Error with 5_axis_gantry simulation

Hi All,
I am trying to test the 5_axis_gantry Vismach simulation that Chris Radek posted but I get this error. Does anyone know how I get rid of this please?



Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/realtime-2.6.32-122-rtai/modules/linuxcnc
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/share/linuxcnc/tcl/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.5
LINUXCNC - 2.5.2
Machine configuration directory is '/home/marius/linuxcnc/configs/5_axis_gantry'
Machine configuration file is '5axesgantry.ini'
INIFILE=/home/marius/linuxcnc/configs/5_axis_gantry/5axesgantry.ini
PARAMETER_FILE=5axesgantry.var
TASK=milltask
HALUI=halui
DISPLAY=axis
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
libnml/cms/cms_cfg.cc 622: cms_config: can't open 'emc.nml'. Error = 2 -- No such file or directory
libnml/nml/nml.cc 368: NML: cms_config returned -1.

**********************************************************
* Current Directory = /home/marius/linuxcnc/configs/5_axis_gantry
*
**********************************************************
* BufferName = toolCmd
* ProcessName = tool
* Config File = emc.nml
* error_type = 0 (NML_NO_ERROR)
************************************************************

libnml/cms/cms_cfg.cc 622: cms_config: can't open 'emc.nml'. Error = 2 -- No such file or directory
libnml/nml/nml.cc 368: NML: cms_config returned -1.

**********************************************************
* BufferName = toolSts
* ProcessName = tool
* Config File = emc.nml
* error_type = 0 (NML_NO_ERROR)
************************************************************

libnml/cms/cms_cfg.cc 622: cms_config: can't open 'emc.nml'. Error = 2 -- No such file or directory

**********************************************************
* BufferName = emcError
* ProcessName = tool
* Config File = emc.nml
* error_type = 3 (NML_INVALID_CONFIGURATION)
************************************************************

Starting HAL User Interface program: halui
Starting TASK program: milltask
Starting DISPLAY program: axis
Shutting down and cleaning up LinuxCNC...
Killing task linuxcncsvr, PID=8459
Killing task milltask, PID=8501
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments
Cleanup done

Debug file information:
Can not find -sec MOT -var MOT -num 1
Can not find -sec IO -var IO -num 1
Can not find -sec LINUXCNC -var NML_FILE -num 1
emcToolCmd buffer not available
toolSts buffer not available
emcError buffer not available
can't connect to NML buffers in emc.nml
<commandline>:0: io exited without becoming ready
Traceback (most recent call last):
File "/usr/bin/axis", line 2862, in <module>
s.poll()
linuxcnc.error: emcStatusBuffer invalid err=3
8459
PID TTY STAT TIME COMMAND
8501
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components
/usr/bin/linuxcnc: line 428: emc.nml: No such file or directory

Kernel message information:
[68682.495151] I-pipe: Domain RTAI registered.
[68682.495161] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03.
[68682.495164] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) .
[68682.495197] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[68682.495200] PIPELINE layers:
[68682.495203] fcbaee20 9ac15d93 RTAI 200
[68682.495206] c085cb20 0 Linux 100
[68682.516153] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[68682.516487] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes.
[68682.516494] RTAI[sched]: hard timer type/freq = APIC/12499648(Hz); default timing: periodic; linear timed lists.
[68682.516498] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 1999945000 hz.
[68682.516501] RTAI[sched]: timer setup = 999 ns, resched latency = 2944 ns.
[68682.516594] RTAI[usi]: enabled.
[68682.575278] RTAI[math]: loaded.
[68682.635593] GANTRYKINS: joints[0] = 0
[68682.635598] GANTRYKINS: joints[1] = 1
[68682.635601] GANTRYKINS: joints[2] = 2
[68682.635604] GANTRYKINS: joints[3] = 3
[68682.635607] GANTRYKINS: joints[4] = 4
[68682.635610] GANTRYKINS: joints[5] = 5
[68682.635614] GANTRYKINS: joints[6] = -1
[68682.635617] GANTRYKINS: joints[7] = -1
[68682.635620] GANTRYKINS: joints[8] = -1
[68685.541716] RTAI[math]: unloaded.
[68685.585604] SCHED releases registered named ALIEN RTGLBH
[68685.616408] RTAI[malloc]: unloaded.
[68685.716107] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[68685.719018] I-pipe: Domain RTAI unregistered.
[68685.719061] RTAI[hal]: unmounted.

