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10 Dec 2023 14:32

Configured offset in INI file not applied properly

Category: QtPyVCP

I'm making some progress on tracking down offset related error on startup.

Removing the following lines from my custom.hal file:

loadrt estop_latch
loadrt oneshot count=2

addf estop-latch.0     servo-thread
addf oneshot.0         servo-thread
addf oneshot.1         servo-thread

setp oneshot.0.width 1
setp oneshot.1.width 1

#Automatically reset e-stop in UI and any fault codes on the drives
net reset-trig oneshot.0.in                      <= hm2_7i96s.0.7i84.0.0.input-00
net reset-ui   oneshot.0.out                     => halui.estop.reset hm2_7i96s.0.7i84.0.0.output-11 hm2_7i96s.0.7i84.0.0.output-12 hm2_7i96s.0.7i84.0.0.output-13

#Latching e-stop function
net estop-loopout iocontrol.0.emc-enable-in      <= estop-latch.0.ok-out
net estop-loopin iocontrol.0.user-enable-out     => estop-latch.0.ok-in
net estop-reset iocontrol.0.user-request-enable  => estop-latch.0.reset
net remote-estop estop-latch.0.fault-in          <= hm2_7i96s.0.7i84.0.0.input-00-not

#When software e-stop is detected momentarily break e-stop circuit to trigger safety relay requiring external reset
net estop-relay-in oneshot.1.in                        <= estop-latch.0.fault-out
net estop-relay-out oneshot.1.out-not                   => hm2_7i96s.0.7i84.0.0.output-00 


And restoring the following lines in my main configuration makes the error go away.

net estop-out     <=  iocontrol.0.user-enable-out
net estop-out     =>  iocontrol.0.emc-enable-in


The big question now is how the e-stop code can break the initial initialization of the work coordinate offset.

I'll keep tracing this further down the chain, if anyone has any hints or ideas they are very welcome.
28 Nov 2023 13:17

E-Stop ohne Meldung, Wie wird die Meldung aktiviert?

Category: Deutsch

Ein Komma in der Aufgabe scheint Probleme zu machen, das ist jetzt nicht so schlimm.
Ich wollte noch einmal DANKE sagen und meinen aktuellen endgültigen Code dafür Pressenotizen.
# ################################################################################################ #
#    Benachrichtigung bei Betätigung des Hardware-Notausschalters.                                 #
#    Beeinflusst nicht den Ablauf von LinuxCNC; dient ausschließlich der Benutzeranzeige.          #
# ################################################################################################ #
  loadrt message names=MSG_Notaus messages="Hardware: Not-Aus-Schalter wurde betätigt"
  addf MSG_Notaus servo-thread
  setp MSG_Notaus.edge 1
   # Bedeutung:
   # setp MSG_Notaus.edge 0 (aktiv wenn kein Signal)
   # setp MSG_Notaus.edge 1 (aktiv wenn Signal)
  net remote-estop0 estop-latch.0.fault-in <= hm2_7i95.0.inmux.00.input-00-not => MSG_Notaus.trigger 


 
19 Nov 2023 19:16

E-Stop ohne Meldung, Wie wird die Meldung aktiviert?

Category: Deutsch

Nicht getestet, aber so sollte es gehen.

Bedeutung:
setp MSG_Notaus.edge 0 (aktiv wenn kein Signal)
setp MSG_Notaus.edge 1 (aktiv wenn Signal)

HAL:

loadrt message names=MSG_Notaus messages="Achtung, Notaus wurde betätigt."
addf MSG_Notaus servo-thread

setp MSG_Notaus.edge 1

net remote-estop0 estop-latch.0.fault-in <= hm2_7i95.0.inmux.00.input-00-not => MSG_Notaus.trigger
19 Nov 2023 12:40 - 19 Nov 2023 12:42

E-Stop ohne Meldung, Wie wird die Meldung aktiviert?

