W axis with gantry kins hal/ini configuration

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10 years 10 months ago #66566 by guymalpass
W axis with gantry kins hal/ini configuration was created by guymalpass
Hi,
I've managed to get gantrykins working on the X Y and Z of my router and individually homing each end of the gantry. However I can't seem to get the W axis working, which is the second spindle.
I initially started with [TRAJ] Axes = 5 because in the sample configuration there is a comment that this should really mean joints. However LinuxCNC fails to load, but it will load when I put Axes = 9 as expected for Trivkins. When it does load only joints 0, 1, 2 and 3 show up, which correspond to X, Y, Y and Z. There is a placeholder for W when going into world mode but when trying to jog nothing happens, this probably only exists because I have [DISPLAY] GEOMETRY = XYZW.
I have also tried calling the W axis [AXIS_4] and [AXIS_8] in hal but this makes no difference.
I would appreciate any pointers as to where I'm going wrong.
Many thanks,
Guy
Code:
# This config file was created 2015-12-01 09:00:32.737957 by the update_ini script # The original config files may be found in the /home/guy/linuxcnc-dev/configs/Gicam/Gicam.old directory # Generated by PNCconf at Mon Nov 30 19:55:47 2015 # If you make changes to this file, they will be # overwritten when you run PNCconf again [EMC] # The version string for this INI file. VERSION = 1.0 MACHINE = Gicam DEBUG = 0 [DISPLAY] DISPLAY = axis POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 2.000000 MAX_SPINDLE_OVERRIDE = 1.500000 MIN_SPINDLE_OVERRIDE = 0.500000 INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 5 PROGRAM_PREFIX = /home/guy/linuxcnc/nc_files INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm POSITION_FEEDBACK = ACTUAL DEFAULT_LINEAR_VELOCITY = 25.0000 MAX_LINEAR_VELOCITY = 200.000000 MIN_LINEAR_VELOCITY = 0.010000 DEFAULT_ANGULAR_VELOCITY = 0.250000 MAX_ANGULAR_VELOCITY = 1.000000 MIN_ANGULAR_VELOCITY = 0.010000 EDITOR = mousepad GEOMETRY = XYZW PROGRAM_PREFIX = /media [FILTER] PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image PROGRAM_EXTENSION = .py Python Script png = image-to-gcode gif = image-to-gcode jpg = image-to-gcode py = python [RS274NGC] PARAMETER_FILE = linuxcnc.var [EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 COMM_WAIT = 0.010 SERVO_PERIOD = 1000000 [TASK] TASK = milltask CYCLE_TIME = 0.010 [HAL] HALUI = halui HALFILE = LinuxCNCgkins.hal [HALUI] [TRAJ] AXES = 9 COORDINATES = X Y Z w LINEAR_UNITS = mm ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 2.50 MAX_LINEAR_VELOCITY = 200.00 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl TOOL_CHANGE_QUILL_UP = 1 #******************** # Axis X #******************** [AXIS_0] TYPE = LINEAR HOME = 0 FERROR = 1000 MIN_FERROR = 100 MAX_VELOCITY = 200.0 MAX_ACCELERATION = 750.0 # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. STEPGEN_MAXVEL = 250.0 STEPGEN_MAXACCEL = 937.50 P = 50.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0025 MAX_OUTPUT = 20000 ENCODER_SCALE = 763.9437 # these are in nanoseconds DIRSETUP = 25000 DIRHOLD = 26600 STEPLEN = 1600 STEPSPACE = 1600 STEP_SCALE = -636.6198 MIN_LIMIT = -0.01 MAX_LIMIT = 1470.0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 10 HOME_LATCH_VEL = 10 HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 0 #******************** # Axis Y #******************** [AXIS_1] TYPE = LINEAR HOME = 0.0 FERROR = 1000 MIN_FERROR = 100 MAX_VELOCITY = 200.0 MAX_ACCELERATION = 750.0 # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. STEPGEN_MAXVEL = 250.0 STEPGEN_MAXACCEL = 937.50 P = 50.