MPG3 pendant installation problem

HI !

I have probem with MPG3 (c22 board) installation....

during AXIS startup I got error message...

"
Debug file information:
insmod: error inserting '/usr/realtime-2.6.32-122-rtai/modules/emc2/encoder.ko': -1 File exists
custom.hal:9: exit value: 1
custom.hal:9: insmod failed, returned -1
See the output of 'dmesg' for more information.
6976
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components
"


So...custom.hal file ...row number 9 is

loadrt encoder num_chan=1


I did precisely as in "help"
wiki.linuxcnc.org/emcinfo.pl?Hooking_Up_A_MPG_Pendant

"In your custom.hal file or other .hal file add the following making sure you don't have mux4 or an encoder already in use. If you do just increase the counts and change the reference number. "

Yes...loadrt encoder num_chan=1 is already loaded in my-mill.hal

I tried several chan numbers....no result....same error message...

What I did wrong ?

best regads....

main hal
loadrt encoder num_chan=2 ( is it correct?)
in custom hal
loadrt encoder num_chan=1 was deleted

new error

Debug file information:
HAL: ERROR: function 'encoder.capture-position' may only be added to one thread
custom.hal:12: addf failed
1826
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components

Do I need to delete those lines...because they are already loaded and added ?
and thats all ?


# Jog Pendant
loadrt encoder num_chan=1
loadrt mux4 count=1
addf encoder.capture-position servo-thread
addf encoder.update-counters base-thread
addf mux4.0 servo-thread
setp axis.N.jog-vel-mode 0
setp axis.N.jog-vel-mode 1
setp encoder.0.x4-mode 0
setp mux4.0.in0 0.1
setp mux4.0.in1 0.01
setp mux4.0.in2 0.001
net scale1 mux4.0.sel0 <= parport.1.pin-09-in
net scale2 mux4.0.sel1 <= parport.1.pin-10-in
net pend-scale axis.0.jog-scale <= mux4.0.out
net pend-scale axis.1.jog-scale
net pend-scale axis.2.jog-scale
net mpg-a encoder.0.phase-A <= parport.1.pin-02-in
net mpg-b encoder.0.phase-B <= parport.1.pin-03-in
net mpg-x axis.0.jog-enable <= parport.1.pin-04-in
net mpg-y axis.1.jog-enable <= parport.1.pin-05-in
net mpg-z axis.2.jog-enable <= parport.1.pin-06-in
net pend-counts axis.0.jog-counts <= encoder.0.counts
net pend-counts axis.1.jog-counts
net pend-counts axis.2.jog-counts

finally it works

correct code for everyone

special thanks to BigJohnT


custom.hal

# Jog Pendant
loadrt mux4 count=1
loadrt lut5 count=1

addf mux4.0 servo-thread
addf lut5.0 servo-thread

setp axis.0.jog-vel-mode 1
setp axis.1.jog-vel-mode 1
setp axis.2.jog-vel-mode 1

setp encoder.1.x4-mode 0

setp mux4.0.in0 0.1
setp mux4.0.in1 0.01
setp mux4.0.in2 0.001

net scale1 mux4.0.sel0 <= parport.1.pin-09-in
net scale2 mux4.0.sel1 <= parport.1.pin-10-in

net pend-scale axis.0.jog-scale <= mux4.0.out
net pend-scale axis.1.jog-scale
net pend-scale axis.2.jog-scale

net mpg-a encoder.1.phase-A <= parport.1.pin-02-in
net mpg-b encoder.1.phase-B <= parport.1.pin-03-in

net mpg-x axis.0.jog-enable <= parport.1.pin-04-in
net mpg-y axis.1.jog-enable <= parport.1.pin-05-in
net mpg-z axis.2.jog-enable <= parport.1.pin-06-in

net pend-counts axis.0.jog-counts <= encoder.1.counts
net pend-counts axis.1.jog-counts
net pend-counts axis.2.jog-counts

setp lut5.0.function 0x116
net mpg-x lut5.0.in-0
net mpg-y lut5.0.in-1
net mpg-z lut5.0.in-2
setp lut5.0.in-4 0
net jog-on parport.1.pin-01-out <= lut5.0.out