Category: Deutsch

Cool, danke, habe es noch nicht zum Laufen gebracht :-(

ja, du hast recht man siht es am Icon oben Links in der GUI, jedoch finde ich das sehr Klein und eine Meldung wie bei einem Referenzschalter würde sehr gut auffallen und wäre glaube ich für mich ganz gut.

Ich benutze die AXIS GUI.

Meine aktuelle HAL-Konfiguration
# E-Stop Chain
loadrt estop_latch count=1
addf estop-latch.0 servo-thread

# E-Stop Loop
net estop-loopin iocontrol.0.user-enable-out => estop-latch.0.ok-in
net estop-loopout estop-latch.0.ok-out => iocontrol.0.emc-enable-in

# E-Stop Reset
net estop-reset iocontrol.0.user-request-enable
net estop-reset => estop-latch.0.reset
net remote-estop0 estop-latch.0.fault-in <= hm2_7i95.0.inmux.00.input-00-not


Wenn ich das in der Dokumentation richtig verstanden habe: linuxcnc.org/docs/devel/html/man/man9/message.9.html

1) Muss ich eine PIN Message erstellen und dem die Nachricht mitgeben.
2) Die PIN Message in den Servo-Thread laden.
3) setp, ... ich verstehe nicht, was ich tun muss/soll.
4) PIN Message mit HAL PIN für Not-Aus verknüpfen

Im nicht-funktionalen Code würde das bei mir so aussehen.

loadrt message names=MSG_Notaus messages="Achtung, Notaus wurde betätigt."
addf MSG_Notaus servo-thread
step .... [keinen Plan, was ich da machen muss]
net ON_MSG_NOTAUS (hier muss ein Kabel vom Notaus hin, weiß aber nicht welches) MSG_Notaus.trigger


Ich komme mir etwas Hilflos vor, denn egal was ich bisher getestet habe ich bekomme immer nur Fehler.

Hat das schon mal jemand gemacht und weis, was ich da machen müsste?

Gruß Mücke
17 Nov 2023 06:07 - 17 Nov 2023 06:10

motion.digital-out-00 problem

Category: Advanced Configuration

You just need some resettable latch, the only one I know of is "Estop_latch" which is a bit overkill. Personally I'd just cut down the code from Estop_latch, get rid of the watchdog and call it something else. You'd also need a oneshot or edge component.

The M64 goes to the input of an and2 plus feeds the oneshot/edge input and that output also goes to Estop_latch.N.reset input. Tie the Estop_latch.N.ok-in pin true in hal (or just leave it float).

Your actual Estop output goes to Estop_latch.N.fault-in pin assuming your Estop output is normally open or false when not-Estop. Estop_latch.ok-out goes to the other and2 input. The and2 output is goes to wherever your M64 output originally went.

In my head the way this works is that your Estop button will trip the Estop_latch and kill the final M64 output (after the and2). If you reset your actual Estop the latch will still be tripped and the final M64 output will not turn on again until it is turned off and on again which will pulse the oneshot output and reset the Estop latch.

Slightly convoluted approach but unless there's another latch component I think it's the best bet if the fix doesn't come soon enough.
08 Nov 2023 20:10 - 08 Nov 2023 20:11

Trajectory Planner using Ruckig Lib

Category: General LinuxCNC Questions

Build failing again. Can't build linuxcnc using normal make or cmake.

have you done any changes to break the standard /src build? i.e. does it work for you?

I have just spun up a net clean Debian12 VM, cloned the repo, covered all the dependencies and no joy per above.

Not sure what the issue really is.  Appears to be trying to use a directory or open a file in a place it can't?
Warning: Spoiler!


The cmake issue is truely odd.  The same gtk issue as before but the libgtk-3-dev is installed!
Warning: Spoiler!
07 Nov 2023 14:11

Optimum Optimill MH50V CNC conversion

Category: Milling Machines

I've made some more progress on the CNC conversion over the past days

1000 steps per turn  is 5u per step which is pretty crude
I would chose a number around 10x higher
 

Based on the feedback from PCW I reconfigured the servo drives and updated my INI file so that I now have 10000 steps per revolution of the servo drives and it really made things noticeable smoother which I had not expected.

