6 dof arm Demo
18 Apr 2016 17:53 - 21 Apr 2016 14:39 #73553
by Cpk_Rbt
6 dof arm Demo was created by Cpk_Rbt
Hello,
My colleague and I have just recently found LinuxCNC and we are thinking that it might be a perfect fit for us. We are currently working on designing and building a 6 axis robot for routeing plastic parts, and we are looking for a good motion controller. We are really excited about what we have seen with LinuxCNC, but we haven't been able to find a good place to start. We were looking to start playing with the Puma demo, but it seems like our version of LinuxCNC didn't come with it. Does anyone have any guidance to a good starting point to see how LinuxCNC can assist us in controlling our 6 dof robot?
Thank you!
My colleague and I have just recently found LinuxCNC and we are thinking that it might be a perfect fit for us. We are currently working on designing and building a 6 axis robot for routeing plastic parts, and we are looking for a good motion controller. We are really excited about what we have seen with LinuxCNC, but we haven't been able to find a good place to start. We were looking to start playing with the Puma demo, but it seems like our version of LinuxCNC didn't come with it. Does anyone have any guidance to a good starting point to see how LinuxCNC can assist us in controlling our 6 dof robot?
Thank you!
Last edit: 21 Apr 2016 14:39 by Cpk_Rbt.
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18 Apr 2016 18:36 #73557
by andypugh
Which version of LinuxCNC do you have?
When you start LinuxCNC you will normally be shown a configuration picker, and you should be able to find two different Puma simulators in sim/axis/vismach/puma/puma560
Replied by andypugh on topic 6 dof arm Demo
We were looking to start playing with the Puma demo, but it seems like our version of LinuxCNC didn't come with it.
Which version of LinuxCNC do you have?
When you start LinuxCNC you will normally be shown a configuration picker, and you should be able to find two different Puma simulators in sim/axis/vismach/puma/puma560
The following user(s) said Thank You: Cpk_Rbt
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18 Apr 2016 18:43 #73558
by Cpk_Rbt
Replied by Cpk_Rbt on topic 6 dof arm Demo
Thanks for the fast reply!
We have version 2.7.4
When we first started LinuxCNC we couldn't find either simulator in the configuration picker. After digging a bit, we found the files for one of the puma demos on github. When we dropped the files into linuxcnc/configs folder it showed up in our configuration picker, however; when we try to run it, it fails with this:
Thanks again for all of your help!
We have version 2.7.4
When we first started LinuxCNC we couldn't find either simulator in the configuration picker. After digging a bit, we found the files for one of the puma demos on github. When we dropped the files into linuxcnc/configs folder it showed up in our configuration picker, however; when we try to run it, it fails with this:
Warning: Spoiler!
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-3.4-9-rtai-686-pae/modules/linuxcnc
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/share/linuxcnc/tcl/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.5
LINUXCNC - 2.7.4
Machine configuration directory is '/home/automation/linuxcnc/configs/sim.puma'
Machine configuration file is 'puma.ini'
INIFILE=/home/automation/linuxcnc/configs/sim.puma/puma.ini
PARAMETER_FILE=puma.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
Found file(REL): ./puma_sim_6.hal
Shutting down and cleaning up LinuxCNC...
Killing task linuxcncsvr, PID=9071
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments
Debug file information:
.
./puma_sim_6.hal:22: Pin 'joint.0.motor-pos-cmd' does not exist
9071
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components
Kernel message information:
[ 0.000000] Initializing cgroup subsys cpuset
[ 0.000000] Initializing cgroup subsys cpu
[ 0.000000] Linux version 3.4-9-rtai-686-pae (Debian 3.4.55-4linuxcnc) () (gcc version 4.6.3 (Debian 4.6.3-14) ) #1 SMP PREEMPT Debian 3.4.55-4linuxcnc
[ 0.000000] BIOS-provided physical RAM map:
[ 0.000000] BIOS-e820: 0000000000000000 - 000000000009fc00 (usable)
[ 0.000000] BIOS-e820: 000000000009fc00 - 00000000000a0000 (reserved)
[ 0.000000] BIOS-e820: 00000000000f0000 - 0000000000100000 (reserved)
[ 0.000000] BIOS-e820: 0000000000100000 - 000000003fff0000 (usable)
[ 0.000000] BIOS-e820: 000000003fff0000 - 0000000040000000 (ACPI data)
[ 0.000000] BIOS-e820: 00000000fffc0000 - 0000000100000000 (reserved)
[ 0.000000] Notice: NX (Execute Disable) protection missing in CPU!
[ 0.000000] SMBIOS 2.5 present.
[ 0.000000] DMI: innotek GmbH VirtualBox/VirtualBox, BIOS VirtualBox 12/01/2006
[ 0.000000] e820 update range: 0000000000000000 - 0000000000010000 (usable) ==> (reserved)
[ 0.000000] e820 remove range: 00000000000a0000 - 0000000000100000 (usable)
[ 0.000000] last_pfn = 0x3fff0 max_arch_pfn = 0x100000
[ 0.000000] MTRR default type: uncachable
[ 0.000000] MTRR variable ranges disabled:
[ 0.000000] x86 PAT enabled: cpu 0, old 0x7040600070406, new 0x7010600070106
[ 0.000000] CPU MTRRs all blank - virtualized system.
[ 0.000000] initial memory mapped : 0 - 01800000
[ 0.000000] Base memory trampoline at [c009b000] 9b000 size 16384
[ 0.000000] init_memory_mapping: 0000000000000000-00000000377fe000
[ 0.000000] 0000000000 - 0000400000 page 4k
[ 0.000000] 0000400000 - 0037400000 page 2M
[ 0.000000] 0037400000 - 00377fe000 page 4k
[ 0.000000] kernel direct mapping tables up to 0x377fdfff @ [mem 0x017f8000-0x017fffff]
[ 0.000000] RAMDISK: 3652e000 - 3728f000
[ 0.000000] ACPI: RSDP 000e0000 00024 (v02 VBOX )
[ 0.000000] ACPI: XSDT 3fff0030 00034 (v01 VBOX VBOXXSDT 00000001 ASL 00000061)
[ 0.000000] ACPI: FACP 3fff00f0 000F4 (v04 VBOX VBOXFACP 00000001 ASL 00000061)
[ 0.000000] ACPI: DSDT 3fff0410 01B96 (v01 VBOX VBOXBIOS 00000002 INTL 20100528)
[ 0.000000] ACPI: FACS 3fff0200 00040
[ 0.000000] ACPI: SSDT 3fff0240 001CC (v01 VBOX VBOXCPUT 00000002 INTL 20100528)
[ 0.000000] 135MB HIGHMEM available.
[ 0.000000] 887MB LOWMEM available.
[ 0.000000] mapped low ram: 0 - 377fe000
[ 0.000000] low ram: 0 - 377fe000
[ 0.000000] Zone PFN ranges:
[ 0.000000] DMA 0x00000010 -> 0x00001000
[ 0.000000] Normal 0x00001000 -> 0x000377fe
[ 0.000000] HighMem 0x000377fe -> 0x0003fff0
[ 0.000000] Movable zone start PFN for each node
[ 0.000000] Early memory PFN ranges
[ 0.000000] 0: 0x00000010 -> 0x0000009f
[ 0.000000] 0: 0x00000100 -> 0x0003fff0
[ 0.000000] On node 0 totalpages: 262015
[ 0.000000] free_area_init_node: node 0, pgdat c1498a00, node_mem_map f5d2e200
[ 0.000000] DMA zone: 32 pages used for memmap
[ 0.000000] DMA zone: 0 pages reserved
[ 0.000000] DMA zone: 3951 pages, LIFO batch:0
[ 0.000000] Normal zone: 1744 pages used for memmap
[ 0.000000] Normal zone: 221486 pages, LIFO batch:31
[ 0.000000] HighMem zone: 272 pages used for memmap
[ 0.000000] HighMem zone: 34530 pages, LIFO batch:7
[ 0.000000] Using APIC driver default
[ 0.000000] ACPI: PM-Timer IO Port: 0x4008
[ 0.000000] SMP: Allowing 1 CPUs, 0 hotplug CPUs
[ 0.000000] Found and enabled local APIC!
[ 0.000000] nr_irqs_gsi: 16
[ 0.000000] PM: Registered nosave memory: 000000000009f000 - 00000000000a0000
[ 0.000000] PM: Registered nosave memory: 00000000000a0000 - 00000000000f0000
[ 0.000000] PM: Registered nosave memory: 00000000000f0000 - 0000000000100000
[ 0.000000] Allocating PCI resources starting at 40000000 (gap: 40000000:bffc0000)
[ 0.000000] setup_percpu: NR_CPUS:8 nr_cpumask_bits:8 nr_cpu_ids:1 nr_node_ids:1
[ 0.000000] PERCPU: Embedded 17 pages/cpu @f77e5000 s48384 r0 d21248 u69632
[ 0.000000] pcpu-alloc: s48384 r0 d21248 u69632 alloc=17*4096
[ 0.000000] pcpu-alloc: [0] 0
[ 0.000000] Built 1 zonelists in Zone order, mobility grouping on. Total pages: 259967
[ 0.000000] Kernel command line: BOOT_IMAGE=/boot/vmlinuz-3.4-9-rtai-686-pae root=UUID=069a7bab-323e-4fb3-9df2-b9526ede8942 ro initrd=/install/gtk/initrd.gz lapic quiet rootdelay=5
[ 0.000000] PID hash table entries: 4096 (order: 2, 16384 bytes)
[ 0.000000] Dentry cache hash table entries: 131072 (order: 7, 524288 bytes)
[ 0.000000] Inode-cache hash table entries: 65536 (order: 6, 262144 bytes)
[ 0.000000] Initializing CPU#0
[ 0.000000] allocated 2096896 bytes of page_cgroup
[ 0.000000] please try 'cgroup_disable=memory' option if you don't want memory cgroups
[ 0.000000] Initializing HighMem for node 0 (000377fe:0003fff0)
[ 0.000000] Memory: 1017360k/1048512k available (3495k kernel code, 30700k reserved, 1237k data, 416k init, 139208k highmem)
[ 0.000000] virtual kernel memory layout:
[ 0.000000] fixmap : 0xfff17000 - 0xfffff000 ( 928 kB)
[ 0.000000] pkmap : 0xff800000 - 0xffc00000 (4096 kB)
[ 0.000000] vmalloc : 0xf7ffe000 - 0xff7fe000 ( 120 MB)
[ 0.000000] lowmem : 0xc0000000 - 0xf77fe000 ( 887 MB)
[ 0.000000] .init : 0xc14a0000 - 0xc1508000 ( 416 kB)
[ 0.000000] .data : 0xc1369d4a - 0xc149f480 (1237 kB)
[ 0.000000] .text : 0xc1000000 - 0xc1369d4a (3495 kB)
[ 0.000000] Checking if this processor honours the WP bit even in supervisor mode...Ok.
[ 0.000000] Preemptible hierarchical RCU implementation.
[ 0.000000] RCU dyntick-idle grace-period acceleration is enabled.
