lcec_conf: ERROR: couldn't allocate user/RT shared memory

root@armcnc:~/linuxcnc/script# sudo -u armcnc linuxcnc /opt/armcnc/configs/ethercat_xyz/machine.ini
LINUXCNC - 2.9.0~pre1+git20230208.f1270d6ed7
Machine configuration directory is '/opt/armcnc/configs/ethercat_xyz'
Machine configuration file is 'machine.ini'
Starting LinuxCNC...
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX realtime
Found file(REL): ./machine.hal
creating ladder-state
rtapi_shmem_new failed due to shmget(key=0xacb572c7): Permission denied
lcec_conf: ERROR: couldn't allocate user/RT shared memory
./machine.hal:12: waitpid failed lcec_conf lcec_conf
./machine.hal:12: lcec_conf exited without becoming ready
Shutting down and cleaning up LinuxCNC...
Note: Using POSIX realtime
LinuxCNC terminated with an error.  You can find more information in the log:
    /home/armcnc/linuxcnc_debug.txt
and
    /home/armcnc/linuxcnc_print.txt
as well as in the output of the shell command 'dmesg' and in the terminal

Linux armcnc 4.14.87 #5 SMP PREEMPT RT Wed Sep 13 15:15:26 CST 2023 aarch64 GNU/Linux

root@armcnc:~/linuxcnc/script# ethercat master
Master0
  Phase: Idle
  Active: no
  Slaves: 3
  Ethernet devices:
    Main: 00:11:22:f2:b2:95 (attached)
      Link: UP
      Tx frames:   17582
      Tx bytes:    1074888
      Rx frames:   17581
      Rx bytes:    1074828
      Tx errors:   0
      Tx frame rate [1/s]:    125    125    114
      Tx rate [KByte/s]:      7.3    7.3    6.7
      Rx frame rate [1/s]:    125    125    114
      Rx rate [KByte/s]:      7.3    7.3    6.7
    Common:
      Tx frames:   17582
      Tx bytes:    1074888
      Rx frames:   17581
      Rx bytes:    1074828
      Lost frames: 0
      Tx frame rate [1/s]:    125    125    114
      Tx rate [KByte/s]:      7.3    7.3    6.7
      Rx frame rate [1/s]:    125    125    114
      Rx rate [KByte/s]:      7.3    7.3    6.7
      Loss rate [1/s]:          0      0      0
      Frame loss [%]:         0.0    0.0    0.0
  Distributed clocks:
    Reference clock:   Slave 0
    DC reference time: 0
    Application time:  0
                       2000-01-01 00:00:00.000000000

root@armcnc:~/linuxcnc/script# ethercat slaves
0  0:0  PREOP  +  ECR60(COE)
1  0:1  PREOP  +  ECR60(COE)
2  0:2  PREOP  +  ECR60(COE)

root@armcnc:~/linuxcnc/script# ethercat cstruct
/* Master 0, Slave 0, "ECR60"
 * Vendor ID:       0x00000a88
 * Product code:    0x0a880001
 * Revision number: 0x00000202
 */

ec_pdo_entry_info_t slave_0_pdo_entries[] = {
    {0x6040, 0x00, 16}, /* Control Word */
    {0x6060, 0x00, 8}, /* ModeOfOperation */
    {0x607a, 0x00, 32}, /* Profile Target Position */
    {0x6041, 0x00, 16}, /* Status Word */
    {0x6061, 0x00, 8}, /* Modes of Operation display */
    {0x6064, 0x00, 32}, /* Position Actual Value */
    {0x60fd, 0x00, 32}, /* Digital Inputs */
};

ec_pdo_info_t slave_0_pdos[] = {
    {0x1600, 3, slave_0_pdo_entries + 0}, /* Receive PDO 1 */
    {0x1a00, 4, slave_0_pdo_entries + 3}, /* Transmit PDO 1 */
};

ec_sync_info_t slave_0_syncs[] = {
    {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
    {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
    {2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_ENABLE},
    {3, EC_DIR_INPUT, 1, slave_0_pdos + 1, EC_WD_DISABLE},
    {0xff}
};