Next up worked on the fault handling where I have wired up both the servo ready (SRDY) and alarm (ALRM) signals to inputs on the 7i84.

However I realized now that the servo ready signal is most likely redundant as the servo ready and alarm pins are essentially the same signal inverted. My thought here was that the alarm signal was active high which would mean that if the circuit breaker to the servo drive triggered I wouldn't get any fault. But it turned out that the alarm signal is actually active low so if the power is cut LinuxCNC triggers a fault anyway.

So in the end all I had to add to my custom.hal was the following three lines:

#Servo drive fault handling
net x-drive-fault => joint.0.amp-fault-in <= hm2_7i96s.0.7i84.0.0.input-16-not
net y-drive-fault => joint.1.amp-fault-in <= hm2_7i96s.0.7i84.0.0.input-17-not
net z-drive-fault => joint.2.amp-fault-in <= hm2_7i96s.0.7i84.0.0.input-18-not


After that I turned my attention to the alarm reset (ARST) signal from the Mesa 7i84 to the drives so that I can clear any fault codes on the drives without power cycling the whole control cabinet. I ended up just piggybacking the reset signal to the oneshot of the e-stop reset signal already resent in custom.hal file. So if there is a fault LinuxCNC stops and I can easily clear the codes by just triggering and resetting the e-stop. The parts in bold in snippet below is what I added to the HAL file.

loadrt estop_latch
loadrt oneshot count=2

addf estop-latch.0     servo-thread
addf oneshot.0         servo-thread
addf oneshot.1         servo-thread

setp oneshot.0.width 1
setp oneshot.1.width 1

#Automatically reset e-stop in UI and any fault codes on the drives
net reset-trig oneshot.0.in                      <= hm2_7i96s.0.7i84.0.0.input-00
net reset-ui   oneshot.0.out                     => halui.estop.reset hm2_7i96s.0.7i84.0.0.output-11 hm2_7i96s.0.7i84.0.0.output-12 hm2_7i96s.0.7i84.0.0.output-13

#Latching e-stop function
net estop-loopout iocontrol.0.emc-enable-in      <= estop-latch.0.ok-out
net estop-loopin iocontrol.0.user-enable-out     => estop-latch.0.ok-in
net estop-reset iocontrol.0.user-request-enable  => estop-latch.0.reset
net remote-estop estop-latch.0.fault-in          <= hm2_7i96s.0.7i84.0.0.input-00-not

#When software e-stop is detected momentarily break e-stop circuit to trigger safety relay requiring external reset
net relay-in oneshot.1.in                        <= estop-latch.0.fault-out
net relayout oneshot.1.out-not                   => hm2_7i96s.0.7i84.0.0.output-00

With e-stop, steps and alarms sorted I became a little more confident in starting to push the servos a bit so I hooked up the physical buttons for jogging, run/step, pause/resume.

 

It was at this time that I found the setting on the Dymo machine for font size allowing me to create much smaller heat shrink labels .

 

Getting the run/step, pause/resume to work using the HAL code provided by BigJohnT here was a breeze and worked on the first attempt. Big thanks to John for that code as it would have taken me a considerable amount of time to write it from scratch. In order to keep my custom.hal file as readable as possible I opted to put John's code in a separate run_pause.hal file which I then included in my custom.hal file using the below.

source run_pause.hal


The jogging however proved a little bit more tricky. I had the HAL pins set correctly and I could see the inputs and HAL pins being triggered but there was no movement of the servos when I pressed the buttons. I read that the halui.axis.X.plus/halui.axis.X.minus pins only worked after the machine had been homed but homing didn't help either. After a bit more reading and I found out that the jog speed and increment in the GUI is separate from the physical jog buttons (which makes sense for those with physical jog speed select switches) so setting the parameter below was required to get things moving.

setp halui.axis.jog-speed 100

I found a code example here on the forum by Nebur for synchronizing the physical jog speed with the setting in the Axis GUI. My plan is to use Probe Basic so I hope something similar can realized for the GUI too. If anyone has any input here it would be much appreciated 


 
04 Nov 2023 15:16

Optimum Optimill MH50V CNC conversion

Category: Milling Machines

I finished the e-stop setup today integrating the ABB SSR10 safety relay with LinuxCNC. All it took was a slight modification of the example DSS posted in this thread .