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0025 MAX_OUTPUT = 20000 ENCODER_SCALE = -763.9437 # these are in nanoseconds DIRSETUP = 25000 DIRHOLD = 26600 STEPLEN = 1600 STEPSPACE = 1600 STEP_SCALE = 636.6198 MIN_LIMIT = -0.01 MAX_LIMIT = 2500.0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 10 HOME_LATCH_VEL = 10 HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 1 [AXIS_2] TYPE = LINEAR HOME = 0.0 FERROR = 1000 MIN_FERROR = 100 MAX_VELOCITY = 200.0 MAX_ACCELERATION = 750.0 # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. STEPGEN_MAXVEL = 250.0 STEPGEN_MAXACCEL = 937.50 P = 50.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0025 MAX_OUTPUT = 20000 ENCODER_SCALE = 763.9437 # these are in nanoseconds DIRSETUP = 25000 DIRHOLD = 26600 STEPLEN = 1600 STEPSPACE = 1600 STEP_SCALE = -636.6198 MIN_LIMIT = -0.01 MAX_LIMIT = 2500.0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 10 HOME_LATCH_VEL = 10 HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 1 #******************** # Axis Z #******************** [AXIS_3] TYPE = LINEAR HOME = 0.0 FERROR = 2.0 MIN_FERROR = 0.2 MAX_VELOCITY = 100.0 MAX_ACCELERATION = 750.0 # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. STEPGEN_MAXVEL = 125.0 STEPGEN_MAXACCEL = 937.50 # these are in nanoseconds DIRSETUP = 25000 DIRHOLD = 26600 STEPLEN = 1600 STEPSPACE = 1600 STEP_SCALE = -256 MIN_LIMIT = -335.0 MAX_LIMIT = 0.01 HOME_OFFSET = 0.0 HOME_SEQUENCE = 2 #******************** # Axis W #******************** [AXIS_8] TYPE = LINEAR HOME = 0.0 FERROR = 2.0 MIN_FERROR = 0.2 MAX_VELOCITY = 100.0 MAX_ACCELERATION = 750.0 # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. STEPGEN_MAXVEL = 125.0 STEPGEN_MAXACCEL = 937.50 # these are in nanoseconds DIRSETUP = 25000 DIRHOLD = 26600 STEPLEN = 1600 STEPSPACE = 1600 STEP_SCALE = -256 MIN_LIMIT = -335.0 MAX_LIMIT = 0.01 HOME_OFFSET = 0.0 HOME_SEQUENCE = 2 #******************** # Spindle #******************** [HOSTMOT2] # **** This is for info only **** # DRIVER0=hm2_pci # BOARD0=5i25 [SPINDLE_9] OUTPUT_SCALE = 24000.0 OUTPUT_MIN_LIMIT = 3000.0 OUTPUT_MAX_LIMIT = 24000.0
Code:
# Generated by PNCconf at Mon Nov 30 19:55:47 2015 # If you make changes to this file, they will be # overwritten when you run PNCconf again loadrt gantrykins coordinates=XYYZW loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES loadrt hostmot2 loadrt hm2_pci config=" num_encoders=6 num_pwmgens=0 num_stepgens=5 sserial_port_0=00000x" setp hm2_5i25.0.watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.y1,pid.y2 loadrt classicladder_rt numPhysInputs=15 numPhysOutputs=15 numS32in=10 numS32out=10 numFloatIn=10 numFloatOut=10 numBits=50 numWords=50 loadrt axisswap count=1 addf hm2_5i25.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf pid.x.do-pid-calcs servo-thread addf pid.y1.do-pid-calcs servo-thread addf pid.y2.do-pid-calcs servo-thread addf classicladder.0.refresh servo-thread addf hm2_5i25.0.write servo-thread addf axisswap.0 servo-thread # external output signals # external input signals # --- HOME-X --- net home-x <= hm2_5i25.0.7i76.0.3.input-00 # --- HOME-Y --- net home-y <= hm2_5i25.0.7i76.0.3.input-01 # --- SPINDLE-AT-SPEED --- net spindle-at-speed <= hm2_5i25.0.7i76.0.3.input-15 #******************* # AXIS X #******************* setp pid.x.Pgain [AXIS_0]P setp pid.x.Igain [AXIS_0]I setp pid.x.Dgain [AXIS_0]D setp pid.x.bias [AXIS_0]BIAS setp pid.x.FF0 [AXIS_0]FF0 setp pid.x.FF1 [AXIS_0]FF1 setp pid.x.FF2 [AXIS_0]FF2 setp pid.x.deadband [AXIS_0]DEADBAND setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT setp pid.x.error-previous-target true setp pid.x.maxerror .0005 net x-index-enable <=> pid.x.index-enable net x-enable => pid.x.enable net x-pos-cmd => pid.x.command net x-vel-cmd => pid.x.command-deriv net x-pos-fb => pid.x.feedback net x-output => pid.x.output # Step Gen signals/setup setp hm2_5i25.