[ 0.000000] NR_IRQS:2304 nr_irqs:256 16
[ 0.000000] CPU 0 irqstacks, hard=f5806000 soft=f5808000
[ 0.000000] Interrupt pipeline (release #3)
[ 0.000000] Console: colour VGA+ 80x25
[ 0.000000] console [tty0] enabled
[ 0.000000] Fast TSC calibration failed
[ 0.000000] TSC: Unable to calibrate against PIT
[ 0.000000] TSC: using PMTIMER reference calibration
[ 0.000000] Detected 2253.253 MHz processor.
[ 0.012001] Calibrating delay loop (skipped), value calculated using timer frequency.. 4506.50 BogoMIPS (lpj=9013012)
[ 0.012004] pid_max: default: 32768 minimum: 301
[ 0.012029] Security Framework initialized
[ 0.012035] AppArmor: AppArmor disabled by boot time parameter
[ 0.012043] Mount-cache hash table entries: 512
[ 0.012144] Initializing cgroup subsys cpuacct
[ 0.012146] Initializing cgroup subsys memory
[ 0.012150] Initializing cgroup subsys devices
[ 0.012152] Initializing cgroup subsys freezer
[ 0.012153] Initializing cgroup subsys net_cls
[ 0.012155] Initializing cgroup subsys blkio
[ 0.012160] Initializing cgroup subsys perf_event
[ 0.012248] mce: CPU supports 0 MCE banks
[ 0.012542] SMP alternatives: switching to UP code
[ 0.021868] Freeing SMP alternatives: 16k freed
[ 0.021875] ACPI: Core revision 20120320
[ 0.022542] ACPI: setting ELCR to 0200 (from 0e00)
[ 0.022560] weird, boot CPU (#0) not listed by the BIOS.
[ 0.022560] SMP motherboard not detected.
[ 0.022560] Enabling APIC mode: Flat. Using 0 I/O APICs
[ 0.024001] SMP disabled
[ 0.024001] Performance Events: unsupported p6 CPU model 78 no PMU driver, software events only.
[ 0.032023] NMI watchdog: disabled (cpu0): hardware events not enabled
[ 0.032059] Brought up 1 CPUs
[ 0.032061] Total of 1 processors activated (4506.50 BogoMIPS).
[ 0.032147] devtmpfs: initialized
[ 0.032344] dummy:
[ 0.032373] NET: Registered protocol family 16
[ 0.032439] ACPI: bus type pci registered
[ 0.032564] PCI: PCI BIOS revision 2.10 entry at 0xfda26, last bus=0
[ 0.032566] PCI: Using configuration type 1 for base access
[ 0.032849] bio: create slab <bio-0> at 0
[ 0.032889] ACPI: Added _OSI(Module Device)
[ 0.032890] ACPI: Added _OSI(Processor Device)
[ 0.032892] ACPI: Added _OSI(3.0 _SCP Extensions)
[ 0.032893] ACPI: Added _OSI(Processor Aggregator Device)
[ 0.033159] ACPI: EC: Look up EC in DSDT
[ 0.033414] ACPI: Executed 1 blocks of module-level executable AML code
[ 0.035755] ACPI: Interpreter enabled
[ 0.035763] ACPI: (supports S0 S5)
[ 0.035772] ACPI: Using PIC for interrupt routing
[ 0.037213] ACPI: No dock devices found.
[ 0.037217] PCI: Ignoring host bridge windows from ACPI; if necessary, use "pci=use_crs" and report a bug
[ 0.037256] ACPI: PCI Root Bridge [PCI0] (domain 0000 [bus 00-ff])
[ 0.037310] pci_root PNP0A03:00: host bridge window [io 0x0000-0x0cf7] (ignored)
[ 0.037312] pci_root PNP0A03:00: host bridge window [io 0x0d00-0xffff] (ignored)
[ 0.037313] pci_root PNP0A03:00: host bridge window [mem 0x000a0000-0x000bffff] (ignored)
[ 0.037314] pci_root PNP0A03:00: host bridge window [mem 0x40000000-0xffdfffff] (ignored)
[ 0.037316] PCI: root bus 00: using default resources
[ 0.037332] PCI host bridge to bus 0000:00
[ 0.037333] pci_bus 0000:00: root bus resource [io 0x0000-0xffff]
[ 0.037334] pci_bus 0000:00: root bus resource [mem 0x00000000-0xffffffff]
[ 0.037364] pci 0000:00:00.0: [8086:1237] type 00 class 0x060000
[ 0.037589] pci 0000:00:01.0: [8086:7000] type 00 class 0x060100
[ 0.037932] pci 0000:00:01.1: [8086:7111] type 00 class 0x01018a
[ 0.038182] pci 0000:00:01.1: reg 20: [io 0xd000-0xd00f]
[ 0.038348] pci 0000:00:02.0: [80ee:beef] type 00 class 0x030000
[ 0.039408] pci 0000:00:02.0: reg 10: [mem 0xe0000000-0xe3ffffff pref]
[ 0.046306] pci 0000:00:03.0: [8086:100e] type 00 class 0x020000
[ 0.046792] pci 0000:00:03.0: reg 10: [mem 0xf0000000-0xf001ffff]
[ 0.047504] pci 0000:00:03.0: reg 18: [io 0xd010-0xd017]
[ 0.049780] pci 0000:00:04.0: [80ee:cafe] type 00 class 0x088000
[ 0.050250] pci 0000:00:04.0: reg 10: [io 0xd020-0xd03f]
[ 0.050730] pci 0000:00:04.0: reg 14: [mem 0xf0400000-0xf07fffff]
[ 0.051242] pci 0000:00:04.0: reg 18: [mem 0xf0800000-0xf0803fff pref]
[ 0.053373] pci 0000:00:05.0: [8086:2415] type 00 class 0x040100
[ 0.053441] pci 0000:00:05.0: reg 10: [io 0xd100-0xd1ff]
[ 0.053488] pci 0000:00:05.0: reg 14: [io 0xd200-0xd23f]
[ 0.053779] pci 0000:00:06.0: [106b:003f] type 00 class 0x0c0310
[ 0.054143] pci 0000:00:06.0: reg 10: [mem 0xf0804000-0xf0804fff]
[ 0.055892] pci 0000:00:07.0: [8086:7113] type 00 class 0x068000
[ 0.056460] pci 0000:00:0d.0: [8086:2829] type 00 class 0x010601
[ 0.056848] pci 0000:00:0d.0: reg 10: [io 0xd240-0xd247]
[ 0.057621] pci 0000:00:0d.0: reg 18: [io 0xd250-0xd257]
[ 0.058364] pci 0000:00:0d.0: reg 20: [io 0xd260-0xd26f]
[ 0.058820] pci 0000:00:0d.0: reg 24: [mem 0xf0806000-0xf0807fff]
[ 0.059612] pci_bus 0000:00: on NUMA node 0
[ 0.059620] ACPI: PCI Interrupt Routing Table [\_SB_.PCI0._PRT]
[ 0.060480] pci0000:00: Unable to request _OSC control (_OSC support mask: 0x0e)
[ 0.063051] ACPI: PCI Interrupt Link [LNKA] (IRQs 5 9 10 *11)
[ 0.063219] ACPI: PCI Interrupt Link [LNKB] (IRQs 5 9 10 *11)
[ 0.063270] ACPI: PCI Interrupt Link [LNKC] (IRQs 5 9 *10 11)
[ 0.063324] ACPI: PCI Interrupt Link [LNKD] (IRQs 5 *9 10 11)
[ 0.063402] vgaarb: device added: PCI:0000:00:02.0,decodes=io+mem,owns=io+mem,locks=none
[ 0.063405] vgaarb: loaded
[ 0.063406] vgaarb: bridge control possible 0000:00:02.0
[ 0.063420] PCI: Using ACPI for IRQ routing
[ 0.063422] PCI: pci_cache_line_size set to 64 bytes
[ 0.063556] reserve RAM buffer: 000000000009fc00 - 000000000009ffff
[ 0.063558] reserve RAM buffer: 000000003fff0000 - 000000003fffffff
[ 0.063660] pnp: PnP ACPI init
[ 0.063665] ACPI: bus type pnp registered
[ 0.063714] pnp 00:00: [bus 00-ff]
[ 0.063715] pnp 00:00: [io 0x0cf8-0x0cff]
[ 0.063717] pnp 00:00: [io 0x0000-0x0cf7 window]
[ 0.063718] pnp 00:00: [io 0x0d00-0xffff window]
[ 0.063720] pnp 00:00: [mem 0x000a0000-0x000bffff window]
[ 0.063721] pnp 00:00: [mem 0x40000000-0xffdfffff window]
[ 0.063735] pnp 00:00: Plug and Play ACPI device, IDs PNP0a03 (active)
[ 0.063745] pnp 00:01: [io 0x0060]
[ 0.063746] pnp 00:01: [io 0x0064]
[ 0.063747] pnp 00:01: [irq 1]
[ 0.063758] pnp 00:01: Plug and Play ACPI device, IDs PNP0303 (active)
[ 0.063764] pnp 00:02: [io 0x0000-0x000f]
[ 0.063765] pnp 00:02: [io 0x0080-0x008f]
[ 0.063766] pnp 00:02: [io 0x00c0-0x00df]
[ 0.063768] pnp 00:02: [dma 4]
[ 0.063777] pnp 00:02: Plug and Play ACPI device, IDs PNP0200 (active)
[ 0.063806] pnp 00:03: [irq 12]
[ 0.063817] pnp 00:03: Plug and Play ACPI device, IDs PNP0f03 (active)
[ 0.063825] pnp 00:04: [io 0x0378-0x037f]
[ 0.063827] pnp 00:04: [io 0x0778-0x077f]
[ 0.063828] pnp 00:04: [irq 7]
[ 0.063839] pnp 00:04: Plug and Play ACPI device, IDs PNP0400 (active)
[ 0.064151] pnp: PnP ACPI: found 5 devices
[ 0.064151] ACPI: ACPI bus type pnp unregistered
[ 0.064151] PnPBIOS: Disabled by ACPI PNP
[ 0.099709] Switching to clocksource acpi_pm
[ 0.099731] pci_bus 0000:00: resource 4 [io 0x0000-0xffff]
[ 0.099733] pci_bus 0000:00: resource 5 [mem 0x00000000-0xffffffff]
[ 0.099767] NET: Registered protocol family 2
[ 0.099803] IP route cache hash table entries: 32768 (order: 5, 131072 bytes)
[ 0.099875] TCP established hash table entries: 131072 (order: 8, 1048576 bytes)
[ 0.100005] TCP bind hash table entries: 65536 (order: 7, 524288 bytes)
[ 0.100005] TCP: Hash tables configured (established 131072 bind 65536)
[ 0.100005] TCP: reno registered
[ 0.100005] UDP hash table entries: 512 (order: 2, 16384 bytes)
[ 0.100005] UDP-Lite hash table entries: 512 (order: 2, 16384 bytes)
[ 0.100005] NET: Registered protocol family 1
[ 0.100005] pci 0000:00:00.0: Limiting direct PCI/PCI transfers
[ 0.100005] pci 0000:00:01.0: Activating ISA DMA hang workarounds
[ 0.100005] pci 0000:00:02.0: Boot video device
[ 0.100005] ACPI: PCI Interrupt Link [LNKB] enabled at IRQ 11
[ 0.100005] PCI: setting IRQ 11 as level-triggered
[ 0.100005] PCI: CLS 0 bytes, default 64
[ 0.100005] Unpacking initramfs...