My setup now behaves as follows:
  1. If LinuxCNC is not running the safety relay is stuck in e-stop and cannot be reset
  2. E-stop on the safety relay can be triggered both using the physical buttons and using software
  3. The only way to reset the e-stop is using the physical button
Here is a video showing how it works:


Here is the HAL code is added to the custom.hal file:

loadrt estop_latch
loadrt oneshot count=2

addf estop-latch.0     servo-thread
addf oneshot.0         servo-thread
addf oneshot.1         servo-thread

setp oneshot.0.width 1
setp oneshot.1.width 1

#Automatic e-stop reset in UI
net reset-trig oneshot.0.in                      <= hm2_7i96s.0.7i84.0.0.input-00
net reset-ui   oneshot.0.out                     => halui.estop.reset

#Latching e-stop function
net estop-loopout iocontrol.0.emc-enable-in      <= estop-latch.0.ok-out
net estop-loopin iocontrol.0.user-enable-out     => estop-latch.0.ok-in
net estop-reset iocontrol.0.user-request-enable  => estop-latch.0.reset
net remote-estop estop-latch.0.fault-in          <= hm2_7i96s.0.7i84.0.0.input-00-not

#When e-stop is detected momentarily break e-stop circuit to trigger safety relay requiring external reset
net relay-in oneshot.1.in                        <= estop-latch.0.fault-out
net relayout oneshot.1.out-not                   => hm2_7i96s.0.7i84.0.0.output-00


I removed the following lines from the HAL file generated by PNCconf:

# --- ESTOP-EXT ---
net estop-ext     <=  hm2_7i96s.0.7i84.0.0.input-00


The trick to make this work which took a while to figure out was to use an inverted output on the oneshot component (oneshot.x.out-not). That enables me to use an output on the Mesa 7i84 board to power the e-stop loop which goes to the safety relay. When an e-stop is triggered by LinuxCNC it momentarily breaks the e-stop loop causing the safety relay to trigger just as if I had pressed a physical button. It also has the added bonus of preventing the e-stop from being reset if LinuxCNC is not running.
 
31 Oct 2023 20:48 - 03 Nov 2023 09:33

dpkg-shlibdeps: Error: no dependency information found for /usr/lib/libmodbus.so

Category: Installing LinuxCNC

Unfortunately for my SO need to install version of Lcnc2.9 with python 2.7 ..... build package obtain these error ....
dpkg-shlibdeps: Error: no dependency information found for /usr/lib/libmodbus.so.5 (used by debian/linuxcnc-uspace/usr/bin/vfs11_vfd)

but not find any docs about libmodbus to install on mint 19.03 .... and if build a new version of libmodbus from libmodus git repo, not know where put it for make happy "dpkg-buildpackage -b -uc" command .... run in place install work perfect.

Warning: Spoiler!
30 Aug 2023 13:57

How to trigger a specific behavior when E-stop is pressed?

Category: HAL

Hi
I have a problem with assigning specific behaviors to e-stops (perhaps it is due to the lack of knowledge of English).
It controls the actuators with an M code, e.g. M110 Extend the actuator M120 stop M130 retract the actuator.
for this purpose, the M110 files etc. contain commands that activate specific LPT pins, e.g.
#!/bin/sh halcmd setp parport.1.pin-04-out True exit 0
I would like now that after pressing the safety switch, the actuator pins go into
parport.1.pin-04-out False
stayed anyway.
How to do it?
I was advised to estop_latch linuxcnc.org/docs/html/man/man9/estop_latch.9.html but I have no idea how to connect it.
Does anyone have any example of using this function in a similar way? or maybe write how it should look like in HAL for it to work?
06 Aug 2023 01:37

What Do I Need for ESTOP and Safety Circuitry?