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP setp hm2_5i25.0.stepgen.00.dirhold [AXIS_0]DIRHOLD setp hm2_5i25.0.stepgen.00.steplen [AXIS_0]STEPLEN setp hm2_5i25.0.stepgen.00.stepspace [AXIS_0]STEPSPACE setp hm2_5i25.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE setp hm2_5i25.0.stepgen.00.step_type 0 setp hm2_5i25.0.stepgen.00.control-type 1 setp hm2_5i25.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL setp hm2_5i25.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL # ---closedloop stepper signals--- net x-pos-cmd <= axis.0.motor-pos-cmd net x-vel-cmd <= axis.0.joint-vel-cmd net x-output <= hm2_5i25.0.stepgen.00.velocity-cmd net x-pos-fb => axis.0.motor-pos-fb net x-enable <= axis.0.amp-enable-out net x-enable => hm2_5i25.0.stepgen.00.enable # ---Encoder feedback signals/setup--- setp hm2_5i25.0.encoder.02.counter-mode 0 setp hm2_5i25.0.encoder.02.filter 1 setp hm2_5i25.0.encoder.02.index-invert 0 setp hm2_5i25.0.encoder.02.index-mask 0 setp hm2_5i25.0.encoder.02.index-mask-invert 0 setp hm2_5i25.0.encoder.02.scale [AXIS_0]ENCODER_SCALE net x-pos-fb <= hm2_5i25.0.encoder.02.position net x-vel-fb <= hm2_5i25.0.encoder.02.velocity net x-index-enable axis.0.index-enable <=> hm2_5i25.0.encoder.02.index-enable net x-pos-rawcounts <= hm2_5i25.0.encoder.02.rawcounts # ---setup home / limit switch signals--- net home-x => axis.0.home-sw-in net x-neg-limit => axis.0.neg-lim-sw-in net x-pos-limit => axis.0.pos-lim-sw-in #******************* # AXIS Y #******************* setp pid.y1.Pgain [AXIS_1]P setp pid.y1.Igain [AXIS_1]I setp pid.y1.Dgain [AXIS_1]D setp pid.y1.bias [AXIS_1]BIAS setp pid.y1.FF0 [AXIS_1]FF0 setp pid.y1.FF1 [AXIS_1]FF1 setp pid.y1.FF2 [AXIS_1]FF2 setp pid.y1.deadband [AXIS_1]DEADBAND setp pid.y1.maxoutput [AXIS_1]MAX_OUTPUT setp pid.y1.error-previous-target true setp pid.y1.maxerror .0005 net y1-index-enable <=> pid.y1.index-enable net y1-enable => pid.y1.enable net y1-pos-cmd => pid.y1.command net y1-vel-cmd => pid.y1.command-deriv net y1-pos-fb => pid.y1.feedback net y1-output <= pid.y1.output # Step Gen signals/setup setp hm2_5i25.0.stepgen.02.dirsetup [AXIS_1]DIRSETUP setp hm2_5i25.0.stepgen.02.dirhold [AXIS_1]DIRHOLD setp hm2_5i25.0.stepgen.02.steplen [AXIS_1]STEPLEN setp hm2_5i25.0.stepgen.02.stepspace [AXIS_1]STEPSPACE setp hm2_5i25.0.stepgen.02.position-scale [AXIS_1]STEP_SCALE setp hm2_5i25.0.stepgen.02.step_type 0 setp hm2_5i25.0.stepgen.02.control-type 1 setp hm2_5i25.0.stepgen.02.maxaccel [AXIS_1]STEPGEN_MAXACCEL setp hm2_5i25.0.stepgen.02.maxvel [AXIS_1]STEPGEN_MAXVEL # ---closedloop stepper signals--- net y1-pos-cmd <= axis.1.motor-pos-cmd net y1-vel-cmd <= axis.1.joint-vel-cmd net y1-output => hm2_5i25.0.stepgen.02.velocity-cmd net y1-pos-fb => axis.1.motor-pos-fb net y1-enable <= axis.1.amp-enable-out net y1-enable => hm2_5i25.0.stepgen.02.enable # ---Encoder feedback signals/setup--- setp hm2_5i25.0.encoder.01.counter-mode 0 setp hm2_5i25.0.encoder.01.filter 1 setp hm2_5i25.0.encoder.01.index-invert 0 setp hm2_5i25.0.encoder.01.index-mask 0 setp hm2_5i25.0.encoder.01.index-mask-invert 0 setp hm2_5i25.0.encoder.01.scale [AXIS_1]ENCODER_SCALE net y1-pos-fb <= hm2_5i25.0.encoder.01.position net y1-vel-fb <= hm2_5i25.0.encoder.01.velocity net y1-index-enable axis.1.index-enable <=> hm2_5i25.0.encoder.01.index-enable net y1-pos-rawcounts <= hm2_5i25.0.encoder.01.rawcounts # ---setup home / limit switch signals--- net home-y => axis.1.home-sw-in net y1-neg-limit => axis.1.neg-lim-sw-in net y1-pos-limit => axis.1.pos-lim-sw-in # ---SECOND Y AXIS--- setp pid.y2.Pgain [AXIS_2]P setp pid.y2.Igain [AXIS_2]I setp pid.y2.Dgain [AXIS_2]D setp pid.y2.bias [AXIS_2]BIAS setp pid.y2.FF0 [AXIS_2]FF0 setp pid.y2.FF1 [AXIS_2]FF1 setp pid.y2.FF2 [AXIS_2]FF2 setp pid.y2.deadband [AXIS_2]DEADBAND setp pid.y2.maxoutput [AXIS_2]MAX_OUTPUT setp pid.y2.error-previous-target true setp pid.y2.maxerror .0005 net y2-index-enable <=> pid.y2.index-enable net y2-enable => pid.y2.enable net y2-pos-cmd => pid.y2.command net y2-vel-cmd => pid.y2.command-deriv net y2-pos-fb => pid.y2.feedback net y2-output <= pid.y2.output # Step Gen signals/setup setp hm2_5i25.0.stepgen.03.dirsetup [AXIS_2]DIRSETUP setp hm2_5i25.0.stepgen.03.dirhold [AXIS_2]DIRHOLD setp hm2_5i25.0.stepgen.03.steplen [AXIS_2]STEPLEN setp hm2_5i25.0.stepgen.03.stepspace [AXIS_2]STEPSPACE setp hm2_5i25.0.stepgen.03.position-scale [AXIS_2]STEP_SCALE setp hm2_5i25.0.stepgen.03.step_type 0 setp hm2_5i25.0.stepgen.03.control-type 1 setp hm2_5i25.0.stepgen.03.maxaccel [AXIS_2]STEPGEN_MAXACCEL setp hm2_5i25.0.stepgen.03.maxvel [AXIS_2]STEPGEN_MAXVEL # ---closedloop stepper signals--- net y2-pos-cmd <= axis.2.motor-pos-cmd net y2-vel-cmd <= axis.2.joint-vel-cmd net y2-output => hm2_5i25.0.stepgen.03.velocity-cmd net y2-pos-fb => axis.2.motor-pos-fb net y2-enable <= axis.2.amp-enable-out net y2-enable => hm2_5i25.0.stepgen.03.enable # ---Encoder feedback signals/setup--- setp hm2_5i25.0.encoder.00.counter-mode 0 setp hm2_5i25.0.encoder.00.filter 1 setp hm2_5i25.0.encoder.00.index-invert 0 setp hm2_5i25.0.encoder.00.index-mask 0 setp hm2_5i25.0.encoder.00.index-mask-invert 0 setp hm2_5i25.0.encoder.00.scale [AXIS_2]ENCODER_SCALE net y2-pos-fb <= hm2_5i25.0.encoder.00.position net y2-vel-fb <= hm2_5i25.0.encoder.00.velocity net y2-index-enable axis.2.index-enable <=> hm2_5i25.0.encoder.00.index-enable net y2-pos-rawcounts <= hm2_5i25.0.encoder.00.rawcounts # ---setup home / limit switch signals--- net home-y => axis.2.home-sw-in net y2-neg-limit => axis.2.neg-lim-sw-in net y2-pos-limit => axis.2.pos-lim-sw-in #******************* # AXIS Z #******************* # Step Gen signals/setup setp hm2_5i25.0.stepgen.01.dirsetup [AXIS_3]DIRSETUP setp hm2_5i25.0.stepgen.01.dirhold [AXIS_3]DIRHOLD setp hm2_5i25.0.stepgen.01.steplen [AXIS_3]STEPLEN setp hm2_5i25.0.stepgen.01.stepspace [AXIS_3]STEPSPACE setp hm2_5i25.0.stepgen.01.position-scale [AXIS_3]STEP_SCALE setp hm2_5i25.0.stepgen.01.step_type 0 setp hm2_5i25.0.stepgen.01.control-type 0 setp hm2_5i25.0.stepgen.01.maxaccel [AXIS_3]STEPGEN_MAXACCEL setp hm2_5i25.0.stepgen.01.maxvel [AXIS_3]STEPGEN_MAXVEL # ---stepper signals--- net z-pos-cmd-in axis.3.motor-pos-cmd => axisswap.0.inz net z-pos-cmd-out axisswap.0.outz => hm2_5i25.0.stepgen.01.position-cmd net z-pos-fb-in hm2_5i25.0.stepgen.01.position-fb => axisswap.0.inzfb net z-pos-fb-out axisswap.0.outzfb => axis.3.motor-pos-fb net z-enable <= axis.3.amp-enable-out net z-enable => hm2_5i25.0.stepgen.01.enable # ---setup home / limit switch signals--- net z-home-sw => axis.3.home-sw-in net z-neg-limit => axis.3.neg-lim-sw-in net z-pos-limit => axis.3.pos-lim-sw-in #******************* # AXIS W #******************* # Step Gen signals/setup setp hm2_5i25.0.stepgen.04.dirsetup [AXIS_8]DIRSETUP setp hm2_5i25.0.stepgen.04.dirhold [AXIS_8]DIRHOLD setp hm2_5i25.0.stepgen.04.steplen [AXIS_8]STEPLEN setp hm2_5i25.0.stepgen.04.stepspace [AXIS_8]STEPSPACE setp hm2_5i25.0.stepgen.04.position-scale [AXIS_8]STEP_SCALE setp hm2_5i25.0.stepgen.04.step_type 0 setp hm2_5i25.0.stepgen.04.control-type 0 setp hm2_5i25.0.stepgen.04.maxaccel [AXIS_8]STEPGEN_MAXACCEL setp hm2_5i25.0.stepgen.04.maxvel [AXIS_8]STEPGEN_MAXVEL # ---stepper signals--- net w-pos-cmd-in axis.8.motor-pos-cmd => axisswap.0.inw net w-pos-cmd-out axisswap.0.outw => hm2_5i25.0.stepgen.04.position-cmd net w-pos-fb-in hm2_5i25.0.stepgen.04.position-fb => axisswap.0.inwfb net w-pos-fb-out axisswap.0.outwfb => axis.8.motor-pos-fb net w-enable <= axis.8.amp-enable-out