I think these messages might be a clue

libnml/cms/cms_cfg.cc 622: cms_config: can't open 'emc.nml'. Error = 2 -- No such file or directory
libnml/nml/nml.cc 368: NML: cms_config returned -1.
...
error_type = 0 (NML_NO_ERROR)
...
libnml/cms/cms_cfg.cc 622: cms_config: can't open 'emc.nml'. Error = 2 -- No such file or directory
libnml/nml/nml.cc 368: NML: cms_config returned -1.
...
* error_type = 0 (NML_NO_ERROR)
libnml/cms/cms_cfg.cc 622: cms_config: can't open 'emc.nml'. Error = 2 -- No such file or directory

error_type = 3 (NML_INVALID_CONFIGURATION)
/usr/bin/linuxcnc: line 428: emc.nml: No such file or directory

Try placing this file renamed as emc.nml into your config directory and see what happens

regards

Thanks ArcEye, took care of that one.
Any suggestion about this?

In the linuxcnc_debug.txt at the top I found this
Can not find -sec MOT -var MOT -num 1
Can not find -sec IO -var IO -num 1
Can not find -sec LINUXCNC -var NML_FILE -num 1

That comes up as part of the error messages whenever linuxcnc does not load.

If your system is still not starting, you will need to post your new error files.

(and a link to Chris's config, I have not seen it)

This is where I found it:
wiki.linuxcnc.org/cgi-bin/wiki.pl?action...=1&id=FiveAxisGantry

Here is the latest error dump:

Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/realtime-2.6.32-122-rtai/modules/linuxcnc
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/share/linuxcnc/tcl/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.5
LINUXCNC - 2.5.2
Machine configuration directory is '/home/marius/linuxcnc/configs/5_axis_gantry'
Machine configuration file is '5axesgantry.ini'
INIFILE=/home/marius/linuxcnc/configs/5_axis_gantry/5axesgantry.ini
PARAMETER_FILE=5axesgantry.var
TASK=milltask
HALUI=halui
DISPLAY=axis
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Starting HAL User Interface program: halui
Starting TASK program: milltask
Starting DISPLAY program: axis
USRMOT: ERROR: command timeout
USRMOT: ERROR: command timeout
USRMOT: ERROR: command timeout
USRMOT: ERROR: command timeout
USRMOT: ERROR: command timeout
waiting for s.axes
waiting for s.axes
waiting for s.axes
waiting for s.axes
waiting for s.axes
waiting for s.axes
waiting for s.axes
waiting for s.axes
waiting for s.axes
Shutting down and cleaning up LinuxCNC...
Killing task linuxcncsvr, PID=19753
Killing task milltask, PID=19795
USRMOT: ERROR: command timeout
USRMOT: ERROR: command timeout
USRMOT: ERROR: command timeout
Timeout, trying kill -9
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments
Cleanup done

Debug file information:
Can not find -sec MOT -var MOT -num 1
Can not find -sec IO -var IO -num 1
Can not find -sec LINUXCNC -var NML_FILE -num 1
Unrecognized line skipped: POC FMS LEN DIAM COMMENT
A configuration error is preventing LinuxCNC from starting.
More information may be available when running from a terminal.
19753
PID TTY STAT TIME COMMAND
19795
PID TTY STAT TIME COMMAND
19795 ? S 0:00 milltask -ini /home/marius/linuxcnc/configs/5_axis_gantry/5axesgantry.ini
PID TTY STAT TIME COMMAND
19795 ? S 0:00 milltask -ini /home/marius/linuxcnc/configs/5_axis_gantry/5axesgantry.ini
PID TTY STAT TIME COMMAND
19795 ? S 0:00 milltask -ini /home/marius/linuxcnc/configs/5_axis_gantry/5axesgantry.ini
PID TTY STAT TIME COMMAND
19795 ? S 0:00 milltask -ini /home/marius/linuxcnc/configs/5_axis_gantry/5axesgantry.ini
PID TTY STAT TIME COMMAND
19795 ? R 0:00 milltask -ini /home/marius/linuxcnc/configs/5_axis_gantry/5axesgantry.ini
PID TTY STAT TIME COMMAND
19795 ? S 0:00 milltask -ini /home/marius/linuxcnc/configs/5_axis_gantry/5axesgantry.ini
PID TTY STAT TIME COMMAND
19795 ? S 0:00 milltask -ini /home/marius/linuxcnc/configs/5_axis_gantry/5axesgantry.ini
PID TTY STAT TIME COMMAND
19795 ? S 0:00 milltask -ini /home/marius/linuxcnc/configs/5_axis_gantry/5axesgantry.ini
PID TTY STAT TIME COMMAND
19795 ? S 0:00 milltask -ini /home/marius/linuxcnc/configs/5_axis_gantry/5axesgantry.ini
PID TTY STAT TIME COMMAND
19795 ? S 0:00 milltask -ini /home/marius/linuxcnc/configs/5_axis_gantry/5axesgantry.ini
PID TTY STAT TIME COMMAND
19795 ? S 0:00 milltask -ini /home/marius/linuxcnc/configs/5_axis_gantry/5axesgantry.ini
PID TTY STAT TIME COMMAND
19795 ? S 0:00 milltask -ini /home/marius/linuxcnc/configs/5_axis_gantry/5axesgantry.ini
PID TTY STAT TIME COMMAND
19795 ? S 0:00 milltask -ini /home/marius/linuxcnc/configs/5_axis_gantry/5axesgantry.ini
PID TTY STAT TIME COMMAND
19795 ? S 0:00 milltask -ini /home/marius/linuxcnc/configs/5_axis_gantry/5axesgantry.ini
PID TTY STAT TIME COMMAND
19795 ? S 0:00 milltask -ini /home/marius/linuxcnc/configs/5_axis_gantry/5axesgantry.ini
PID TTY STAT TIME COMMAND
19795 ? S 0:00 milltask -ini /home/marius/linuxcnc/configs/5_axis_gantry/5axesgantry.ini
PID TTY STAT TIME COMMAND
19795 ? S 0:00 milltask -ini /home/marius/linuxcnc/configs/5_axis_gantry/5axesgantry.ini
PID TTY STAT TIME COMMAND
19795 ? S 0:00 milltask -ini /home/marius/linuxcnc/configs/5_axis_gantry/5axesgantry.ini
PID TTY STAT TIME COMMAND
19795 ? S 0:00 milltask -ini /home/marius/linuxcnc/configs/5_axis_gantry/5axesgantry.ini
PID TTY STAT TIME COMMAND
/usr/bin/linuxcnc: line 381: 19795 Killed $EMCTASK -ini "$INIFILE"
Stopping realtime threads
Unloading hal components