Category: Basic Configuration

Estop is such a big topic. For home use, you can use a NO/NC estop so one side drops mains power to the spindle and the drives. THe other side then switches 24v power to an input in Linuxcnc that tells it that estop has been pressed (I control.0.emc-enable-in) But as you say, with multiple estops, you need to route mains power everywhere.
There is a component called estop-latch which can be used to build the estop chain in software by using multiple instances of it. Its not well documented but works well but its probably not compliant in a commercial sense. But it worked fine for me.

This video explains this in more detail.

forum.linuxcnc.org/24-hal-components/379...w-things-work-series

In a commercial setting, you should be using a standards compliant safety switch. They add a lot of complexity to the circuitry as each component in the circuit has dual redundancy.


 
16 Jul 2023 02:34 - 16 Jul 2023 02:36
Replied by P.J.B.C on topic 7i92 and G540 combination?

7i92 and G540 combination?

Category: Basic Configuration

Thanks guys for your attention...
Yes the motors spin free with the estop latched and unlatched....

For the hmid i get:
 

File Attachment:

File Name: readhmid.txt
File Size:5 KB


and for the uname I get:
 

File Attachment:

File Name: uname-a.txt
File Size:0 KB
15 Jul 2023 05:57 - 15 Jul 2023 06:16
Replied by P.J.B.C on topic 7i92 and G540 combination?

7i92 and G540 combination?

Category: Basic Configuration

Sorry for the delay in posting, but I had a semester of college to get out of the way.
In that time i have replaced the computer i have been using with a new NUC/Router from aliexpress...
I went with a N3050 NUC with dual Realtek NICs which has DDR3 ram and a mSata SSD.
I would prefer a newer one but I found the ones with NVME had intel NICs which were incompatible.

 

This swap has eradicated the errors I was having with an old lga775 motherboard which was having an Atheros NIC...
However I still have a problem with the charge-pump (which I can't seem to latch) and so I have disabled them, on both the g540 and breakout boards.
Also I can't seem to get the motors moving, There was a brief point in time in which a had a jog, but not on this computer.
The estop latches, and I can jog (but without motor movement)...

here are the hal and ini files... I hope you can pick something out...
 

File Attachment:

File Name: Fixed_Gantry_Mesa.hal
File Size:13 KB

 

File Attachment:

File Name: Fixed_Gantry_Mesa.ini
File Size:5 KB


 
10 Jul 2023 13:31
Replied by Cyber on topic Hostmot2 firmware

Hostmot2 firmware

Category: PathPilot

this is the content from the hal file. it doe load Hostmot2.

########################################################################
#
# Tormach xsTECH router HAL config for Torstep control board
#

loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES num_dio=64 num_aio=64
loadrt hostmot2
loadrt [HOSTMOT2]DRIVER [HOSTMOT2]DRIVER_PARAMS
loadrt estop_latch
loadrt toggle count=1
loadrt not names=prog-not-idle
loadrt gearchange count=1
loadrt xor2 names=probe-active-hi-lo
loadrt debounce cfg=5
loadrt pid num_chan=4
loadrt tormachspindle names=tormachspindle
loadrt and2 names=enable-limit-z,probe-enable-input,door-limit-in,y-axis-lim-sw-and2,fake-door-lock,limit-x,limit-y,limit-z,fake-probe2
loadrt lut5 names=door-limit-x-lut,door-limit-y-lut
loadrt dspin
01 Jul 2023 10:08