net w-enable => hm2_5i25.0.stepgen.04.enable # ---setup home / limit switch signals--- net w-home-sw => axis.8.home-sw-in net w-neg-limit => axis.8.neg-lim-sw-in net w-pos-limit => axis.8.pos-lim-sw-in #******************* # SPINDLE S #******************* # ---digital potentionmeter output signals/setup--- setp hm2_5i25.0.7i76.0.3.spinout-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT setp hm2_5i25.0.7i76.0.3.spinout-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT setp hm2_5i25.0.7i76.0.3.spinout-scalemax [SPINDLE_9]OUTPUT_SCALE net spindle-vel-cmd-rpm => hm2_5i25.0.7i76.0.3.spinout net machine-is-enabled => hm2_5i25.0.7i76.0.3.spinena net spindle-ccw => hm2_5i25.0.7i76.0.3.spindir # ---setup spindle control signals--- net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs net spindle-vel-cmd-rpm <= motion.spindle-speed-out net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs net spindle-enable <= motion.spindle-on net spindle-cw <= motion.spindle-forward net spindle-ccw <= motion.spindle-reverse net spindle-brake <= motion.spindle-brake net spindle-revs => motion.spindle-revs net spindle-at-speed => motion.spindle-at-speed net spindle-vel-fb-rps => motion.spindle-speed-in net spindle-index-enable <=> motion.spindle-index-enable #****************************** # connect miscellaneous signals #****************************** # ---HALUI signals--- net joint-select-a halui.joint.0.select net x-is-homed halui.joint.0.is-homed net jog-x-pos halui.jog.0.plus net jog-x-neg halui.jog.0.minus net jog-x-analog halui.jog.0.analog net joint-select-b halui.joint.1.select net y-is-homed halui.joint.1.is-homed net jog-y-pos halui.jog.1.plus net jog-y-neg halui.jog.1.minus net jog-y-analog halui.jog.1.analog net joint-select-c halui.joint.4.select net z-is-homed halui.joint.4.is-homed net jog-z-pos halui.jog.2.plus net jog-z-neg halui.jog.2.minus net jog-z-analog halui.jog.2.analog net jog-selected-pos halui.jog.selected.plus net jog-selected-neg halui.jog.selected.minus net spindle-manual-cw halui.spindle.forward net spindle-manual-ccw halui.spindle.reverse net spindle-manual-stop halui.spindle.stop net machine-is-on halui.machine.is-on net jog-speed halui.jog-speed net MDI-mode halui.mode.is-mdi # ---coolant signals--- net coolant-mist <= iocontrol.0.coolant-mist net coolant-flood <= iocontrol.0.coolant-flood # ---probe signal--- net probe-in => motion.probe-input # ---motion control signals--- net in-position <= motion.in-position net machine-is-enabled <= motion.motion-enabled # ---digital in / out signals--- # ---estop signals--- net estop-out <= iocontrol.0.user-enable-out net estop-out => iocontrol.0.emc-enable-in # ---signals for spindle control--- net tool-number iocontrol.0.tool-number => classicladder.0.s32in-00 net tool-change iocontrol.0.tool-change => classicladder.0.in-05 net tool-changed classicladder.0.out-04 => iocontrol.0.tool-changed net tool-prepare iocontrol.0.tool-prepare => iocontrol.0.tool-prepared net spindle-cw => classicladder.0.in-00 net cwconfirmed classicladder.0.out-00 => hm2_5i25.0.7i76.0.3.output-00 net spindle-ccw => classicladder.0.in-01 net ccwconfirmed classicladder.0.out-01 => hm2_5i25.0.7i76.0.3.output-01 net during-run hm2_5i25.0.7i76.0.3.input-14 => classicladder.0.in-02 net c1-in hm2_5i25.0.7i76.0.3.input-02 => classicladder.0.in-03 net c2-in hm2_5i25.0.7i76.0.3.input-03 => classicladder.0.in-04 net c1-out classicladder.0.out-02 => hm2_5i25.0.7i76.0.3.output-14 net c2-out classicladder.0.out-03 => hm2_5i25.0.7i76.0.3.output-15 net swapper classicladder.0.out-05 => axisswap.0.sel net z-vel axis.3.joint-vel-cmd => classicladder.0.floatin-00 # Load Classicladder without GUI (can reload LADDER GUI in AXIS GUI loadusr classicladder --nogui custom.clp

