Brother TC-211

I have fiddled about with your previously-posted HAL file to add my best guess at an orient functionality.

It probably won't work. It will at the very least need the pid.spindle PID settings to be adjusted. These are currently in the HAL file but could be moved to the INI file if you prefer.

You don't need to restart to adjust them, you can do that from the machine->show hal config dialog. just typr "setp" commands as seen in the HAL file.
When you find numbers that work then you will need to put them in the HAL file.

If they are in the INI file then it is possible that the tuning utility might find them, I have not tried it.

I can't help noticing that you don't seem to have the amp-enable outputs set up. (hm2_5i25.0.7i77.0.1.analogena0 etc.)

This means that your spindle is permanently live but commanded to zero speed. That's probably not ideal.

Try this HAL file and let me know how it fails. (I doubt it will work first time)

opps something is wrong


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 - 2.5.4
Machine configuration directory is '/home/mark/linuxcnc/configs/Brother_TC-211'
Machine configuration file is 'Brother_TC-211.ini'
INIFILE=/home/mark/linuxcnc/configs/Brother_TC-211/Brother_TC-211.ini
PARAMETER_FILE=linuxcnc.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
Shutting down and cleaning up LinuxCNC...
Running HAL shutdown script
Killing task linuxcncsvr, PID=1482
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
Can not find -sec EMC -var NML_FILE -num 1
insmod: error inserting '/usr/realtime-2.6.32-122-rtai/modules/linuxcnc/pid.ko': -1 Unknown symbol in module
Brother_TC-211.hal:11: exit value: 1
Brother_TC-211.hal:11: insmod failed, returned -1
See the output of 'dmesg' for more information.
1482
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components

