Mesa 7i39+5i20

Hi,

After some months of normal working with 2.5.0 pre 2-525 and bldc-sine, I have problems again
Without changing anything, emc2 does not start.
I might be that bldc-sine should be replaced with bldc

Then I thought it was good idea to do some emc2 update.
From Synaptic I did emc2 update
now I have vesion 2.5.0 pre 2-626 instead 525 before.
Nothing changed

Below is the error log

Please advise
Nikos

---

Print file information:
RUN_IN_PLACE=no
EMC2_DIR=
EMC2_BIN_DIR=/usr/bin
EMC2_TCL_DIR=/usr/lib/tcltk/emc2
EMC2_SCRIPT_DIR=
EMC2_RTLIB_DIR=/usr/realtime-2.6.32-122-rtai/modules/emc2
EMC2_CONFIG_DIR=
EMC2_LANG_DIR=/usr/share/emc/tcl/msgs
INIVAR=inivar
HALCMD=halcmd
EMC2_EMCSH=/usr/bin/wish8.5
EMC2 - 2.5.0-pre2-626-g402b6cd
Machine configuration directory is '/home/nikos/emc2/configs/hm2-bldc'
Machine configuration file is '5i20.ini'
INIFILE=/home/nikos/emc2/configs/hm2-bldc/5i20.ini
PARAMETER_FILE=hm2-servo.var
EMCMOT=motmod
EMCIO=io
TASK=milltask
HALUI=halui
DISPLAY=axis
NML_FILE=
Starting EMC2...
Starting EMC2 server program: emcsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting EMC2 IO program: io
Starting HAL User Interface program: halui
Shutting down and cleaning up EMC2...
Killing task emcsvr, PID=7944
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments
Cleanup done

Debug file information:
/home/nikos/emc2/configs/hm2-bldc/bldc_sine.hal:15: Can't find module 'bldc_sine' in /usr/realtime-2.6.32-122-rtai/modules/emc2
7944
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components