New project, litehm2: a hostmot2 port to linsn rv901t

Category: Driver Boards

Thank sensille
The bit firmware can work normally, and the tool for modifying the circuit board is still on the way, so no further testing is possible

cnc@debian:~/linuxcnc/configs/litehm2_6040$ halrun -I -V HAL.hal
HAL: initializing hal_lib
HAL: initializing component 'halcmd2749'
smalloc_dn: shmem available 1048184
HAL: component 'halcmd2749' initialized, ID = 02
HAL: removing component 02
HAL: releasing RTAPI resources
HAL: component 02 removed, name = 'halcmd2749'
HAL: initializing hal_lib
/usr/bin/rtapi_app load hostmot2
HAL: initializing component 'halcmd2749'
smalloc_dn: shmem available 1048184
HAL: component 'halcmd2749' initialized, ID = 02
Note: Using POSIX realtime
hm2: loading Mesa HostMot2 driver version 0.15
HAL.hal:2: Component 'hostmot2' ready
HAL.hal:2: Program '/usr/bin/rtapi_app' started
smalloc_up: shmem available 1048071
HAL.hal:2: Realtime module 'hostmot2' loaded
HAL: removing component 02
HAL: releasing RTAPI resources
HAL: component 02 removed, name = 'halcmd2749'
HAL: initializing hal_lib
/usr/bin/rtapi_app load hm2_eth board_ip="10.10.10.10" config=" num_encoders=6 num_pwmgens=2 num_stepgens=6 sserial_port_0=0000xx"
HAL: initializing component 'halcmd2749'
HAL: component 'halcmd2749' initialized, ID = 06
hm2_eth: loading Mesa AnyIO HostMot2 ethernet driver version 0.2
hm2_eth: 10.10.10.10: INFO: Hardware address (MAC): 24:1f:83:30:66:de
hm2_eth: Unrecognized ethernet board found: litehm2 -- port names will be wrong
hm2_eth: discovered litehm2
hm2/hm2_lite.0: Low Level init 0.15
hm2/hm2_lite.0: 72 I/O Pins used:
hm2/hm2_lite.0: IO Pin 000 (??-01): IOPort
hm2/hm2_lite.0: IO Pin 001 (??-03): IOPort
hm2/hm2_lite.0: IO Pin 002 (??-05): IOPort
hm2/hm2_lite.0: IO Pin 003 (??-07): IOPort
hm2/hm2_lite.0: IO Pin 004 (??-09): IOPort
hm2/hm2_lite.0: IO Pin 005 (??-11): IOPort
hm2/hm2_lite.0: IO Pin 006 (??-13): IOPort
hm2/hm2_lite.0: IO Pin 007 (??-15): IOPort
hm2/hm2_lite.0: IO Pin 008 (??-17): IOPort
hm2/hm2_lite.0: IO Pin 009 (??-19): IOPort
hm2/hm2_lite.0: IO Pin 010 (??-21): IOPort
hm2/hm2_lite.0: IO Pin 011 (??-23): IOPort
hm2/hm2_lite.0: IO Pin 012 (??-25): IOPort
hm2/hm2_lite.0: IO Pin 013 (??-27): IOPort
hm2/hm2_lite.0: IO Pin 014 (??-29): IOPort
hm2/hm2_lite.0: IO Pin 015 (??-31): IOPort
hm2/hm2_lite.0: IO Pin 016 (??-33): IOPort
hm2/hm2_lite.0: IO Pin 017 (??-35): IOPort
hm2/hm2_lite.0: IO Pin 018 (??-37): IOPort
hm2/hm2_lite.0: IO Pin 019 (??-39): IOPort
hm2/hm2_lite.0: IO Pin 020 (??-41): IOPort
hm2/hm2_lite.0: IO Pin 021 (??-43): IOPort
hm2/hm2_lite.0: IO Pin 022 (??-45): IOPort
hm2/hm2_lite.0: IO Pin 023 (??-47): IOPort
hm2/hm2_lite.0: IO Pin 024 (??-01): IOPort
hm2/hm2_lite.0: IO Pin 025 (??-03): IOPort
hm2/hm2_lite.0: IO Pin 026 (??-05): StepGen #0, pin Step (Output)