[ 0.348973] Freeing initrd memory: 13700k freed
[ 0.350029] platform rtc_cmos: registered platform RTC device (no PNP device found)
[ 0.350162] audit: initializing netlink socket (disabled)
[ 0.350170] type=2000 audit(1460986330.348:1): initialized
[ 0.359808] highmem bounce pool size: 64 pages
[ 0.359812] HugeTLB registered 4 MB page size, pre-allocated 0 pages
[ 0.359887] VFS: Disk quotas dquot_6.5.2
[ 0.359899] Dquot-cache hash table entries: 1024 (order 0, 4096 bytes)
[ 0.359935] msgmni has been set to 1741
[ 0.360086] alg: No test for stdrng (krng)
[ 0.360099] Block layer SCSI generic (bsg) driver version 0.4 loaded (major 253)
[ 0.360100] io scheduler noop registered
[ 0.360101] io scheduler deadline registered
[ 0.360108] io scheduler cfq registered (default)
[ 0.360144] pci_hotplug: PCI Hot Plug PCI Core version: 0.5
[ 0.360154] pciehp: PCI Express Hot Plug Controller Driver version: 0.4
[ 0.360156] acpiphp: ACPI Hot Plug PCI Controller Driver version: 0.5
[ 0.360324] GHES: HEST is not enabled!
[ 0.360330] isapnp: Scanning for PnP cards...
[ 0.730456] isapnp: No Plug & Play device found
[ 0.730497] Serial: 8250/16550 driver, 4 ports, IRQ sharing enabled
[ 0.730776] Linux agpgart interface v0.103
[ 0.730887] i8042: PNP: PS/2 Controller [PNP0303:PS2K,PNP0f03:PS2M] at 0x60,0x64 irq 1,12
[ 0.731536] serio: i8042 KBD port at 0x60,0x64 irq 1
[ 0.731552] serio: i8042 AUX port at 0x60,0x64 irq 12
[ 0.731589] mousedev: PS/2 mouse device common for all mice
[ 0.732173] input: AT Translated Set 2 keyboard as /devices/platform/i8042/serio0/input/input0
[ 0.732502] rtc_cmos rtc_cmos: rtc core: registered rtc_cmos as rtc0
[ 0.732527] rtc0: alarms up to one day, 114 bytes nvram
[ 0.732594] TCP: cubic registered
[ 0.732659] NET: Registered protocol family 10
[ 0.732783] Mobile IPv6
[ 0.732785] NET: Registered protocol family 17
[ 0.732787] Registering the dns_resolver key type
[ 0.732823] Using IPI No-Shortcut mode
[ 0.732860] PM: Hibernation image not present or could not be loaded.
[ 0.732867] registered taskstats version 1
[ 0.733167] rtc_cmos rtc_cmos: setting system clock to 2016-04-18 13:32:11 UTC (1460986331)
[ 0.733207] Freeing unused kernel memory: 416k freed
[ 0.733283] Write protecting the kernel text: 3496k
[ 0.733295] Write protecting the kernel read-only data: 984k
[ 0.743717] udevd[44]: starting version 175
[ 0.754586] SCSI subsystem initialized
[ 0.765531] e1000: Intel(R) PRO/1000 Network Driver - version 7.3.21-k8-NAPI
[ 0.765534] e1000: Copyright (c) 1999-2006 Intel Corporation.
[ 0.765885] ACPI: PCI Interrupt Link [LNKC] enabled at IRQ 10
[ 0.765887] PCI: setting IRQ 10 as level-triggered
[ 0.765922] e1000 0000:00:03.0: setting latency timer to 64
[ 0.767913] usbcore: registered new interface driver usbfs
[ 0.767925] usbcore: registered new interface driver hub
[ 0.777374] libata version 3.00 loaded.
[ 0.783717] usbcore: registered new device driver usb
[ 0.783994] ehci_hcd: USB 2.0 'Enhanced' Host Controller (EHCI) Driver
[ 0.786044] microcode: CPU0 sig=0x406e3, pf=0x2, revision=0x19
[ 0.791721] ohci_hcd: USB 1.1 'Open' Host Controller (OHCI) Driver
[ 0.822017] microcode: Microcode Update Driver: v2.00 <This email address is being protected from spambots. You need JavaScript enabled to view it.>, Peter Oruba
[ 1.135660] e1000 0000:00:03.0: eth0: (PCI:33MHz:32-bit) 08:00:27:a0:c8:71
[ 1.135672] e1000 0000:00:03.0: eth0: Intel(R) PRO/1000 Network Connection
[ 1.135687] ata_piix 0000:00:01.1: version 2.13
[ 1.135794] ata_piix 0000:00:01.1: setting latency timer to 64
[ 1.137177] scsi0 : ata_piix
[ 1.137307] scsi1 : ata_piix
[ 1.137347] ata1: PATA max UDMA/33 cmd 0x1f0 ctl 0x3f6 bmdma 0xd000 irq 14
[ 1.137350] ata2: PATA max UDMA/33 cmd 0x170 ctl 0x376 bmdma 0xd008 irq 15
[ 1.137537] ohci_hcd 0000:00:06.0: setting latency timer to 64
[ 1.137552] ohci_hcd 0000:00:06.0: OHCI Host Controller
[ 1.137573] ohci_hcd 0000:00:06.0: new USB bus registered, assigned bus number 1
[ 1.137610] ohci_hcd 0000:00:06.0: irq 11, io mem 0xf0804000
[ 1.193060] usb usb1: New USB device found, idVendor=1d6b, idProduct=0001
[ 1.193072] usb usb1: New USB device strings: Mfr=3, Product=2, SerialNumber=1
[ 1.193079] usb usb1: Product: OHCI Host Controller
[ 1.193085] usb usb1: Manufacturer: Linux 3.4-9-rtai-686-pae ohci_hcd
[ 1.193090] usb usb1: SerialNumber: 0000:00:06.0
[ 1.193414] hub 1-0:1.0: USB hub found
[ 1.193451] hub 1-0:1.0: 8 ports detected
[ 1.194018] ahci 0000:00:0d.0: version 3.0
[ 1.197577] ACPI: PCI Interrupt Link [LNKA] enabled at IRQ 11
[ 1.198096] ahci: SSS flag set, parallel bus scan disabled
[ 1.198493] ahci 0000:00:0d.0: AHCI 0001.0100 32 slots 1 ports 3 Gbps 0x1 impl SATA mode
[ 1.198504] ahci 0000:00:0d.0: flags: 64bit ncq stag only ccc
[ 1.198583] ahci 0000:00:0d.0: setting latency timer to 64
[ 1.199342] scsi2 : ahci
[ 1.199655] ata3: SATA max UDMA/133 abar m8192@0xf0806000 port 0xf0806100 irq 11
[ 1.361050] Refined TSC clocksource calibration: 2253.453 MHz.
[ 1.361060] Switching to clocksource tsc
[ 1.520184] ata3: SATA link up 3.0 Gbps (SStatus 123 SControl 300)
[ 1.520312] ata3.00: ATA-6: VBOX HARDDISK, 1.0, max UDMA/133
[ 1.520315] ata3.00: 41943040 sectors, multi 128: LBA48 NCQ (depth 31/32)
[ 1.520481] ata3.00: configured for UDMA/133
[ 1.536216] scsi 2:0:0:0: Direct-Access ATA VBOX HARDDISK 1.0 PQ: 0 ANSI: 5
[ 1.540363] sd 2:0:0:0: [sda] 41943040 512-byte logical blocks: (21.4 GB/20.0 GiB)
[ 1.540387] sd 2:0:0:0: [sda] Write Protect is off
[ 1.540388] sd 2:0:0:0: [sda] Mode Sense: 00 3a 00 00
[ 1.540398] sd 2:0:0:0: [sda] Write cache: enabled, read cache: enabled, doesn't support DPO or FUA
[ 1.567229] sda: sda1 sda2 < sda5 >
[ 1.567394] sd 2:0:0:0: [sda] Attached SCSI disk
[ 1.568741] sd 2:0:0:0: Attached scsi generic sg0 type 0
[ 1.600092] usb 1-1: new full-speed USB device number 2 using ohci_hcd
[ 1.847372] usb 1-1: New USB device found, idVendor=80ee, idProduct=0021
[ 1.847375] usb 1-1: New USB device strings: Mfr=1, Product=3, SerialNumber=0
[ 1.847377] usb 1-1: Product: USB Tablet
[ 1.847378] usb 1-1: Manufacturer: VirtualBox
[ 1.864244] input: VirtualBox USB Tablet as /devices/pci0000:00/0000:00:06.0/usb1/1-1/1-1:1.0/input/input1
[ 1.864378] generic-usb 0003:80EE:0021.0001: input,hidraw0: USB HID v1.10 Mouse [VirtualBox USB Tablet] on usb-0000:00:06.0-1/input0
[ 1.864572] usbcore: registered new interface driver usbhid
[ 1.864575] usbhid: USB HID core driver
[ 6.885320] PM: Starting manual resume from disk
[ 6.885323] PM: Hibernation image partition 8:5 present
[ 6.885324] PM: Looking for hibernation image.
[ 6.885653] PM: Image not found (code -22)
[ 6.885654] PM: Hibernation image not present or could not be loaded.
[ 6.891589] EXT4-fs (sda1): INFO: recovery required on readonly filesystem
[ 6.891591] EXT4-fs (sda1): write access will be enabled during recovery
[ 6.906873] EXT4-fs (sda1): recovery complete
[ 6.907942] EXT4-fs (sda1): mounted filesystem with ordered data mode. Opts: (null)
[ 7.206614] udevd[291]: starting version 175
[ 7.352806] input: Power Button as /devices/LNXSYSTM:00/LNXPWRBN:00/input/input2
[ 7.352810] ACPI: Power Button [PWRF]
[ 7.353099] input: Sleep Button as /devices/LNXSYSTM:00/LNXSLPBN:00/input/input3
[ 7.353102] ACPI: Sleep Button [SLPF]
[ 7.356225] piix4_smbus 0000:00:07.0: SMBus base address uninitialized - upgrade BIOS or use force_addr=0xaddr
[ 7.401808] ACPI: Battery Slot [BAT0] (battery present)
[ 7.402269] ACPI: AC Adapter [AC] (on-line)
[ 7.416433] parport_pc 00:04: reported by Plug and Play ACPI
[ 7.421129] snd_intel8x0 0000:00:05.0: setting latency timer to 64
[ 7.449353] input: ImExPS/2 Generic Explorer Mouse as /devices/platform/i8042/serio1/input/input4
[ 7.773577] intel8x0_measure_ac97_clock: measured 57356 usecs (9912 samples)
[ 7.773580] intel8x0: measured clock 172815 rejected
[ 8.133172] intel8x0_measure_ac97_clock: measured 55717 usecs (7200 samples)
[ 8.133184] intel8x0: measured clock 129224 rejected
[ 8.492327] intel8x0_measure_ac97_clock: measured 55942 usecs (7200 samples)
[ 8.492332] intel8x0: measured clock 128704 rejected
[ 8.492335] intel8x0: clocking to 48000
[ 8.799411] Adding 901116k swap on /dev/sda5. Priority:-1 extents:1 across:901116k
[ 8.809992] EXT4-fs (sda1): re-mounted. Opts: (null)
[ 8.883031] EXT4-fs (sda1): re-mounted. Opts: errors=remount-ro
[ 8.914109] loop: module loaded
[ 9.699480] RPC: Registered named UNIX socket transport module.
