Lcnc 2.10 -- halcompile for kins

testPc@mark28:~$ /usr/bin/linuxcnc '/home/testPc/linuxcnc/configs/scaraSwitch.cld/scaraSwitchTest.ini'
LINUXCNC - 2.10.0~pre0
Machine configuration directory is '/home/testPc/linuxcnc/configs/scaraSwitch.cld'
Machine configuration file is 'scaraSwitchTest.ini'
check_config: Unchecked: [KINS]KINEMATICS={scarakins coordinates=xyzabc}
Starting LinuxCNC...
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX realtime
task: machine: 'SCARA-JA-switch'  version 'unknown'
emc/task/taskclass.cc 168: can't load tool table.
Found file(REL): ./scaraSwitchTest.hal
creating ladder-state
motmod: dlopen: /usr/lib/linuxcnc/modules/motmod.so: undefined symbol: kinematicsSwitch
./scaraSwitchTest.hal:17: waitpid failed /usr/bin/rtapi_app motmod
./scaraSwitchTest.hal:17: /usr/bin/rtapi_app exited without becoming ready
./scaraSwitchTest.hal:17: insmod for motmod failed, returned -1
Shutting down and cleaning up LinuxCNC...
USRMOT: ERROR: command 30 timeout
emcMotionInit: emcTrajInit failed
Note: Using POSIX realtime
LinuxCNC terminated with an error.  You can find more information in the log:
    /home/testPc/linuxcnc_debug.txt
and
    /home/testPc/linuxcnc_print.txt
as well as in the output of the shell command 'dmesg' and in the terminal

testPc@mark28:~$ /usr/bin/linuxcnc '/home/testPc/linuxcnc/configs/scaraSwitch.cld/scaraSwitchTest.ini'
LINUXCNC - 2.10.0~pre0
Machine configuration directory is '/home/testPc/linuxcnc/configs/scaraSwitch.cld'
Machine configuration file is 'scaraSwitchTest.ini'
check_config: Unchecked: [KINS]KINEMATICS={scarakins coordinates=xyzabc}
Starting LinuxCNC...
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX realtime
task: machine: 'GC-SCARA-JA-switch'  version 'unknown'
emc/task/taskclass.cc 168: can't load tool table.
Found file(REL): ./scaraSwitchTest.hal

!!! switchkins-type 0 is scarakins

userkKinematicsSetup:
   emc/kinematics/userkfuncs.c <xyzabc> max_joints=6 allow_duplicates=0

creating ladder-state
Init tmp dir=/tmp/classicladder_tmp_Q0gLWs
Gtk-Message: 10:06:20.580: GtkDialog mapped without a transient parent. This is discouraged.
ManagerDisplaySections(): init...
ManagerDisplaySections(): added Prog1...
select... before=-1 scan=0
USRMOT: ERROR: command 30 timeout
emcMotionInit: emcTrajInit failed
void MainWindow::changeUserGui() hey ci sono ...  6
void MainWindow::changeUserGui() questa è finita ...  6
int set_pin_FLOAT_calc(float, QString) sig  velControl  is not writable or not exist ... type is:   "ERROR"   and (sig>0 no good) sig->writers =    1
int set_pin_FLOAT_calc(float, QString) sig  eJogSpeed  is not writable or not exist ... type is:   "ERROR"   and (sig>0 no good) sig->writers =    2
MainWindow::MainWindow(QWidget*) controlliamo stato cnc ...  0x55a32defb860
/usr/bin/linuxcnc: riga 957: 17838 Errore di segmentazione (core dump creato) $EMCDISPLAY -ini "$INIFILE" $EMCDISPLAYARGS $EXTRA_ARGS
Shutting down and cleaning up LinuxCNC...
task: 0 cycles, min=0.000005, max=0.013697, avg=-1.000000, 0 latency excursions (> 10x expected cycle time of 0.010000s)
INFO CLASSICLADDER- GUI scala chiusa. Esecuzioni in tempo reale fino alla chiusura dell'HAL
scale: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
mult2: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
sum2: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1

int set_pin_FLOAT_calc(float, QString) sig  velControl  is not writable or not exist ... type is:   "ERROR"   and (sig>0 no good) sig->writers =    1
int set_pin_FLOAT_calc(float, QString) sig  eJogSpeed  is not writable or not exist ... type is:   "ERROR"   and (sig>0 no good) sig->writers =    2

testPc@mark28:~$ linuxcnc
LINUXCNC - 2.10.0~pre0
Machine configuration directory is '/home/testPc/linuxcnc/configs/KeepTestC.cld'
Machine configuration file is 'keepTest.ini'
check_config: Unchecked: [KINS]KINEMATICS={scarakins coordinates=xyzc}
Starting LinuxCNC...
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX realtime
task: machine: 'GC-SCARA-JA-switch'  version 'unknown'
emc/task/taskclass.cc 168: can't load tool table.
Found file(REL): ./TESTkeepTest.hal

!!! switchkins-type 0 is scarakins

identityKinematicsSetup: coordinates:xyzc
   Joint 0 ==> Axis X
   Joint 1 ==> Axis Y
   Joint 2 ==> Axis Z
   Joint 3 ==> Axis C


userkKinematicsSetup:
   emc/kinematics/userkfuncs.c <xyzc> max_joints=4 allow_duplicates=0

creating ladder-state
Init tmp dir=/tmp/classicladder_tmp_FM2qD0
Gtk-Message: 20:33:23.078: GtkDialog mapped without a transient parent. This is discouraged.
ManagerDisplaySections(): init...
ManagerDisplaySections(): added Prog1...
select... before=-1 scan=0
USRMOT: ERROR: command 30 timeout
emcMotionInit: emcTrajInit failed
note: MAXV     max: 280.000 units/sec 16800.000 units/min
note: LJOG     max: 280.000 units/sec 16800.000 units/min
note: LJOG default: 5.000 units/sec 300.000 units/min
note: AJOG     max: 90.000 units/sec 5400.000 units/min
note: AJOG default: 30.000 units/sec 1800.000 units/min
waiting for s.joints<0>, s.kinematics_type<0>
waiting for s.joints<0>, s.kinematics_type<0>
waiting for s.joints<0>, s.kinematics_type<0>
waiting for s.joints<0>, s.kinematics_type<0>
waiting for s.joints<0>, s.kinematics_type<0>
waiting for s.joints<0>, s.kinematics_type<0>
waiting for s.joints<0>, s.kinematics_type<0>
note: jog_order='XYZC'
note: jog_invert=set()