hm2/hm2_lite.0: IO Pin 027 (??-07): StepGen #0, pin Step (Output)
hm2/hm2_lite.0: IO Pin 028 (??-09): StepGen #0, pin Direction (Output)
hm2/hm2_lite.0: IO Pin 029 (??-11): StepGen #0, pin Direction (Output)
hm2/hm2_lite.0: IO Pin 030 (??-13): StepGen #1, pin Step (Output)
hm2/hm2_lite.0: IO Pin 031 (??-15): StepGen #1, pin Step (Output)
hm2/hm2_lite.0: IO Pin 032 (??-17): StepGen #1, pin Direction (Output)
hm2/hm2_lite.0: IO Pin 033 (??-19): StepGen #1, pin Direction (Output)
hm2/hm2_lite.0: IO Pin 034 (??-21): StepGen #2, pin Step (Output)
hm2/hm2_lite.0: IO Pin 035 (??-23): StepGen #2, pin Step (Output)
hm2/hm2_lite.0: IO Pin 036 (??-25): StepGen #2, pin Direction (Output)
hm2/hm2_lite.0: IO Pin 037 (??-27): StepGen #2, pin Direction (Output)
hm2/hm2_lite.0: IO Pin 038 (??-29): StepGen #3, pin Step (Output)
hm2/hm2_lite.0: IO Pin 039 (??-31): StepGen #3, pin Step (Output)
hm2/hm2_lite.0: IO Pin 040 (??-33): StepGen #3, pin Direction (Output)
hm2/hm2_lite.0: IO Pin 041 (??-35): StepGen #3, pin Direction (Output)
hm2/hm2_lite.0: IO Pin 042 (??-37): StepGen #4, pin Step (Output)
hm2/hm2_lite.0: IO Pin 043 (??-39): StepGen #4, pin Step (Output)
hm2/hm2_lite.0: IO Pin 044 (??-41): StepGen #4, pin Direction (Output)
hm2/hm2_lite.0: IO Pin 045 (??-43): StepGen #4, pin Direction (Output)
hm2/hm2_lite.0: IO Pin 046 (??-45): StepGen #5, pin Step (Output)
hm2/hm2_lite.0: IO Pin 047 (??-47): StepGen #5, pin Step (Output)
hm2/hm2_lite.0: IO Pin 048 (??-01): StepGen #5, pin Direction (Output)
hm2/hm2_lite.0: IO Pin 049 (??-03): StepGen #5, pin Direction (Output)
hm2/hm2_lite.0: IO Pin 050 (??-05): PWMGen #0, pin Out0 (PWM or Up) (Output)
hm2/hm2_lite.0: IO Pin 051 (??-07): PWMGen #0, pin Out1 (Dir or Down) (Output)
hm2/hm2_lite.0: IO Pin 052 (??-09): PWMGen #1, pin Out0 (PWM or Up) (Output)
hm2/hm2_lite.0: IO Pin 053 (??-11): PWMGen #1, pin Out1 (Dir or Down) (Output)
hm2/hm2_lite.0: IO Pin 054 (??-13): Encoder #0, pin A (Input)
hm2/hm2_lite.0: IO Pin 055 (??-15): Encoder #0, pin B (Input)
hm2/hm2_lite.0: IO Pin 056 (??-17): Encoder #0, pin Index (Input)
hm2/hm2_lite.0: IO Pin 057 (??-19): Encoder #1, pin A (Input)
hm2/hm2_lite.0: IO Pin 058 (??-21): Encoder #1, pin B (Input)
hm2/hm2_lite.0: IO Pin 059 (??-23): Encoder #1, pin Index (Input)
hm2/hm2_lite.0: IO Pin 060 (??-25): Encoder #2, pin A (Input)
hm2/hm2_lite.0: IO Pin 061 (??-27): Encoder #2, pin B (Input)
hm2/hm2_lite.0: IO Pin 062 (??-29): Encoder #2, pin Index (Input)
hm2/hm2_lite.0: IO Pin 063 (??-31): Encoder #3, pin A (Input)
hm2/hm2_lite.0: IO Pin 064 (??-33): Encoder #3, pin B (Input)
hm2/hm2_lite.0: IO Pin 065 (??-35): Encoder #3, pin Index (Input)
hm2/hm2_lite.0: IO Pin 066 (??-37): Encoder #4, pin A (Input)
hm2/hm2_lite.0: IO Pin 067 (??-39): Encoder #4, pin B (Input)
hm2/hm2_lite.0: IO Pin 068 (??-41): Encoder #4, pin Index (Input)
hm2/hm2_lite.0: IO Pin 069 (??-43): Encoder #5, pin A (Input)