[ 9.699482] RPC: Registered udp transport module.
[ 9.699483] RPC: Registered tcp transport module.
[ 9.699484] RPC: Registered tcp NFSv4.1 backchannel transport module.
[ 9.706196] FS-Cache: Loaded
[ 9.713593] NFS: Registering the id_resolver key type
[ 9.713606] FS-Cache: Netfs 'nfs' registered for caching
[ 9.718628] Installing knfsd (copyright (C) 1996 This email address is being protected from spambots. You need JavaScript enabled to view it.).
[ 10.900224] Bluetooth: Core ver 2.16
[ 10.900626] NET: Registered protocol family 31
[ 10.900627] Bluetooth: HCI device and connection manager initialized
[ 10.900628] Bluetooth: HCI socket layer initialized
[ 10.900629] Bluetooth: L2CAP socket layer initialized
[ 10.900632] Bluetooth: SCO socket layer initialized
[ 10.905493] Bluetooth: RFCOMM TTY layer initialized
[ 10.905496] Bluetooth: RFCOMM socket layer initialized
[ 10.905497] Bluetooth: RFCOMM ver 1.11
[ 10.917441] Bluetooth: BNEP (Ethernet Emulation) ver 1.3
[ 10.917443] Bluetooth: BNEP filters: protocol multicast
[ 10.956278] lp: driver loaded but no devices found
[ 10.979103] ppdev: user-space parallel port driver
[ 11.294066] input: ACPI Virtual Keyboard Device as /devices/virtual/input/input5
[ 11.500464] e1000: eth0 NIC Link is Up 1000 Mbps Full Duplex, Flow Control: RX
[ 11.501327] ADDRCONF(NETDEV_UP): eth0: link is not ready
[ 11.501367] ADDRCONF(NETDEV_CHANGE): eth0: link becomes ready
[ 22.416104] eth0: no IPv6 routers present
[12718.120144] usb 1-2: new full-speed USB device number 3 using ohci_hcd
[12718.579973] usb 1-2: New USB device found, idVendor=090c, idProduct=1000
[12718.579977] usb 1-2: New USB device strings: Mfr=1, Product=2, SerialNumber=0
[12718.579980] usb 1-2: Product: USB DISK
[12718.579981] usb 1-2: Manufacturer: SMI Corporation
[12718.603431] Initializing USB Mass Storage driver...
[12718.603488] scsi3 : usb-storage 1-2:1.0
[12718.603788] usbcore: registered new interface driver usb-storage
[12718.603791] USB Mass Storage support registered.
[12719.725501] scsi 3:0:0:0: Direct-Access SMI USB DISK 1100 PQ: 0 ANSI: 4
[12719.735449] sd 3:0:0:0: Attached scsi generic sg1 type 0
[12719.750428] sd 3:0:0:0: [sdb] 7866368 512-byte logical blocks: (4.02 GB/3.75 GiB)
[12719.759247] sd 3:0:0:0: [sdb] Write Protect is off
[12719.759253] sd 3:0:0:0: [sdb] Mode Sense: 43 00 00 00
[12719.768181] sd 3:0:0:0: [sdb] No Caching mode page present
[12719.768186] sd 3:0:0:0: [sdb] Assuming drive cache: write through
[12719.825709] sd 3:0:0:0: [sdb] No Caching mode page present
[12719.825713] sd 3:0:0:0: [sdb] Assuming drive cache: write through
[12719.835530] sdb: sdb1
[12719.889368] sd 3:0:0:0: [sdb] No Caching mode page present
[12719.889372] sd 3:0:0:0: [sdb] Assuming drive cache: write through
[12719.889375] sd 3:0:0:0: [sdb] Attached SCSI removable disk
[12735.790228] FAT-fs (sdb1): utf8 is not a recommended IO charset for FAT filesystems, filesystem will be case sensitive!
[12826.462018] I-pipe: head domain RTAI registered.
[12826.462021] RTAI[hal]: compiled with gcc version 4.7.2 (Debian 4.7.2-5) .
[12826.462025] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[12826.462027] SYSINFO: CPUs 1, LINUX APIC IRQ 2312, TIM_FREQ 62506243, CLK_FREQ 2253253000, CPU_FREQ 2253253000
[12826.462028] RTAI_APIC_TIMER_IPI: RTAI DEFINED 2314, VECTOR 2314; LINUX_APIC_TIMER_IPI: RTAI DEFINED 2312, VECTOR 2312
[12826.462033] TIMER NAME: lapic; VARIOUSLY FOUND APIC FREQs: 62506243, 62506243, 54051000
[12826.473627] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[12826.473638] , <uses LINUX SYSCALLs>, kstacks pool size = 524288 bytes.
[12826.473641] RTAI[sched]: hard timer type/freq = APIC/62506243(Hz); default timing: oneshot; linear timed lists.
[12826.473642] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 2253253000 hz.
[12826.473644] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns.
[12826.482027] RTAI[math]: loaded.
[12826.787257] RTAI[math]: unloaded.
[12826.788288] SCHED releases registered named ALIEN PEDV$D
[12826.794508] RTAI[malloc]: unloaded.
[12826.893257] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[12826.900719] I-pipe: head domain RTAI unregistered.
[12826.900780] RTAI[hal]: unmounted.
[14309.955229] sdb: detected capacity change from 4027580416 to 0
[14314.182529] usb 1-2: USB disconnect, device number 3
[14342.660128] usb 1-2: new full-speed USB device number 4 using ohci_hcd
[14343.094209] usb 1-2: New USB device found, idVendor=090c, idProduct=1000
[14343.094213] usb 1-2: New USB device strings: Mfr=1, Product=2, SerialNumber=0
[14343.094215] usb 1-2: Product: USB DISK
[14343.094216] usb 1-2: Manufacturer: SMI Corporation
[14343.096397] scsi4 : usb-storage 1-2:1.0
[14344.222945] scsi 4:0:0:0: Direct-Access SMI USB DISK 1100 PQ: 0 ANSI: 4
[14344.232883] sd 4:0:0:0: Attached scsi generic sg1 type 0
[14344.249215] sd 4:0:0:0: [sdb] 7866368 512-byte logical blocks: (4.02 GB/3.75 GiB)
[14344.257421] sd 4:0:0:0: [sdb] Write Protect is off
[14344.257426] sd 4:0:0:0: [sdb] Mode Sense: 43 00 00 00
[14344.266963] sd 4:0:0:0: [sdb] No Caching mode page present
[14344.266967] sd 4:0:0:0: [sdb] Assuming drive cache: write through
[14344.321530] sd 4:0:0:0: [sdb] No Caching mode page present
[14344.321533] sd 4:0:0:0: [sdb] Assuming drive cache: write through
[14344.332096] sdb: sdb1
[14344.387172] sd 4:0:0:0: [sdb] No Caching mode page present
[14344.387175] sd 4:0:0:0: [sdb] Assuming drive cache: write through
[14344.387194] sd 4:0:0:0: [sdb] Attached SCSI removable disk
[14347.085888] FAT-fs (sdb1): utf8 is not a recommended IO charset for FAT filesystems, filesystem will be case sensitive!
[14369.909503] I-pipe: head domain RTAI registered.
[14369.909509] RTAI[hal]: compiled with gcc version 4.7.2 (Debian 4.7.2-5) .
[14369.909514] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[14369.909517] SYSINFO: CPUs 1, LINUX APIC IRQ 2312, TIM_FREQ 62506243, CLK_FREQ 2253253000, CPU_FREQ 2253253000
[14369.909519] RTAI_APIC_TIMER_IPI: RTAI DEFINED 2314, VECTOR 2314; LINUX_APIC_TIMER_IPI: RTAI DEFINED 2312, VECTOR 2312
[14369.909525] TIMER NAME: lapic; VARIOUSLY FOUND APIC FREQs: 62506243, 62506243, 61764250
[14369.916351] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[14369.916364] , <uses LINUX SYSCALLs>, kstacks pool size = 524288 bytes.
[14369.916367] RTAI[sched]: hard timer type/freq = APIC/62506243(Hz); default timing: oneshot; linear timed lists.
[14369.916369] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 2253253000 hz.
[14369.916371] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns.
[14369.922992] RTAI[math]: loaded.
[14370.083622] pumakins: module license 'unspecified' taints kernel.
[14370.083625] Disabling lock debugging due to kernel taint
[14370.281498] RTAPI: ERROR: Unexpected realtime delay on task 1
[14370.281523] This Message will only display once per session.
[14370.281543] Run the Latency Test and resolve before continuing.
[14372.304707] RTAI[math]: unloaded.
[14372.305617] SCHED releases registered named ALIEN PEDV$D
[14372.311410] RTAI[malloc]: unloaded.
[14372.408105] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[14372.409573] I-pipe: head domain RTAI unregistered.
[14372.409656] RTAI[hal]: unmounted.
[18433.718419] I-pipe: head domain RTAI registered.
[18433.718423] RTAI[hal]: compiled with gcc version 4.7.2 (Debian 4.7.2-5) .
[18433.718427] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[18433.718430] SYSINFO: CPUs 1, LINUX APIC IRQ 2312, TIM_FREQ 62506243, CLK_FREQ 2253253000, CPU_FREQ 2253253000
[18433.718432] RTAI_APIC_TIMER_IPI: RTAI DEFINED 2314, VECTOR 2314; LINUX_APIC_TIMER_IPI: RTAI DEFINED 2312, VECTOR 2312
[18433.718436] TIMER NAME: lapic; VARIOUSLY FOUND APIC FREQs: 62506243, 62506243, 48801750
[18433.724905] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[18433.724919] , <uses LINUX SYSCALLs>, kstacks pool size = 524288 bytes.
[18433.724922] RTAI[sched]: hard timer type/freq = APIC/62506243(Hz); default timing: oneshot; linear timed lists.
[18433.724925] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 2253253000 hz.
[18433.724926] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns.
[18433.732516] RTAI[math]: loaded.
[18434.213459] RTAPI: ERROR: Unexpected realtime delay on task 1
[18434.213482] This Message will only display once per session.
[18434.213501] Run the Latency Test and resolve before continuing.
[18436.088421] RTAI[math]: unloaded.
[18436.088421] SCHED releases registered named ALIEN PEDV$D
[18436.092879] RTAI[malloc]: unloaded.
[18436.192120] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[18436.193383] I-pipe: head domain RTAI unregistered.