Kernel message information:
[ 4918.639769] I-pipe: Domain RTAI registered.
[ 4918.639777] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03.
[ 4918.639780] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) .
[ 4918.639816] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[ 4918.639819] PIPELINE layers:
[ 4918.639822] fc3f5e20 9ac15d93 RTAI 200
[ 4918.639825] c085cb20 0 Linux 100
[ 4918.661816] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[ 4918.662022] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes.
[ 4918.662029] RTAI[sched]: hard timer type/freq = APIC/12500408(Hz); default timing: periodic; linear timed lists.
[ 4918.662033] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 1799670000 hz.
[ 4918.662037] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns.
[ 4918.662195] RTAI[usi]: enabled.
[ 4918.708257] RTAI[math]: loaded.
[ 4918.787559] hm2: loading Mesa HostMot2 driver version 0.15
[ 4918.791824] hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.7
[ 4918.791858] hm2_pci: discovered 5i20 at 0000:03:02.0
[ 4918.792031] hm2_5i20.0: firmware: requesting hm2/5i20/svtp6_7i39.bit
[ 4918.940312] hm2/hm2_5i20.0: 72 I/O Pins used:
[ 4918.940318] hm2/hm2_5i20.0: IO Pin 000 (P2-01): Encoder #0, pin A (Input)
[ 4918.940322] hm2/hm2_5i20.0: IO Pin 001 (P2-03): Encoder #0, pin B (Input)
[ 4918.940326] hm2/hm2_5i20.0: IO Pin 002 (P2-05): Encoder #0, pin Index (Input)
[ 4918.940329] hm2/hm2_5i20.0: IO Pin 003 (P2-07): IOPort
[ 4918.940332] hm2/hm2_5i20.0: IO Pin 004 (P2-09): IOPort
[ 4918.940335] hm2/hm2_5i20.0: IO Pin 005 (P2-11): IOPort
[ 4918.940338] hm2/hm2_5i20.0: IO Pin 006 (P2-13): IOPort
[ 4918.940342] hm2/hm2_5i20.0: IO Pin 007 (P2-15): ThreePhasePWM #0, pin Fault (Input)
[ 4918.940345] hm2/hm2_5i20.0: IO Pin 008 (P2-17): ThreePhasePWM #0, pin Enable (Output)
[ 4918.940349] hm2/hm2_5i20.0: IO Pin 009 (P2-19): ThreePhasePWM #0, pin PWM A (Output)
[ 4918.940353] hm2/hm2_5i20.0: IO Pin 010 (P2-21): ThreePhasePWM #0, pin PWM B (Output)
[ 4918.940356] hm2/hm2_5i20.0: IO Pin 011 (P2-23): ThreePhasePWM #0, pin PWM C (Output)
[ 4918.940360] hm2/hm2_5i20.0: IO Pin 012 (P2-25): Encoder #1, pin A (Input)
[ 4918.940364] hm2/hm2_5i20.0: IO Pin 013 (P2-27): Encoder #1, pin B (Input)
[ 4918.940367] hm2/hm2_5i20.0: IO Pin 014 (P2-29): Encoder #1, pin Index (Input)
[ 4918.940370] hm2/hm2_5i20.0: IO Pin 015 (P2-31): IOPort
[ 4918.940373] hm2/hm2_5i20.0: IO Pin 016 (P2-33): IOPort
[ 4918.940376] hm2/hm2_5i20.0: IO Pin 017 (P2-35): IOPort
[ 4918.940379] hm2/hm2_5i20.0: IO Pin 018 (P2-37): IOPort
[ 4918.940382] hm2/hm2_5i20.0: IO Pin 019 (P2-39): ThreePhasePWM #1, pin Fault (Input)
[ 4918.940386] hm2/hm2_5i20.0: IO Pin 020 (P2-41): ThreePhasePWM #1, pin Enable (Output)
[ 4918.940390] hm2/hm2_5i20.0: IO Pin 021 (P2-43): ThreePhasePWM #1, pin PWM A (Output)
[ 4918.940394] hm2/hm2_5i20.0: IO Pin 022 (P2-45): ThreePhasePWM #1, pin PWM B (Output)
[ 4918.940397] hm2/hm2_5i20.0: IO Pin 023 (P2-47): ThreePhasePWM #1, pin PWM C (Output)
[ 4918.940401] hm2/hm2_5i20.0: IO Pin 024 (P3-01): Encoder #2, pin A (Input)
[ 4918.940404] hm2/hm2_5i20.0: IO Pin 025 (P3-03): Encoder #2, pin B (Input)
[ 4918.940408] hm2/hm2_5i20.0: IO Pin 026 (P3-05): Encoder #2, pin Index (Input)
[ 4918.940411] hm2/hm2_5i20.0: IO Pin 027 (P3-07): IOPort
[ 4918.940414] hm2/hm2_5i20.0: IO Pin 028 (P3-09): IOPort
[ 4918.940417] hm2/hm2_5i20.0: IO Pin 029 (P3-11): IOPort
[ 4918.940420] hm2/hm2_5i20.0: IO Pin 030 (P3-13): IOPort
[ 4918.940423] hm2/hm2_5i20.0: IO Pin 031 (P3-15): ThreePhasePWM #2, pin Fault (Input)
[ 4918.940427] hm2/hm2_5i20.0: IO Pin 032 (P3-17): ThreePhasePWM #2, pin Enable (Output)
[ 4918.940431] hm2/hm2_5i20.0: IO Pin 033 (P3-19): ThreePhasePWM #2, pin PWM A (Output)
[ 4918.940434] hm2/hm2_5i20.0: IO Pin 034 (P3-21): ThreePhasePWM #2, pin PWM B (Output)