hm2/hm2_lite.0: IO Pin 070 (??-45): Encoder #5, pin B (Input)
hm2/hm2_lite.0: IO Pin 071 (??-47): Encoder #5, pin Index (Input)
hm2/hm2_lite.0: registered
HAL.hal:3: Component 'hm2_eth' ready
HAL.hal:3: Program '/usr/bin/rtapi_app' started
smalloc_up: shmem available 971164
HAL.hal:3: Realtime module 'hm2_eth' loaded
HAL.hal:4: setting parameter 'hm2_lite.0.watchdog.timeout_ns' to '5000000'
HAL.hal:4: Parameter 'hm2_lite.0.watchdog.timeout_ns' set to 5000000
HAL: removing component 06
HAL: releasing RTAPI resources
HAL: component 06 removed, name = 'halcmd2749'
HAL: initializing hal_lib
/usr/bin/rtapi_app load pid names=pid.x,pid.y,pid.z,pid.s
HAL: initializing component 'halcmd2749'
HAL: component 'halcmd2749' initialized, ID = 09
HAL.hal:5: Component 'pid' ready
HAL.hal:5: Program '/usr/bin/rtapi_app' started
smalloc_up: shmem available 952673
HAL.hal:5: Realtime module 'pid' loaded
HAL: removing component 09
HAL: releasing RTAPI resources
HAL: component 09 removed, name = 'halcmd2749'
HAL: initializing hal_lib
/usr/bin/rtapi_app load mux4
HAL: initializing component 'halcmd2749'
HAL: component 'halcmd2749' initialized, ID = 12
HAL.hal:6: Component 'mux4' ready
HAL.hal:6: Program '/usr/bin/rtapi_app' started
smalloc_up: shmem available 951295
HAL.hal:6: Realtime module 'mux4' loaded
HAL: removing component 12
HAL: releasing RTAPI resources
HAL: component 12 removed, name = 'halcmd2749'
HAL: initializing hal_lib
/usr/bin/rtapi_app load mult2
HAL: initializing component 'halcmd2749'
HAL: component 'halcmd2749' initialized, ID = 15
HAL.hal:7: Component 'mult2' ready
HAL.hal:7: Program '/usr/bin/rtapi_app' started
smalloc_up: shmem available 950383
HAL.hal:7: Realtime module 'mult2' loaded
HAL: removing component 15
HAL: releasing RTAPI resources
HAL: component 15 removed, name = 'halcmd2749'
HAL: initializing hal_lib
HAL: initializing component 'halcmd2749'
HAL: component 'halcmd2749' initialized, ID = 18
/usr/bin/rtapi_app load estop_latch
HAL.hal:8: Component 'estop_latch' ready
HAL.hal:8: Program '/usr/bin/rtapi_app' started
smalloc_up: shmem available 949099
HAL.hal:8: Realtime module 'estop_latch' loaded
HAL: removing component 18
HAL: releasing RTAPI resources
HAL: component 18 removed, name = 'halcmd2749'
HAL: initializing hal_lib
/usr/bin/rtapi_app load or2 count=3
HAL: initializing component 'halcmd2749'
HAL: component 'halcmd2749' initialized, ID = 21
HAL.hal:9: Component 'or2' ready
HAL.hal:9: Program '/usr/bin/rtapi_app' started
smalloc_up: shmem available 946615
HAL.hal:9: Realtime module 'or2' loaded
HAL: adding function 'hm2_lite.0.read' to thread 'servo-thread'
HAL: ERROR: thread 'servo-thread' not found
HAL.hal:11: addf failed
HAL: removing component 21
HAL: releasing RTAPI resources
HAL: component 21 removed, name = 'halcmd2749'
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