[18436.193456] RTAI[hal]: unmounted.
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-3.4-9-rtai-686-pae/modules/linuxcnc
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/share/linuxcnc/tcl/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.5
LINUXCNC - 2.7.4
Machine configuration directory is '/home/automation/linuxcnc/configs/sim.puma'
Machine configuration file is 'puma.ini'
INIFILE=/home/automation/linuxcnc/configs/sim.puma/puma.ini
PARAMETER_FILE=puma.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
Found file(REL): ./puma_sim_6.hal
Shutting down and cleaning up LinuxCNC...
Killing task linuxcncsvr, PID=9071
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments
Debug file information:
.
./puma_sim_6.hal:22: Pin 'joint.0.motor-pos-cmd' does not exist
9071
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components
Kernel message information:
[ 0.000000] Initializing cgroup subsys cpuset
[ 0.000000] Initializing cgroup subsys cpu
[ 0.000000] Linux version 3.4-9-rtai-686-pae (Debian 3.4.55-4linuxcnc) () (gcc version 4.6.3 (Debian 4.6.3-14) ) #1 SMP PREEMPT Debian 3.4.55-4linuxcnc
[ 0.000000] BIOS-provided physical RAM map:
[ 0.000000] BIOS-e820: 0000000000000000 - 000000000009fc00 (usable)
[ 0.000000] BIOS-e820: 000000000009fc00 - 00000000000a0000 (reserved)
[ 0.000000] BIOS-e820: 00000000000f0000 - 0000000000100000 (reserved)
[ 0.000000] BIOS-e820: 0000000000100000 - 000000003fff0000 (usable)
[ 0.000000] BIOS-e820: 000000003fff0000 - 0000000040000000 (ACPI data)
[ 0.000000] BIOS-e820: 00000000fffc0000 - 0000000100000000 (reserved)
[ 0.000000] Notice: NX (Execute Disable) protection missing in CPU!
[ 0.000000] SMBIOS 2.5 present.
[ 0.000000] DMI: innotek GmbH VirtualBox/VirtualBox, BIOS VirtualBox 12/01/2006
[ 0.000000] e820 update range: 0000000000000000 - 0000000000010000 (usable) ==> (reserved)
[ 0.000000] e820 remove range: 00000000000a0000 - 0000000000100000 (usable)
[ 0.000000] last_pfn = 0x3fff0 max_arch_pfn = 0x100000
[ 0.000000] MTRR default type: uncachable
[ 0.000000] MTRR variable ranges disabled:
[ 0.000000] x86 PAT enabled: cpu 0, old 0x7040600070406, new 0x7010600070106
[ 0.000000] CPU MTRRs all blank - virtualized system.
[ 0.000000] initial memory mapped : 0 - 01800000
[ 0.000000] Base memory trampoline at [c009b000] 9b000 size 16384
[ 0.000000] init_memory_mapping: 0000000000000000-00000000377fe000
[ 0.000000] 0000000000 - 0000400000 page 4k
[ 0.000000] 0000400000 - 0037400000 page 2M
[ 0.000000] 0037400000 - 00377fe000 page 4k
[ 0.000000] kernel direct mapping tables up to 0x377fdfff @ [mem 0x017f8000-0x017fffff]
[ 0.000000] RAMDISK: 3652e000 - 3728f000
[ 0.000000] ACPI: RSDP 000e0000 00024 (v02 VBOX )
[ 0.000000] ACPI: XSDT 3fff0030 00034 (v01 VBOX VBOXXSDT 00000001 ASL 00000061)
[ 0.000000] ACPI: FACP 3fff00f0 000F4 (v04 VBOX VBOXFACP 00000001 ASL 00000061)
[ 0.000000] ACPI: DSDT 3fff0410 01B96 (v01 VBOX VBOXBIOS 00000002 INTL 20100528)
[ 0.000000] ACPI: FACS 3fff0200 00040
[ 0.000000] ACPI: SSDT 3fff0240 001CC (v01 VBOX VBOXCPUT 00000002 INTL 20100528)
[ 0.000000] 135MB HIGHMEM available.
[ 0.000000] 887MB LOWMEM available.
[ 0.000000] mapped low ram: 0 - 377fe000
[ 0.000000] low ram: 0 - 377fe000
[ 0.000000] Zone PFN ranges:
[ 0.000000] DMA 0x00000010 -> 0x00001000
[ 0.000000] Normal 0x00001000 -> 0x000377fe
[ 0.000000] HighMem 0x000377fe -> 0x0003fff0
[ 0.000000] Movable zone start PFN for each node
[ 0.000000] Early memory PFN ranges
[ 0.000000] 0: 0x00000010 -> 0x0000009f
[ 0.000000] 0: 0x00000100 -> 0x0003fff0
[ 0.000000] On node 0 totalpages: 262015
[ 0.000000] free_area_init_node: node 0, pgdat c1498a00, node_mem_map f5d2e200
[ 0.000000] DMA zone: 32 pages used for memmap
[ 0.000000] DMA zone: 0 pages reserved
[ 0.000000] DMA zone: 3951 pages, LIFO batch:0
[ 0.000000] Normal zone: 1744 pages used for memmap
[ 0.000000] Normal zone: 221486 pages, LIFO batch:31
[ 0.000000] HighMem zone: 272 pages used for memmap
[ 0.000000] HighMem zone: 34530 pages, LIFO batch:7
[ 0.000000] Using APIC driver default
[ 0.000000] ACPI: PM-Timer IO Port: 0x4008
[ 0.000000] SMP: Allowing 1 CPUs, 0 hotplug CPUs
[ 0.000000] Found and enabled local APIC!
[ 0.000000] nr_irqs_gsi: 16
[ 0.000000] PM: Registered nosave memory: 000000000009f000 - 00000000000a0000
[ 0.000000] PM: Registered nosave memory: 00000000000a0000 - 00000000000f0000
[ 0.000000] PM: Registered nosave memory: 00000000000f0000 - 0000000000100000
[ 0.000000] Allocating PCI resources starting at 40000000 (gap: 40000000:bffc0000)
[ 0.000000] setup_percpu: NR_CPUS:8 nr_cpumask_bits:8 nr_cpu_ids:1 nr_node_ids:1
[ 0.000000] PERCPU: Embedded 17 pages/cpu @f77e5000 s48384 r0 d21248 u69632
[ 0.000000] pcpu-alloc: s48384 r0 d21248 u69632 alloc=17*4096
[ 0.000000] pcpu-alloc: [0] 0
[ 0.000000] Built 1 zonelists in Zone order, mobility grouping on. Total pages: 259967
[ 0.000000] Kernel command line: BOOT_IMAGE=/boot/vmlinuz-3.4-9-rtai-686-pae root=UUID=069a7bab-323e-4fb3-9df2-b9526ede8942 ro initrd=/install/gtk/initrd.gz lapic quiet rootdelay=5
[ 0.000000] PID hash table entries: 4096 (order: 2, 16384 bytes)
[ 0.000000] Dentry cache hash table entries: 131072 (order: 7, 524288 bytes)
[ 0.000000] Inode-cache hash table entries: 65536 (order: 6, 262144 bytes)
[ 0.000000] Initializing CPU#0
[ 0.000000] allocated 2096896 bytes of page_cgroup
[ 0.000000] please try 'cgroup_disable=memory' option if you don't want memory cgroups
[ 0.000000] Initializing HighMem for node 0 (000377fe:0003fff0)
[ 0.000000] Memory: 1017360k/1048512k available (3495k kernel code, 30700k reserved, 1237k data, 416k init, 139208k highmem)
[ 0.000000] virtual kernel memory layout:
[ 0.000000] fixmap : 0xfff17000 - 0xfffff000 ( 928 kB)
[ 0.000000] pkmap : 0xff800000 - 0xffc00000 (4096 kB)
[ 0.000000] vmalloc : 0xf7ffe000 - 0xff7fe000 ( 120 MB)
[ 0.000000] lowmem : 0xc0000000 - 0xf77fe000 ( 887 MB)
[ 0.000000] .init : 0xc14a0000 - 0xc1508000 ( 416 kB)
[ 0.000000] .data : 0xc1369d4a - 0xc149f480 (1237 kB)
[ 0.000000] .text : 0xc1000000 - 0xc1369d4a (3495 kB)
[ 0.000000] Checking if this processor honours the WP bit even in supervisor mode...Ok.
[ 0.000000] Preemptible hierarchical RCU implementation.
[ 0.000000] RCU dyntick-idle grace-period acceleration is enabled.
[ 0.000000] NR_IRQS:2304 nr_irqs:256 16
[ 0.000000] CPU 0 irqstacks, hard=f5806000 soft=f5808000
[ 0.000000] Interrupt pipeline (release #3)
[ 0.000000] Console: colour VGA+ 80x25
[ 0.000000] console [tty0] enabled
[ 0.000000] Fast TSC calibration failed
[ 0.000000] TSC: Unable to calibrate against PIT
[ 0.000000] TSC: using PMTIMER reference calibration
[ 0.000000] Detected 2253.253 MHz processor.
[ 0.012001] Calibrating delay loop (skipped), value calculated using timer frequency.. 4506.50 BogoMIPS (lpj=9013012)
[ 0.012004] pid_max: default: 32768 minimum: 301
[ 0.012029] Security Framework initialized
[ 0.012035] AppArmor: AppArmor disabled by boot time parameter
[ 0.012043] Mount-cache hash table entries: 512
[ 0.012144] Initializing cgroup subsys cpuacct
[ 0.012146] Initializing cgroup subsys memory
[ 0.012150] Initializing cgroup subsys devices
[ 0.012152] Initializing cgroup subsys freezer
[ 0.012153] Initializing cgroup subsys net_cls
[ 0.012155] Initializing cgroup subsys blkio
[ 0.012160] Initializing cgroup subsys perf_event
[ 0.012248] mce: CPU supports 0 MCE banks
[ 0.012542] SMP alternatives: switching to UP code
[ 0.021868] Freeing SMP alternatives: 16k freed
[ 0.021875] ACPI: Core revision 20120320
[ 0.022542] ACPI: setting ELCR to 0200 (from 0e00)
[ 0.022560] weird, boot CPU (#0) not listed by the BIOS.
[ 0.022560] SMP motherboard not detected.
[ 0.022560] Enabling APIC mode: Flat. Using 0 I/O APICs
[ 0.024001] SMP disabled
[ 0.024001] Performance Events: unsupported p6 CPU model 78 no PMU driver, software events only.
[ 0.032023] NMI watchdog: disabled (cpu0): hardware events not enabled
[ 0.032059] Brought up 1 CPUs
[ 0.032061] Total of 1 processors activated (4506.50 BogoMIPS).
