsac  wrote:
> 
> Bas,
> 
> Thanks that was the problem. I deleted the PRU pins from the "loadrt 
> hal_gpio" statement and added a note to the comment.
> 
> # load low-level drivers (must not include pins used by PRU)
> loadrt hal_bb_gpio output_pins=807,813,819,826,914,913,911 
> input_pins=809,810,814,818
> 
> I also cleaned up the configs to use Xylotex.bbio and deleted that section 
> from setup.sh.
> That fixed this problem.
> So now I guess I should push my Xylotex config file changes to my github 
> account and generate a pull request.

That would be great. Shout out if you run into trouble!

Bas

> Thanks again,
> Alan

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Re: [Machinekit] Re: machinekit.ini and MKUUID

[Bas de Bruijn]

> On 15 Feb 2019, at 13:23, "schoone...@gmail.com"  wrote:
> 
> OK, found that problem.
> 
> The dependency was missed for Stretch because it uses another control file.
> Should be built and in the repo by the end of the day.

PR’s have been merged.
So it should be available soon.

> 
> Thanks for persisting, only with that info was I able to look in the right 
> place.
> 
>> On 15/02/19 11:36, Ryan Press wrote:
>> 
>>> On Fri, Feb 15, 2019 at 5:56 AM schoone...@gmail.com  
>>> wrote:
>>> 
 On 15/02/19 10:02, Ryan Press wrote:
 I had the same problem with a fresh Debian Stretch install, just a few 
 days ago.
 
 Ryan
 
> On Thu, Feb 14, 2019, 1:57 PM mugginsac  I just built a fresh uSD from one of Robert Nelson's images. It does not 
> include uuid-runtime.
> Since machinekit now has to have a uuid generated the first time it is 
> run, shouldn't uuid-runtime be part of the Machinekit requirements.
>>> 
>>> It is, but we have no control over what other people put, or don't put, in 
>>> their images.
>> 
>> I didn't use an image.  I installed Debian from a netinstall ISO, set up the 
>> machinekit repo, and installed the machinekit package.  I did not notice the 
>> error message when it installed because apt continued on.  Afterward I 
>> needed to figure out what packaged I needed to install (uuid-runtime) to fix 
>> the errors when running Machinekit.
>> 
>> Ryan
>> 
> 
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Re: [Machinekit] Re: Issues with new install

[Bas de Bruijn]

> On 16 Feb 2019, at 05:28, johannes.fasso...@gmail.com wrote:
> 
> This turned out to be typo on my own part. But that is not the problem that 
> is preventing using the Mesa 7i80 cards that I have from working with machine 
> kit.
> 
> 

Hi Johannes,

I dont have the 7i80 so i’m not versed in the details.

But first things first.
It seems you don’t build in the same way as in the example in the documentation.
Can you build according these instructions?

http://www.machinekit.io/docs/developing/machinekit-developing/

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Re: [Machinekit] Re: Updated install of machinekit -- new errors

[Bas de Bruijn]

> On 26 Feb 2019, at 06:32, mugginsac  wrote:
> 
> Found the culprits. Three more calls to rtapi_print() affected by the change 
> from RTAPI_MSG_ERR to RTAPI_MSG_ALL.
> But I have seemingly created a bug in my config in the process of cleaning 
> them up.
> The axis screen appears for a fraction of a second and then disappears.

Did you “export DEBUG=5” before the /var/log/linuxcnc.log?

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