Kernel message information:
[79396.521144] I-pipe: Domain RTAI registered.
[79396.521153] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03.
[79396.521156] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) .
[79396.521191] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[79396.521194] PIPELINE layers:
[79396.521197] fcc01e20 9ac15d93 RTAI 200
[79396.521200] c085cb20 0 Linux 100
[79396.541585] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[79396.541823] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes.
[79396.541830] RTAI[sched]: hard timer type/freq = APIC/12499648(Hz); default timing: periodic; linear timed lists.
[79396.541834] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 1999945000 hz.
[79396.541837] RTAI[sched]: timer setup = 999 ns, resched latency = 2944 ns.
[79396.541929] RTAI[usi]: enabled.
[79396.609114] RTAI[math]: loaded.
[79396.669690] GANTRYKINS: joints[0] = 0
[79396.669696] GANTRYKINS: joints[1] = 1
[79396.669699] GANTRYKINS: joints[2] = 2
[79396.669702] GANTRYKINS: joints[3] = 3
[79396.669705] GANTRYKINS: joints[4] = 4
[79396.669708] GANTRYKINS: joints[5] = 5
[79396.669711] GANTRYKINS: joints[6] = -1
[79396.669714] GANTRYKINS: joints[7] = -1
[79396.669717] GANTRYKINS: joints[8] = -1
[79404.993395] RTAI[math]: unloaded.
[79405.039715] SCHED releases registered named ALIEN RTGLBH
[79405.068395] RTAI[malloc]: unloaded.
[79405.168095] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[79405.171000] I-pipe: Domain RTAI unregistered.
[79405.171042] RTAI[hal]: unmounted.

OK

That is a very old wiki, with a config for emc 2.3

This line in 5axesgantry.ini will give the waiting for s.axes error immediately
#- Name of NML file to use, default is emc.nml
NML_FILE = emc.nml

Comment it out and try again, preferably after a reboot to ensure there are no modules which did not unload properly

regards

Done that but the error list remains the same.

Having read the wiki, which I had never seen before, first question - have you done everything in it?
Especially substituted the 5axisgui binary and re-built linuxcnc to get a new 5axiskins?

This config does not seem to have been continued with, but the sources now have a max5kins config under /configs/vismach which appears
to carry on Chris's work from this wiki.

Does that meet your needs, or can be adapted to them?
It looks like the way forward rather than a 5 year old abandoned config

regards

@ John, I did read the updating wiki and found nothing other than the emc.nml problem.

@ ArcEye, I did compile the 5axiskins.c that he supplied. I tried this setup on 2.5.3 as well as the dev rip.
The problem with the 5axis stuff that is included with Vismach simulations is that they are not Gantry type simulations but rather a mill. Not the same

I would like to get this one working.

P.S. THE example hal file that he gave makes use of the gantrykins module and not his 5axiskins.c that is supplied. I tried with both.

Oh and I would not mind using the newer stuff but as it is Linuxcnc is already a challenge without having to try and learn Vismach that has not one line of document.