/* Master 0, Slave 1, "ECR60"
 * Vendor ID:       0x00000a88
 * Product code:    0x0a880001
 * Revision number: 0x00000202
 */

ec_pdo_entry_info_t slave_1_pdo_entries[] = {
    {0x6040, 0x00, 16}, /* Control Word */
    {0x6060, 0x00, 8}, /* ModeOfOperation */
    {0x607a, 0x00, 32}, /* Profile Target Position */
    {0x6041, 0x00, 16}, /* Status Word */
    {0x6061, 0x00, 8}, /* Modes of Operation display */
    {0x6064, 0x00, 32}, /* Position Actual Value */
    {0x60fd, 0x00, 32}, /* Digital Inputs */
};

ec_pdo_info_t slave_1_pdos[] = {
    {0x1600, 3, slave_1_pdo_entries + 0}, /* Receive PDO 1 */
    {0x1a00, 4, slave_1_pdo_entries + 3}, /* Transmit PDO 1 */
};

ec_sync_info_t slave_1_syncs[] = {
    {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
    {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
    {2, EC_DIR_OUTPUT, 1, slave_1_pdos + 0, EC_WD_ENABLE},
    {3, EC_DIR_INPUT, 1, slave_1_pdos + 1, EC_WD_DISABLE},
    {0xff}
};

/* Master 0, Slave 2, "ECR60"
 * Vendor ID:       0x00000a88
 * Product code:    0x0a880001
 * Revision number: 0x00000202
 */

ec_pdo_entry_info_t slave_2_pdo_entries[] = {
    {0x6040, 0x00, 16}, /* Control Word */
    {0x6060, 0x00, 8}, /* ModeOfOperation */
    {0x607a, 0x00, 32}, /* Profile Target Position */
    {0x6041, 0x00, 16}, /* Status Word */
    {0x6061, 0x00, 8}, /* Modes of Operation display */
    {0x6064, 0x00, 32}, /* Position Actual Value */
    {0x60fd, 0x00, 32}, /* Digital Inputs */
};

ec_pdo_info_t slave_2_pdos[] = {
    {0x1600, 3, slave_2_pdo_entries + 0}, /* Receive PDO 1 */
    {0x1a00, 4, slave_2_pdo_entries + 3}, /* Transmit PDO 1 */
};

ec_sync_info_t slave_2_syncs[] = {
    {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
    {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
    {2, EC_DIR_OUTPUT, 1, slave_2_pdos + 0, EC_WD_ENABLE},
    {3, EC_DIR_INPUT, 1, slave_2_pdos + 1, EC_WD_DISABLE},
    {0xff}
};

root@armcnc:~# sudo -u armcnc linuxcnc /opt/armcnc/configs/ethercat_xyz/machine.ini
LINUXCNC - 2.9.0~pre1+git20230208.f1270d6ed7
Machine configuration directory is '/opt/armcnc/configs/ethercat_xyz'
Machine configuration file is 'machine.ini'
Starting LinuxCNC...
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX realtime
Found file(REL): ./machine.hal
creating ladder-state
lcec: dlopen: /usr/lib/linuxcnc/modules/lcec.so: undefined symbol: ecrt_slave_config_sdo
./machine.hal:14: waitpid failed /usr/bin/rtapi_app lcec
./machine.hal:14: /usr/bin/rtapi_app exited without becoming ready
./machine.hal:14: insmod for lcec failed, returned -1
Shutting down and cleaning up LinuxCNC...
INFO CLASSICLADDER-   No ladder GUI requested-Realtime runs till HAL closes.
Note: Using POSIX realtime
LinuxCNC terminated with an error.  You can find more information in the log:
    /home/armcnc/linuxcnc_debug.txt
and
    /home/armcnc/linuxcnc_print.txt
as well as in the output of the shell command 'dmesg' and in the terminal

drwxr-xr-x  7 root root   4096 Oct 13 18:52 linuxcnc-ethercat
-rw-r--r--  1 root root  15714 Oct 13 18:53 linuxcnc-ethercat_0.9.4_arm64.buildinfo
-rw-r--r--  1 root root   2926 Oct 13 18:53 linuxcnc-ethercat_0.9.4_arm64.changes
-rw-r--r--  1 root root  63936 Oct 13 18:53 linuxcnc-ethercat_0.9.4_arm64.deb
-rw-r--r--  1 root root    679 Oct 13 18:52 linuxcnc-ethercat_0.9.4.dsc
-rw-r--r--  1 root root  95408 Oct 13 18:52 linuxcnc-ethercat_0.9.4.tar.xz
-rw-r--r--  1 root root 159592 Oct 13 18:53 linuxcnc-ethercat-dbgsym_0.9.4_arm64.deb

root@armcnc:~# uname -a
Linux armcnc 4.14.87 #5 SMP PREEMPT RT Wed Sep 13 15:15:26 CST 2023 aarch64 GNU/Linux

root@armcnc:~# lsb_release -a
No LSB modules are available.
Distributor ID: Debian
Description:    Debian GNU/Linux 12 (bookworm)
Release:        12
Codename:       bookworm