Kernel message information:
[ 96.019722] I-pipe: Domain RTAI registered.
[ 96.019751] RTAI[hal]: .8.1> mounted over IPIPE-NOTHREADS 2.6-03.
[ 96.019756] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) .
[ 96.019772] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[ 96.019778] PIPELINE layers:
[ 96.019785] e15a2e20 9ac15d93 RTAI 200
[ 96.019791] c085cb20 0 Linux 100
[ 96.221625] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[ 96.222251] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes.
[ 96.222265] RTAI[sched]: hard timer type/freq = APIC/6264148(Hz); default timing: periodic; linear timed lists.
[ 96.222274] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 1202758000 hz.
[ 96.222280] RTAI[sched]: timer setup = 999 ns, resched latency = 2944 ns.
[ 96.227018] RTAI[usi]: enabled.
[ 96.534690] RTAI[math]: loaded.
[ 97.166396] hm2: loading Mesa HostMot2 driver version 0.15
[ 97.207104] hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.7
[ 97.207215] hm2_pci 0000:01:09.0: PCI INT A -> GSI 21 (level, low) -> IRQ 21
[ 97.207238] hm2_pci: discovered 5i25 at 0000:01:09.0
[ 97.209240] hm2/hm2_5i25.0: Smart Serial Firmware Version 43
[ 97.317271] hm2/hm2_5i25.0: 34 I/O Pins used:
[ 97.317288] hm2/hm2_5i25.0: IO Pin 000 (P3-01): IOPort
[ 97.317295] hm2/hm2_5i25.0: IO Pin 001 (P3-14): IOPort
[ 97.317301] hm2/hm2_5i25.0: IO Pin 002 (P3-02): IOPort
[ 97.317310] hm2/hm2_5i25.0: IO Pin 003 (P3-15): Smart Serial Interface #0, pin TxData1 (Output)
[ 97.317319] hm2/hm2_5i25.0: IO Pin 004 (P3-03): Smart Serial Interface #0, pin RxData1 (Input)
[ 97.317328] hm2/hm2_5i25.0: IO Pin 005 (P3-16): Smart Serial Interface #0, pin TxData0 (Output)
[ 97.317336] hm2/hm2_5i25.0: IO Pin 006 (P3-04): Smart Serial Interface #0, pin RxData0 (Input)
[ 97.317345] hm2/hm2_5i25.0: IO Pin 007 (P3-17): Muxed Encoder Select #0, pin Mux Select 0 (Output)
[ 97.317354] hm2/hm2_5i25.0: IO Pin 008 (P3-05): Muxed Encoder #0, pin Muxed A (Input)
[ 97.317362] hm2/hm2_5i25.0: IO Pin 009 (P3-06): Muxed Encoder #0, pin Muxed B (Input)
[ 97.317370] hm2/hm2_5i25.0: IO Pin 010 (P3-07): Muxed Encoder #0, pin Muxed Index (Input)
[ 97.317378] hm2/hm2_5i25.0: IO Pin 011 (P3-08): Muxed Encoder #1, pin Muxed A (Input)
[ 97.317386] hm2/hm2_5i25.0: IO Pin 012 (P3-09): Muxed Encoder #1, pin Muxed B (Input)
[ 97.317394] hm2/hm2_5i25.0: IO Pin 013 (P3-10): Muxed Encoder #1, pin Muxed Index (Input)
[ 97.317402] hm2/hm2_5i25.0: IO Pin 014 (P3-11): Muxed Encoder #2, pin Muxed A (Input)
[ 97.317410] hm2/hm2_5i25.0: IO Pin 015 (P3-12): Muxed Encoder #2, pin Muxed B (Input)
[ 97.317418] hm2/hm2_5i25.0: IO Pin 016 (P3-13): Muxed Encoder #2, pin Muxed Index (Input)
[ 97.317426] hm2/hm2_5i25.0: IO Pin 017 (P2-01): IOPort
[ 97.317432] hm2/hm2_5i25.0: IO Pin 018 (P2-14): IOPort
[ 97.317438] hm2/hm2_5i25.0: IO Pin 019 (P2-02): IOPort
[ 97.317444] hm2/hm2_5i25.0: IO Pin 020 (P2-15): IOPort
[ 97.317451] hm2/hm2_5i25.0: IO Pin 021 (P2-03): IOPort
[ 97.317457] hm2/hm2_5i25.0: IO Pin 022 (P2-16): IOPort
[ 97.317463] hm2/hm2_5i25.0: IO Pin 023 (P2-04): IOPort
[ 97.317469] hm2/hm2_5i25.0: IO Pin 024 (P2-17): IOPort
[ 97.317476] hm2/hm2_5i25.0: IO Pin 025 (P2-05): IOPort
[ 97.317482] hm2/hm2_5i25.0: IO Pin 026 (P2-06): IOPort
[ 97.317488] hm2/hm2_5i25.0: IO Pin 027 (P2-07): IOPort
[ 97.317494] hm2/hm2_5i25.0: IO Pin 028 (P2-08): IOPort
[ 97.317501] hm2/hm2_5i25.0: IO Pin 029 (P2-09): IOPort
[ 97.317507] hm2/hm2_5i25.0: IO Pin 030 (P2-10): IOPort
[ 97.317513] hm2/hm2_5i25.0: IO Pin 031 (P2-11): IOPort
[ 97.317520] hm2/hm2_5i25.0: IO Pin 032 (P2-12): IOPort
[ 97.317526] hm2/hm2_5i25.0: IO Pin 033 (P2-13): IOPort
[ 97.317728] hm2/hm2_5i25.0: registered
[ 97.317735] hm2_5i25.0: initialized AnyIO board at 0000:01:09.0
[ 97.335865] pid: Unknown parameter `pid.spindle'
[ 98.345566] hm2_5i25.0: dropping AnyIO board at 0000:01:09.0
[ 98.345586] hm2/hm2_5i25.0: unregistered
[ 98.345634] hm2_pci 0000:01:09.0: PCI INT A disabled
[ 98.348228] hm2_pci: driver unloaded
[ 98.361736] hm2: unloading
[ 98.565603] RTAI[math]: unloaded.
[ 98.741170] SCHED releases registered named ALIEN RTGLBH
[ 98.756701] RTAI[malloc]: unloaded.
[ 98.856048] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[ 98.865863] I-pipe: Domain RTAI unregistered.
[ 98.865887] RTAI[hal]: unmounted.

mblaszkiewicz wrote: opps something is wrong

I knew it wouldn't work first time, it can only be tested on your machine, and I wasn't even on a Linux machine when I wrote it.

insmod: error inserting '/usr/realtime-2.6.32-122-rtai/modules/linuxcnc/pid.ko': -1 Unknown symbol in module
Brother_TC-211.hal:11: exit value: 1

so, a problem in line 11 of the HAL file.

[ 97.335865] pid: Unknown parameter `pid.spindle'

So let us look at line 11..
Aha! You can't have a space in the "names" string.
Remove the space and see what breaks next. This will take several iterations.

I will try and thanks for the explanation of what to look for to debug it

2nd try, can not find orient module I think.

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
Can not find -sec EMC -var NML_FILE -num 1
Brother_TC-211.hal:12: Can't find module 'orient' in /usr/realtime-2.6.32-122-rtai/modules/linuxcnc
1653
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components

Any ideas anyone

mblaszkiewicz wrote: 2nd try, can not find orient module I think.

Yes, that's certainly the problem.

Do you know which version of LinuxCNC you are using?

if you type "man orient" at the command prompt what happens?