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10 years 10 months ago #66580 by Todd Zuercher
Replied by Todd Zuercher on topic W axis with gantry kins hal/ini configuration
If you were using trivkins, then the joint numbers would have to line up with the axis letters, (X=0, Z=2, W=8). Also unused joints, and axis would also need to have empty placeholders in your INI file.

Here is a link to a W axis 2 spindle router config I used. (It also has a custom Mcode for slaving the W to the Z axis for carving 2 items with the xyz g-code.)
forum.linuxcnc.org/forum/38-general-linu...e-questions?start=20
forum.linuxcnc.org/media/kunena/attachments/3190/ZWtest.zip
It is at least an example of how to set up an xyzw machine using trivkins.

I havn't played with gantrykins much so I'm not sure how this all affects how that has to be set up. You may have to play arround with it some to find what works best for you (or if it will work at all.)

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10 years 10 months ago #66581 by guymalpass
Replied by guymalpass on topic W axis with gantry kins hal/ini configuration
Hi Todd, yes that is how I have my trivkins config set up which works perfectly except I've never used empty placeholders? I could try the placeholder with the gantrykins config though and see if it makes a difference.

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10 years 10 months ago #66583 by guymalpass
Replied by guymalpass on topic W axis with gantry kins hal/ini configuration
It was also interesting reading about your solution for controlling the second spindle. My solution was to use the tool numbers to swap between the axes ie M6 T1 would set spindle 1 as Z and spindle 2 as W and M6 T2 with spindle 1 as W and spindle 2 as Z. This works really well with CAM software because you can treat it like a toolchanger. By using TOOL_CHANGE_QUILL_UP = 1 in the ini also makes sure the active spindle returns to it's home position for reliable axis swapping on a stepper system with no position feedback.