[ 4918.940438] hm2/hm2_5i20.0: IO Pin 035 (P3-23): ThreePhasePWM #2, pin PWM C (Output)
[ 4918.940442] hm2/hm2_5i20.0: IO Pin 036 (P3-25): Encoder #3, pin A (Input)
[ 4918.940445] hm2/hm2_5i20.0: IO Pin 037 (P3-27): Encoder #3, pin B (Input)
[ 4918.940449] hm2/hm2_5i20.0: IO Pin 038 (P3-29): Encoder #3, pin Index (Input)
[ 4918.940452] hm2/hm2_5i20.0: IO Pin 039 (P3-31): IOPort
[ 4918.940455] hm2/hm2_5i20.0: IO Pin 040 (P3-33): IOPort
[ 4918.940458] hm2/hm2_5i20.0: IO Pin 041 (P3-35): IOPort
[ 4918.940461] hm2/hm2_5i20.0: IO Pin 042 (P3-37): IOPort
[ 4918.940464] hm2/hm2_5i20.0: IO Pin 043 (P3-39): IOPort
[ 4918.940467] hm2/hm2_5i20.0: IO Pin 044 (P3-41): IOPort
[ 4918.940469] hm2/hm2_5i20.0: IO Pin 045 (P3-43): IOPort
[ 4918.940472] hm2/hm2_5i20.0: IO Pin 046 (P3-45): IOPort
[ 4918.940475] hm2/hm2_5i20.0: IO Pin 047 (P3-47): IOPort
[ 4918.940478] hm2/hm2_5i20.0: IO Pin 048 (P4-01): Encoder #4, pin A (Input)
[ 4918.940482] hm2/hm2_5i20.0: IO Pin 049 (P4-03): Encoder #4, pin B (Input)
[ 4918.940485] hm2/hm2_5i20.0: IO Pin 050 (P4-05): Encoder #4, pin Index (Input)
[ 4918.940489] hm2/hm2_5i20.0: IO Pin 051 (P4-07): IOPort
[ 4918.940492] hm2/hm2_5i20.0: IO Pin 052 (P4-09): IOPort
[ 4918.940494] hm2/hm2_5i20.0: IO Pin 053 (P4-11): IOPort
[ 4918.940497] hm2/hm2_5i20.0: IO Pin 054 (P4-13): IOPort
[ 4918.940500] hm2/hm2_5i20.0: IO Pin 055 (P4-15): IOPort
[ 4918.940503] hm2/hm2_5i20.0: IO Pin 056 (P4-17): IOPort
[ 4918.940506] hm2/hm2_5i20.0: IO Pin 057 (P4-19): IOPort
[ 4918.940509] hm2/hm2_5i20.0: IO Pin 058 (P4-21): IOPort
[ 4918.940512] hm2/hm2_5i20.0: IO Pin 059 (P4-23): IOPort
[ 4918.940515] hm2/hm2_5i20.0: IO Pin 060 (P4-25): Encoder #5, pin A (Input)
[ 4918.940520] hm2/hm2_5i20.0: IO Pin 061 (P4-27): Encoder #5, pin B (Input)
[ 4918.940539] hm2/hm2_5i20.0: IO Pin 062 (P4-29): Encoder #5, pin Index (Input)
[ 4918.940543] hm2/hm2_5i20.0: IO Pin 063 (P4-31): IOPort
[ 4918.940546] hm2/hm2_5i20.0: IO Pin 064 (P4-33): IOPort
[ 4918.940549] hm2/hm2_5i20.0: IO Pin 065 (P4-35): IOPort
[ 4918.940553] hm2/hm2_5i20.0: IO Pin 066 (P4-37): IOPort
[ 4918.940556] hm2/hm2_5i20.0: IO Pin 067 (P4-39): IOPort
[ 4918.940559] hm2/hm2_5i20.0: IO Pin 068 (P4-41): IOPort
[ 4918.940563] hm2/hm2_5i20.0: IO Pin 069 (P4-43): IOPort
[ 4918.940566] hm2/hm2_5i20.0: IO Pin 070 (P4-45): IOPort
[ 4918.940569] hm2/hm2_5i20.0: IO Pin 071 (P4-47): IOPort
[ 4918.940658] hm2/hm2_5i20.0: registered
[ 4918.940662] hm2_5i20.0: initialized AnyIO board at 0000:03:02.0
[ 4919.237564] hm2_5i20.0: dropping AnyIO board at 0000:03:02.0
[ 4919.237569] hm2/hm2_5i20.0: unregistered
[ 4919.237674] hm2_pci: driver unloaded
[ 4919.240561] hm2: unloading
[ 4919.280809] RTAI[math]: unloaded.
[ 4919.318332] SCHED releases registered named ALIEN RTGLBH
[ 4919.352449] RTAI[malloc]: unloaded.
[ 4919.448156] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[ 4919.450947] I-pipe: Domain RTAI unregistered.
[ 4919.450991] RTAI[hal]: unmounted.

I have already tried this,
but after your suggestion I did it all over again
I still have errors

bldc.hal attached

situation is improved but still some changes needed

I had to make comment #setp bldc.0.dir -1

then emc2 started

I changed as below. (I do have both encoder and Hall-Sensors)
loadrt bldc cfg=q,q,q
#loadrt bldc cfg=qhi,qhi,qhi
#loadrt bldc cfg=qi,qi,qi
#loadrt bldc cfg=qH,a6
#loadrt bldc count=3
loadrt pid num_chan=3

Initialization of the motor position is done as expected
but
I have Join following error when I try to move

bldc.hal attached again

Do the motors move, and do they move in the right direction?

emc2 starts first time
F1-->initialize correctly
F2---> Joint error
F2 again---> joint error when try to move with arrow-key
direction is inversed!!
No stability, can not check precisely, motor starts very easily to oscilate
changing encoder polarity does not affect direction!!!