[ 0.032147] devtmpfs: initialized
[ 0.032344] dummy:
[ 0.032373] NET: Registered protocol family 16
[ 0.032439] ACPI: bus type pci registered
[ 0.032564] PCI: PCI BIOS revision 2.10 entry at 0xfda26, last bus=0
[ 0.032566] PCI: Using configuration type 1 for base access
[ 0.032849] bio: create slab <bio-0> at 0
[ 0.032889] ACPI: Added _OSI(Module Device)
[ 0.032890] ACPI: Added _OSI(Processor Device)
[ 0.032892] ACPI: Added _OSI(3.0 _SCP Extensions)
[ 0.032893] ACPI: Added _OSI(Processor Aggregator Device)
[ 0.033159] ACPI: EC: Look up EC in DSDT
[ 0.033414] ACPI: Executed 1 blocks of module-level executable AML code
[ 0.035755] ACPI: Interpreter enabled
[ 0.035763] ACPI: (supports S0 S5)
[ 0.035772] ACPI: Using PIC for interrupt routing
[ 0.037213] ACPI: No dock devices found.
[ 0.037217] PCI: Ignoring host bridge windows from ACPI; if necessary, use "pci=use_crs" and report a bug
[ 0.037256] ACPI: PCI Root Bridge [PCI0] (domain 0000 [bus 00-ff])
[ 0.037310] pci_root PNP0A03:00: host bridge window [io 0x0000-0x0cf7] (ignored)
[ 0.037312] pci_root PNP0A03:00: host bridge window [io 0x0d00-0xffff] (ignored)
[ 0.037313] pci_root PNP0A03:00: host bridge window [mem 0x000a0000-0x000bffff] (ignored)
[ 0.037314] pci_root PNP0A03:00: host bridge window [mem 0x40000000-0xffdfffff] (ignored)
[ 0.037316] PCI: root bus 00: using default resources
[ 0.037332] PCI host bridge to bus 0000:00
[ 0.037333] pci_bus 0000:00: root bus resource [io 0x0000-0xffff]
[ 0.037334] pci_bus 0000:00: root bus resource [mem 0x00000000-0xffffffff]
[ 0.037364] pci 0000:00:00.0: [8086:1237] type 00 class 0x060000
[ 0.037589] pci 0000:00:01.0: [8086:7000] type 00 class 0x060100
[ 0.037932] pci 0000:00:01.1: [8086:7111] type 00 class 0x01018a
[ 0.038182] pci 0000:00:01.1: reg 20: [io 0xd000-0xd00f]
[ 0.038348] pci 0000:00:02.0: [80ee:beef] type 00 class 0x030000
[ 0.039408] pci 0000:00:02.0: reg 10: [mem 0xe0000000-0xe3ffffff pref]
[ 0.046306] pci 0000:00:03.0: [8086:100e] type 00 class 0x020000
[ 0.046792] pci 0000:00:03.0: reg 10: [mem 0xf0000000-0xf001ffff]
[ 0.047504] pci 0000:00:03.0: reg 18: [io 0xd010-0xd017]
[ 0.049780] pci 0000:00:04.0: [80ee:cafe] type 00 class 0x088000
[ 0.050250] pci 0000:00:04.0: reg 10: [io 0xd020-0xd03f]
[ 0.050730] pci 0000:00:04.0: reg 14: [mem 0xf0400000-0xf07fffff]
[ 0.051242] pci 0000:00:04.0: reg 18: [mem 0xf0800000-0xf0803fff pref]
[ 0.053373] pci 0000:00:05.0: [8086:2415] type 00 class 0x040100
[ 0.053441] pci 0000:00:05.0: reg 10: [io 0xd100-0xd1ff]
[ 0.053488] pci 0000:00:05.0: reg 14: [io 0xd200-0xd23f]
[ 0.053779] pci 0000:00:06.0: [106b:003f] type 00 class 0x0c0310
[ 0.054143] pci 0000:00:06.0: reg 10: [mem 0xf0804000-0xf0804fff]
[ 0.055892] pci 0000:00:07.0: [8086:7113] type 00 class 0x068000
[ 0.056460] pci 0000:00:0d.0: [8086:2829] type 00 class 0x010601
[ 0.056848] pci 0000:00:0d.0: reg 10: [io 0xd240-0xd247]
[ 0.057621] pci 0000:00:0d.0: reg 18: [io 0xd250-0xd257]
[ 0.058364] pci 0000:00:0d.0: reg 20: [io 0xd260-0xd26f]
[ 0.058820] pci 0000:00:0d.0: reg 24: [mem 0xf0806000-0xf0807fff]
[ 0.059612] pci_bus 0000:00: on NUMA node 0
[ 0.059620] ACPI: PCI Interrupt Routing Table [\_SB_.PCI0._PRT]
[ 0.060480] pci0000:00: Unable to request _OSC control (_OSC support mask: 0x0e)
[ 0.063051] ACPI: PCI Interrupt Link [LNKA] (IRQs 5 9 10 *11)
[ 0.063219] ACPI: PCI Interrupt Link [LNKB] (IRQs 5 9 10 *11)
[ 0.063270] ACPI: PCI Interrupt Link [LNKC] (IRQs 5 9 *10 11)
[ 0.063324] ACPI: PCI Interrupt Link [LNKD] (IRQs 5 *9 10 11)
[ 0.063402] vgaarb: device added: PCI:0000:00:02.0,decodes=io+mem,owns=io+mem,locks=none
[ 0.063405] vgaarb: loaded
[ 0.063406] vgaarb: bridge control possible 0000:00:02.0
[ 0.063420] PCI: Using ACPI for IRQ routing
[ 0.063422] PCI: pci_cache_line_size set to 64 bytes
[ 0.063556] reserve RAM buffer: 000000000009fc00 - 000000000009ffff
[ 0.063558] reserve RAM buffer: 000000003fff0000 - 000000003fffffff
[ 0.063660] pnp: PnP ACPI init
[ 0.063665] ACPI: bus type pnp registered
[ 0.063714] pnp 00:00: [bus 00-ff]
[ 0.063715] pnp 00:00: [io 0x0cf8-0x0cff]
[ 0.063717] pnp 00:00: [io 0x0000-0x0cf7 window]
[ 0.063718] pnp 00:00: [io 0x0d00-0xffff window]
[ 0.063720] pnp 00:00: [mem 0x000a0000-0x000bffff window]
[ 0.063721] pnp 00:00: [mem 0x40000000-0xffdfffff window]
[ 0.063735] pnp 00:00: Plug and Play ACPI device, IDs PNP0a03 (active)
[ 0.063745] pnp 00:01: [io 0x0060]
[ 0.063746] pnp 00:01: [io 0x0064]
[ 0.063747] pnp 00:01: [irq 1]
[ 0.063758] pnp 00:01: Plug and Play ACPI device, IDs PNP0303 (active)
[ 0.063764] pnp 00:02: [io 0x0000-0x000f]
[ 0.063765] pnp 00:02: [io 0x0080-0x008f]
[ 0.063766] pnp 00:02: [io 0x00c0-0x00df]
[ 0.063768] pnp 00:02: [dma 4]
[ 0.063777] pnp 00:02: Plug and Play ACPI device, IDs PNP0200 (active)
[ 0.063806] pnp 00:03: [irq 12]
[ 0.063817] pnp 00:03: Plug and Play ACPI device, IDs PNP0f03 (active)
[ 0.063825] pnp 00:04: [io 0x0378-0x037f]
[ 0.063827] pnp 00:04: [io 0x0778-0x077f]
[ 0.063828] pnp 00:04: [irq 7]
[ 0.063839] pnp 00:04: Plug and Play ACPI device, IDs PNP0400 (active)
[ 0.064151] pnp: PnP ACPI: found 5 devices
[ 0.064151] ACPI: ACPI bus type pnp unregistered
[ 0.064151] PnPBIOS: Disabled by ACPI PNP
[ 0.099709] Switching to clocksource acpi_pm
[ 0.099731] pci_bus 0000:00: resource 4 [io 0x0000-0xffff]
[ 0.099733] pci_bus 0000:00: resource 5 [mem 0x00000000-0xffffffff]
[ 0.099767] NET: Registered protocol family 2
[ 0.099803] IP route cache hash table entries: 32768 (order: 5, 131072 bytes)
[ 0.099875] TCP established hash table entries: 131072 (order: 8, 1048576 bytes)
[ 0.100005] TCP bind hash table entries: 65536 (order: 7, 524288 bytes)
[ 0.100005] TCP: Hash tables configured (established 131072 bind 65536)
[ 0.100005] TCP: reno registered
[ 0.100005] UDP hash table entries: 512 (order: 2, 16384 bytes)
[ 0.100005] UDP-Lite hash table entries: 512 (order: 2, 16384 bytes)
[ 0.100005] NET: Registered protocol family 1
[ 0.100005] pci 0000:00:00.0: Limiting direct PCI/PCI transfers
[ 0.100005] pci 0000:00:01.0: Activating ISA DMA hang workarounds
[ 0.100005] pci 0000:00:02.0: Boot video device
[ 0.100005] ACPI: PCI Interrupt Link [LNKB] enabled at IRQ 11
[ 0.100005] PCI: setting IRQ 11 as level-triggered
[ 0.100005] PCI: CLS 0 bytes, default 64
[ 0.100005] Unpacking initramfs...
[ 0.348973] Freeing initrd memory: 13700k freed
[ 0.350029] platform rtc_cmos: registered platform RTC device (no PNP device found)
[ 0.350162] audit: initializing netlink socket (disabled)
[ 0.350170] type=2000 audit(1460986330.348:1): initialized
[ 0.359808] highmem bounce pool size: 64 pages
[ 0.359812] HugeTLB registered 4 MB page size, pre-allocated 0 pages
[ 0.359887] VFS: Disk quotas dquot_6.5.2
[ 0.359899] Dquot-cache hash table entries: 1024 (order 0, 4096 bytes)
[ 0.359935] msgmni has been set to 1741
[ 0.360086] alg: No test for stdrng (krng)
[ 0.360099] Block layer SCSI generic (bsg) driver version 0.4 loaded (major 253)
[ 0.360100] io scheduler noop registered
[ 0.360101] io scheduler deadline registered
[ 0.360108] io scheduler cfq registered (default)
[ 0.360144] pci_hotplug: PCI Hot Plug PCI Core version: 0.5
[ 0.360154] pciehp: PCI Express Hot Plug Controller Driver version: 0.4
[ 0.360156] acpiphp: ACPI Hot Plug PCI Controller Driver version: 0.5
[ 0.360324] GHES: HEST is not enabled!
[ 0.360330] isapnp: Scanning for PnP cards...
[ 0.730456] isapnp: No Plug & Play device found
[ 0.730497] Serial: 8250/16550 driver, 4 ports, IRQ sharing enabled
[ 0.730776] Linux agpgart interface v0.103
[ 0.730887] i8042: PNP: PS/2 Controller [PNP0303:PS2K,PNP0f03:PS2M] at 0x60,0x64 irq 1,12
[ 0.731536] serio: i8042 KBD port at 0x60,0x64 irq 1
[ 0.731552] serio: i8042 AUX port at 0x60,0x64 irq 12
[ 0.731589] mousedev: PS/2 mouse device common for all mice
[ 0.732173] input: AT Translated Set 2 keyboard as /devices/platform/i8042/serio0/input/input0
[ 0.732502] rtc_cmos rtc_cmos: rtc core: registered rtc_cmos as rtc0
[ 0.732527] rtc0: alarms up to one day, 114 bytes nvram
[ 0.732594] TCP: cubic registered
[ 0.732659] NET: Registered protocol family 10
[ 0.732783] Mobile IPv6
[ 0.732785] NET: Registered protocol family 17
[ 0.732787] Registering the dns_resolver key type
[ 0.732823] Using IPI No-Shortcut mode
[ 0.732860] PM: Hibernation image not present or could not be loaded.
