tpmod not loading on boot up with linux service
- hellvetica
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06 Mar 2026 11:32 #343938
by hellvetica
tpmod not loading on boot up with linux service was created by hellvetica
Hi, I'm currently running linuxcnc through a systemd service with linuxcncrsh as the fronted.
Usually it starts up fine and all the functionality is working as expected, but when the system first boots up and the service gets executed i get this from linuxcnc:
As I understand it the trajectory planner tpmod doesn't get loaded properly. What is unusual is that linuxcnc keeps running and seems functional but the robot exhibits very strange motion behavior. When i then check hal for loaded components tpmod is loaded and ready?
When i restart the service after this first boot it runs perfectly fine, it's only when i power cycle the machine that this error pops up.
Any ideas about what the cause might be?
Thank you!
Usually it starts up fine and all the functionality is working as expected, but when the system first boots up and the service gets executed i get this from linuxcnc:
Mar 04 13:53:28 linuxcnc linuxcnc-delta[509]: LINUXCNC - 2.9.4
Mar 04 13:53:28 linuxcnc linuxcnc-delta[509]: Machine configuration directory is '/home/linuxcnc/LinuxCNC/DELTAEtherCAT'
Mar 04 13:53:28 linuxcnc linuxcnc-delta[509]: Machine configuration file is 'DELTA_A.ini'
Mar 04 13:53:28 linuxcnc linuxcnc-delta[509]: check_config: Unchecked: [KINS]KINEMATICS=rotarydeltakins
Mar 04 13:53:28 linuxcnc linuxcnc-delta[509]: Starting LinuxCNC...
Mar 04 13:53:28 linuxcnc linuxcnc-delta[509]: emc/iotask/ioControl.cc 786: can't load tool table.
Mar 04 13:53:28 linuxcnc linuxcnc-delta[509]: linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Mar 04 13:53:31 linuxcnc linuxcnc-delta[509]: Waiting for component 'tpmod' to become ready..Waited 3 seconds for master. giving up.
Mar 04 13:53:31 linuxcnc linuxcnc-delta[509]: Note: Using POSIX realtime
Mar 04 13:53:31 linuxcnc linuxcnc-delta[509]: Found file(REL): ./delta_ethercat_A.hal
Mar 04 13:53:33 linuxcnc linuxcnc-delta[509]: Waiting for component 'lcec' to become ready.....As I understand it the trajectory planner tpmod doesn't get loaded properly. What is unusual is that linuxcnc keeps running and seems functional but the robot exhibits very strange motion behavior. When i then check hal for loaded components tpmod is loaded and ready?
When i restart the service after this first boot it runs perfectly fine, it's only when i power cycle the machine that this error pops up.
Any ideas about what the cause might be?
Thank you!
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- andypugh
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06 Mar 2026 20:30 #343955
by andypugh
Replied by andypugh on topic tpmod not loading on boot up with linux service
It sounds like, for whatever reason, tpmod isn't reporting "hal_ready()"
Though it seems odd in that case that LinuxCNC continues to load.
github.com/LinuxCNC/linuxcnc/blob/2.9/src/emc/tp/tpmod.c#L34
Though it seems odd in that case that LinuxCNC continues to load.
github.com/LinuxCNC/linuxcnc/blob/2.9/src/emc/tp/tpmod.c#L34
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