[ 0.732867] registered taskstats version 1
[ 0.733167] rtc_cmos rtc_cmos: setting system clock to 2016-04-18 13:32:11 UTC (1460986331)
[ 0.733207] Freeing unused kernel memory: 416k freed
[ 0.733283] Write protecting the kernel text: 3496k
[ 0.733295] Write protecting the kernel read-only data: 984k
[ 0.743717] udevd[44]: starting version 175
[ 0.754586] SCSI subsystem initialized
[ 0.765531] e1000: Intel(R) PRO/1000 Network Driver - version 7.3.21-k8-NAPI
[ 0.765534] e1000: Copyright (c) 1999-2006 Intel Corporation.
[ 0.765885] ACPI: PCI Interrupt Link [LNKC] enabled at IRQ 10
[ 0.765887] PCI: setting IRQ 10 as level-triggered
[ 0.765922] e1000 0000:00:03.0: setting latency timer to 64
[ 0.767913] usbcore: registered new interface driver usbfs
[ 0.767925] usbcore: registered new interface driver hub
[ 0.777374] libata version 3.00 loaded.
[ 0.783717] usbcore: registered new device driver usb
[ 0.783994] ehci_hcd: USB 2.0 'Enhanced' Host Controller (EHCI) Driver
[ 0.786044] microcode: CPU0 sig=0x406e3, pf=0x2, revision=0x19
[ 0.791721] ohci_hcd: USB 1.1 'Open' Host Controller (OHCI) Driver
[ 0.822017] microcode: Microcode Update Driver: v2.00 <This email address is being protected from spambots. You need JavaScript enabled to view it.>, Peter Oruba
[ 1.135660] e1000 0000:00:03.0: eth0: (PCI:33MHz:32-bit) 08:00:27:a0:c8:71
[ 1.135672] e1000 0000:00:03.0: eth0: Intel(R) PRO/1000 Network Connection
[ 1.135687] ata_piix 0000:00:01.1: version 2.13
[ 1.135794] ata_piix 0000:00:01.1: setting latency timer to 64
[ 1.137177] scsi0 : ata_piix
[ 1.137307] scsi1 : ata_piix
[ 1.137347] ata1: PATA max UDMA/33 cmd 0x1f0 ctl 0x3f6 bmdma 0xd000 irq 14
[ 1.137350] ata2: PATA max UDMA/33 cmd 0x170 ctl 0x376 bmdma 0xd008 irq 15
[ 1.137537] ohci_hcd 0000:00:06.0: setting latency timer to 64
[ 1.137552] ohci_hcd 0000:00:06.0: OHCI Host Controller
[ 1.137573] ohci_hcd 0000:00:06.0: new USB bus registered, assigned bus number 1
[ 1.137610] ohci_hcd 0000:00:06.0: irq 11, io mem 0xf0804000
[ 1.193060] usb usb1: New USB device found, idVendor=1d6b, idProduct=0001
[ 1.193072] usb usb1: New USB device strings: Mfr=3, Product=2, SerialNumber=1
[ 1.193079] usb usb1: Product: OHCI Host Controller
[ 1.193085] usb usb1: Manufacturer: Linux 3.4-9-rtai-686-pae ohci_hcd
[ 1.193090] usb usb1: SerialNumber: 0000:00:06.0
[ 1.193414] hub 1-0:1.0: USB hub found
[ 1.193451] hub 1-0:1.0: 8 ports detected
[ 1.194018] ahci 0000:00:0d.0: version 3.0
[ 1.197577] ACPI: PCI Interrupt Link [LNKA] enabled at IRQ 11
[ 1.198096] ahci: SSS flag set, parallel bus scan disabled
[ 1.198493] ahci 0000:00:0d.0: AHCI 0001.0100 32 slots 1 ports 3 Gbps 0x1 impl SATA mode
[ 1.198504] ahci 0000:00:0d.0: flags: 64bit ncq stag only ccc
[ 1.198583] ahci 0000:00:0d.0: setting latency timer to 64
[ 1.199342] scsi2 : ahci
[ 1.199655] ata3: SATA max UDMA/133 abar m8192@0xf0806000 port 0xf0806100 irq 11
[ 1.361050] Refined TSC clocksource calibration: 2253.453 MHz.
[ 1.361060] Switching to clocksource tsc
[ 1.520184] ata3: SATA link up 3.0 Gbps (SStatus 123 SControl 300)
[ 1.520312] ata3.00: ATA-6: VBOX HARDDISK, 1.0, max UDMA/133
[ 1.520315] ata3.00: 41943040 sectors, multi 128: LBA48 NCQ (depth 31/32)
[ 1.520481] ata3.00: configured for UDMA/133
[ 1.536216] scsi 2:0:0:0: Direct-Access ATA VBOX HARDDISK 1.0 PQ: 0 ANSI: 5
[ 1.540363] sd 2:0:0:0: [sda] 41943040 512-byte logical blocks: (21.4 GB/20.0 GiB)
[ 1.540387] sd 2:0:0:0: [sda] Write Protect is off
[ 1.540388] sd 2:0:0:0: [sda] Mode Sense: 00 3a 00 00
[ 1.540398] sd 2:0:0:0: [sda] Write cache: enabled, read cache: enabled, doesn't support DPO or FUA
[ 1.567229] sda: sda1 sda2 < sda5 >
[ 1.567394] sd 2:0:0:0: [sda] Attached SCSI disk
[ 1.568741] sd 2:0:0:0: Attached scsi generic sg0 type 0
[ 1.600092] usb 1-1: new full-speed USB device number 2 using ohci_hcd
[ 1.847372] usb 1-1: New USB device found, idVendor=80ee, idProduct=0021
[ 1.847375] usb 1-1: New USB device strings: Mfr=1, Product=3, SerialNumber=0
[ 1.847377] usb 1-1: Product: USB Tablet
[ 1.847378] usb 1-1: Manufacturer: VirtualBox
[ 1.864244] input: VirtualBox USB Tablet as /devices/pci0000:00/0000:00:06.0/usb1/1-1/1-1:1.0/input/input1
[ 1.864378] generic-usb 0003:80EE:0021.0001: input,hidraw0: USB HID v1.10 Mouse [VirtualBox USB Tablet] on usb-0000:00:06.0-1/input0
[ 1.864572] usbcore: registered new interface driver usbhid
[ 1.864575] usbhid: USB HID core driver
[ 6.885320] PM: Starting manual resume from disk
[ 6.885323] PM: Hibernation image partition 8:5 present
[ 6.885324] PM: Looking for hibernation image.
[ 6.885653] PM: Image not found (code -22)
[ 6.885654] PM: Hibernation image not present or could not be loaded.
[ 6.891589] EXT4-fs (sda1): INFO: recovery required on readonly filesystem
[ 6.891591] EXT4-fs (sda1): write access will be enabled during recovery
[ 6.906873] EXT4-fs (sda1): recovery complete
[ 6.907942] EXT4-fs (sda1): mounted filesystem with ordered data mode. Opts: (null)
[ 7.206614] udevd[291]: starting version 175
[ 7.352806] input: Power Button as /devices/LNXSYSTM:00/LNXPWRBN:00/input/input2
[ 7.352810] ACPI: Power Button [PWRF]
[ 7.353099] input: Sleep Button as /devices/LNXSYSTM:00/LNXSLPBN:00/input/input3
[ 7.353102] ACPI: Sleep Button [SLPF]
[ 7.356225] piix4_smbus 0000:00:07.0: SMBus base address uninitialized - upgrade BIOS or use force_addr=0xaddr
[ 7.401808] ACPI: Battery Slot [BAT0] (battery present)
[ 7.402269] ACPI: AC Adapter [AC] (on-line)
[ 7.416433] parport_pc 00:04: reported by Plug and Play ACPI
[ 7.421129] snd_intel8x0 0000:00:05.0: setting latency timer to 64
[ 7.449353] input: ImExPS/2 Generic Explorer Mouse as /devices/platform/i8042/serio1/input/input4
[ 7.773577] intel8x0_measure_ac97_clock: measured 57356 usecs (9912 samples)
[ 7.773580] intel8x0: measured clock 172815 rejected
[ 8.133172] intel8x0_measure_ac97_clock: measured 55717 usecs (7200 samples)
[ 8.133184] intel8x0: measured clock 129224 rejected
[ 8.492327] intel8x0_measure_ac97_clock: measured 55942 usecs (7200 samples)
[ 8.492332] intel8x0: measured clock 128704 rejected
[ 8.492335] intel8x0: clocking to 48000
[ 8.799411] Adding 901116k swap on /dev/sda5. Priority:-1 extents:1 across:901116k
[ 8.809992] EXT4-fs (sda1): re-mounted. Opts: (null)
[ 8.883031] EXT4-fs (sda1): re-mounted. Opts: errors=remount-ro
[ 8.914109] loop: module loaded
[ 9.699480] RPC: Registered named UNIX socket transport module.
[ 9.699482] RPC: Registered udp transport module.
[ 9.699483] RPC: Registered tcp transport module.
[ 9.699484] RPC: Registered tcp NFSv4.1 backchannel transport module.
[ 9.706196] FS-Cache: Loaded
[ 9.713593] NFS: Registering the id_resolver key type
[ 9.713606] FS-Cache: Netfs 'nfs' registered for caching
[ 9.718628] Installing knfsd (copyright (C) 1996 This email address is being protected from spambots. You need JavaScript enabled to view it.).
[ 10.900224] Bluetooth: Core ver 2.16
[ 10.900626] NET: Registered protocol family 31
[ 10.900627] Bluetooth: HCI device and connection manager initialized
[ 10.900628] Bluetooth: HCI socket layer initialized
[ 10.900629] Bluetooth: L2CAP socket layer initialized
[ 10.900632] Bluetooth: SCO socket layer initialized
[ 10.905493] Bluetooth: RFCOMM TTY layer initialized
[ 10.905496] Bluetooth: RFCOMM socket layer initialized
[ 10.905497] Bluetooth: RFCOMM ver 1.11
[ 10.917441] Bluetooth: BNEP (Ethernet Emulation) ver 1.3
[ 10.917443] Bluetooth: BNEP filters: protocol multicast
[ 10.956278] lp: driver loaded but no devices found
[ 10.979103] ppdev: user-space parallel port driver
[ 11.294066] input: ACPI Virtual Keyboard Device as /devices/virtual/input/input5
[ 11.500464] e1000: eth0 NIC Link is Up 1000 Mbps Full Duplex, Flow Control: RX
[ 11.501327] ADDRCONF(NETDEV_UP): eth0: link is not ready
[ 11.501367] ADDRCONF(NETDEV_CHANGE): eth0: link becomes ready
[ 22.416104] eth0: no IPv6 routers present
[12718.120144] usb 1-2: new full-speed USB device number 3 using ohci_hcd
[12718.579973] usb 1-2: New USB device found, idVendor=090c, idProduct=1000
[12718.579977] usb 1-2: New USB device strings: Mfr=1, Product=2, SerialNumber=0
[12718.579980] usb 1-2: Product: USB DISK
[12718.579981] usb 1-2: Manufacturer: SMI Corporation
[12718.603431] Initializing USB Mass Storage driver...
[12718.603488] scsi3 : usb-storage 1-2:1.0
[12718.603788] usbcore: registered new interface driver usb-storage
[12718.603791] USB Mass Storage support registered.
[12719.725501] scsi 3:0:0:0: Direct-Access SMI USB DISK 1100 PQ: 0 ANSI: 4
[12719.735449] sd 3:0:0:0: Attached scsi generic sg1 type 0
[12719.750428] sd 3:0:0:0: [sdb] 7866368 512-byte logical blocks: (4.02 GB/3.75 GiB)
[12719.759247] sd 3:0:0:0: [sdb] Write Protect is off
[12719.759253] sd 3:0:0:0: [sdb] Mode Sense: 43 00 00 00
[12719.768181] sd 3:0:0:0: [sdb] No Caching mode page present
[12719.768186] sd 3:0:0:0: [sdb] Assuming drive cache: write through
[12719.825709] sd 3:0:0:0: [sdb] No Caching mode page present
[12719.825713] sd 3:0:0:0: [sdb] Assuming drive cache: write through
[12719.835530] sdb: sdb1
[12719.889368] sd 3:0:0:0: [sdb] No Caching mode page present
[12719.889372] sd 3:0:0:0: [sdb] Assuming drive cache: write through
[12719.889375] sd 3:0:0:0: [sdb] Attached SCSI removable disk
[12735.790228] FAT-fs (sdb1): utf8 is not a recommended IO charset for FAT filesystems, filesystem will be case sensitive!
[12826.462018] I-pipe: head domain RTAI registered.
[12826.462021] RTAI[hal]: compiled with gcc version 4.7.2 (Debian 4.7.2-5) .
[12826.462025] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[12826.462027] SYSINFO: CPUs 1, LINUX APIC IRQ 2312, TIM_FREQ 62506243, CLK_FREQ 2253253000, CPU_FREQ 2253253000
[12826.462028] RTAI_APIC_TIMER_IPI: RTAI DEFINED 2314, VECTOR 2314; LINUX_APIC_TIMER_IPI: RTAI DEFINED 2312, VECTOR 2312
[12826.462033] TIMER NAME: lapic; VARIOUSLY FOUND APIC FREQs: 62506243, 62506243, 54051000
[12826.473627] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[12826.473638] , <uses LINUX SYSCALLs>, kstacks pool size = 524288 bytes.
[12826.473641] RTAI[sched]: hard timer type/freq = APIC/62506243(Hz); default timing: oneshot; linear timed lists.
[12826.473642] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 2253253000 hz.
[12826.473644] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns.
[12826.482027] RTAI[math]: loaded.
[12826.787257] RTAI[math]: unloaded.
[12826.788288] SCHED releases registered named ALIEN PEDV$D
[12826.794508] RTAI[malloc]: unloaded.
[12826.893257] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[12826.900719] I-pipe: head domain RTAI unregistered.
[12826.900780] RTAI[hal]: unmounted.
[14309.955229] sdb: detected capacity change from 4027580416 to 0
[14314.182529] usb 1-2: USB disconnect, device number 3
[14342.660128] usb 1-2: new full-speed USB device number 4 using ohci_hcd
[14343.094209] usb 1-2: New USB device found, idVendor=090c, idProduct=1000
[14343.094213] usb 1-2: New USB device strings: Mfr=1, Product=2, SerialNumber=0
[14343.094215] usb 1-2: Product: USB DISK
[14343.094216] usb 1-2: Manufacturer: SMI Corporation
[14343.096397] scsi4 : usb-storage 1-2:1.0
[14344.222945] scsi 4:0:0:0: Direct-Access SMI USB DISK 1100 PQ: 0 ANSI: 4
[14344.232883] sd 4:0:0:0: Attached scsi generic sg1 type 0
[14344.249215] sd 4:0:0:0: [sdb] 7866368 512-byte logical blocks: (4.02 GB/3.75 GiB)
[14344.257421] sd 4:0:0:0: [sdb] Write Protect is off
[14344.257426] sd 4:0:0:0: [sdb] Mode Sense: 43 00 00 00
[14344.266963] sd 4:0:0:0: [sdb] No Caching mode page present
[14344.266967] sd 4:0:0:0: [sdb] Assuming drive cache: write through
[14344.321530] sd 4:0:0:0: [sdb] No Caching mode page present
[14344.321533] sd 4:0:0:0: [sdb] Assuming drive cache: write through
[14344.332096] sdb: sdb1
[14344.387172] sd 4:0:0:0: [sdb] No Caching mode page present
[14344.387175] sd 4:0:0:0: [sdb] Assuming drive cache: write through
[14344.387194] sd 4:0:0:0: [sdb] Attached SCSI removable disk
[14347.085888] FAT-fs (sdb1): utf8 is not a recommended IO charset for FAT filesystems, filesystem will be case sensitive!
[14369.909503] I-pipe: head domain RTAI registered.
[14369.909509] RTAI[hal]: compiled with gcc version 4.7.2 (Debian 4.7.2-5) .
[14369.909514] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[14369.909517] SYSINFO: CPUs 1, LINUX APIC IRQ 2312, TIM_FREQ 62506243, CLK_FREQ 2253253000, CPU_FREQ 2253253000
[14369.909519] RTAI_APIC_TIMER_IPI: RTAI DEFINED 2314, VECTOR 2314; LINUX_APIC_TIMER_IPI: RTAI DEFINED 2312, VECTOR 2312
[14369.909525] TIMER NAME: lapic; VARIOUSLY FOUND APIC FREQs: 62506243, 62506243, 61764250
[14369.916351] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[14369.916364] , <uses LINUX SYSCALLs>, kstacks pool size = 524288 bytes.
[14369.916367] RTAI[sched]: hard timer type/freq = APIC/62506243(Hz); default timing: oneshot; linear timed lists.
[14369.916369] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 2253253000 hz.
[14369.916371] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns.
[14369.922992] RTAI[math]: loaded.
[14370.083622] pumakins: module license 'unspecified' taints kernel.
[14370.083625] Disabling lock debugging due to kernel taint
[14370.281498] RTAPI: ERROR: Unexpected realtime delay on task 1
[14370.281523] This Message will only display once per session.
[14370.281543] Run the Latency Test and resolve before continuing.
[14372.304707] RTAI[math]: unloaded.
[14372.305617] SCHED releases registered named ALIEN PEDV$D
[14372.311410] RTAI[malloc]: unloaded.
[14372.408105] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[14372.409573] I-pipe: head domain RTAI unregistered.
[14372.409656] RTAI[hal]: unmounted.
[18433.718419] I-pipe: head domain RTAI registered.
[18433.718423] RTAI[hal]: compiled with gcc version 4.7.2 (Debian 4.7.2-5) .
[18433.718427] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[18433.718430] SYSINFO: CPUs 1, LINUX APIC IRQ 2312, TIM_FREQ 62506243, CLK_FREQ 2253253000, CPU_FREQ 2253253000
[18433.718432] RTAI_APIC_TIMER_IPI: RTAI DEFINED 2314, VECTOR 2314; LINUX_APIC_TIMER_IPI: RTAI DEFINED 2312, VECTOR 2312
[18433.718436] TIMER NAME: lapic; VARIOUSLY FOUND APIC FREQs: 62506243, 62506243, 48801750
[18433.724905] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[18433.724919] , <uses LINUX SYSCALLs>, kstacks pool size = 524288 bytes.
[18433.724922] RTAI[sched]: hard timer type/freq = APIC/62506243(Hz); default timing: oneshot; linear timed lists.
[18433.724925] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 2253253000 hz.
[18433.724926] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns.
[18433.732516] RTAI[math]: loaded.
[18434.213459] RTAPI: ERROR: Unexpected realtime delay on task 1
[18434.213482] This Message will only display once per session.
[18434.213501] Run the Latency Test and resolve before continuing.
[18436.088421] RTAI[math]: unloaded.
[18436.088421] SCHED releases registered named ALIEN PEDV$D
[18436.092879] RTAI[malloc]: unloaded.
[18436.192120] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[18436.193383] I-pipe: head domain RTAI unregistered.
[18436.193456] RTAI[hal]: unmounted.
Thanks again for all of your help!
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18 Apr 2016 18:57 #73560
by andypugh
Replied by andypugh on topic 6 dof arm Demo
Getting the config from Github might well have not pulled everything in.
Do you have any other demo configs? I am very puzzled how you could have the Puma ones missing, as they have been there for years.
You do need to expand the "Sample Configurations" section to see them:
Do you have any other demo configs? I am very puzzled how you could have the Puma ones missing, as they have been there for years.
You do need to expand the "Sample Configurations" section to see them:
The following user(s) said Thank You: Cpk_Rbt
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18 Apr 2016 19:10 #73561
by dgarrett
Replied by dgarrett on topic 6 dof arm Demo
From the log:You appear to have comingled files you downloaded from a joints_axes
branch to a 2.7.4 install. 2.7.x branches will not have pins like 'joint.0.motor-pos-cmd'
You can not mix configuration items from such disparate branches.
./puma_sim_6.hal:22: Pin 'joint.0.motor-pos-cmd' does not existbranch to a 2.7.4 install. 2.7.x branches will not have pins like 'joint.0.motor-pos-cmd'
You can not mix configuration items from such disparate branches.
The following user(s) said Thank You: Cpk_Rbt
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18 Apr 2016 19:25 #73562
by Cpk_Rbt
Replied by Cpk_Rbt on topic 6 dof arm Demo
We have been puzzled as well. Attached is a screenshot of our Sample Configurations list. Not sure what we did wrong, but it's starting to look like a fresh install might be in the works...
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18 Apr 2016 19:41 #73563
by andypugh
Replied by andypugh on topic 6 dof arm Demo
You need to scroll down to sim -> axis -> vismach -> puma and expand the tree at each level, but it should be there
The following user(s) said Thank You: Cpk_Rbt
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18 Apr 2016 19:51 #73565
by Cpk_Rbt
Replied by Cpk_Rbt on topic 6 dof arm Demo
Wow, I don't know how we missed that, I feel like we looked there, but we must have missed it. Sorry for it being such a simple mistake on our part. It was definitely one of those times where we just made it a much more complicated issue than it needed to be!
Thank you again.
Thank you again.
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18 Apr 2016 20:56 #73568
by andypugh
Replied by andypugh on topic 6 dof arm Demo
The next thing to know is that $ in Axis switches between Joint Mode and World Mode.
Also, anything non-trivial works a lot better in the Joint_Axes version of LinuxCNC (which completely separates the concepts of cartesian axes and machine joints)
Also, anything non-trivial works a lot better in the Joint_Axes version of LinuxCNC (which completely separates the concepts of cartesian axes and machine joints)
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