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10 years 10 months ago #66616 by guymalpass
Replied by guymalpass on topic W axis with gantry kins hal/ini configuration
Unfortunately the empty placeholders haven't made a difference in getting W to work with gantrykins

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10 years 10 months ago #66620 by andypugh
Replied by andypugh on topic W axis with gantry kins hal/ini configuration

guymalpass wrote: Unfortunately the empty placeholders haven't made a difference in getting W to work with gantrykins


What error messages do you see?

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10 years 10 months ago #66621 by Todd Zuercher
Replied by Todd Zuercher on topic W axis with gantry kins hal/ini configuration
It may be worth while giving it a try with the Joints_Axis9 branch. I think I was able to make it work there, with a quick test in a VM. I'm not sure when or if JA is scheduled to be incorporated into master, but there has been talk of it for some time.
With JA you don't have to have W assigned to joint 8, and therefore don't have the need of any empty joint or axis place holders.

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10 years 10 months ago #66622 by guymalpass
Replied by guymalpass on topic W axis with gantry kins hal/ini configuration
If I put [TRAJ] AXES=5 as the sample config suggests it should be I get this:

[code]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 - 2.7.3
Machine configuration directory is '/home/guy/linuxcnc/configs/LinuxCNC'
Machine configuration file is 'LinuxCNCgkins.ini'
INIFILE=/home/guy/linuxcnc/configs/LinuxCNC/LinuxCNCgkins.ini
PARAMETER_FILE=linuxcnc.var
TASK=milltask
HALUI=halui
DISPLAY=axis
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Starting HAL User Interface program: halui
Found file(REL): ./LinuxCNCgkins.hal
INFO CLASSICLADDER- No ladder GUI requested-Realtime runs till HAL closes.
Starting TASK program: milltask
Starting DISPLAY program: axis
emcTrajSetAxes failing: axes=5 axismask=107
emcTrajSetAxes failing: axes=5 axismask=107
emcMotionInit: ini_hal_init fail
emcTrajSetAxes failing: axes=5 axismask=107
emcMotionInit: ini_hal_init fail
emcTrajSetAxes failing: axes=5 axismask=107
emcMotionInit: ini_hal_init fail
emcTrajSetAxes failing: axes=5 axismask=107
emcMotionInit: ini_hal_init fail
emcTrajSetAxes failing: axes=5 axismask=107
emcMotionInit: ini_hal_init fail
waiting for s.axes
waiting for s.axes
waiting for s.axes
waiting for s.axes
waiting for s.axes
waiting for s.axes
waiting for s.axes
waiting for s.axes
waiting for s.axes
emcTrajSetAxes failing: axes=5 axismask=107
emcMotionInit: ini_hal_init fail
Shutting down and cleaning up LinuxCNC...
Killing task linuxcncsvr, PID=7564
Killing task milltask, PID=7607
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
.
HAL: ERROR: duplicate component name 'inihal'
ini_hal_init: ERROR: hal_init() failed
HAL: ERROR: duplicate component name 'inihal'
ini_hal_init: ERROR: hal_init() failed
HAL: ERROR: duplicate component name 'inihal'
ini_hal_init: ERROR: hal_init() failed
HAL: ERROR: duplicate component name 'inihal'
ini_hal_init: ERROR: hal_init() failed
HAL: ERROR: duplicate component name 'inihal'
ini_hal_init: ERROR: hal_init() failed
A configuration error is preventing LinuxCNC from starting.
More information may be available when running from a terminal.
HAL: ERROR: duplicate component name 'inihal'
ini_hal_init: ERROR: hal_init() failed
7564
PID TTY STAT TIME COMMAND
7607
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components

Kernel message information:
io 0x0290-0x029f] has been reserved
[ 0.154577] system 00:0d: Plug and Play ACPI device, IDs PNP0c02 (active)
[ 0.154685] pnp 00:0e: [mem 0xf8000000-0xfbffffff]
[ 0.154783] system 00:0e: [mem 0xf8000000-0xfbffffff] has been reserved
[ 0.154793] system 00:0e: Plug and Play ACPI device, IDs PNP0c02 (active)
[ 0.155291] pnp 00:0f: [mem 0x00000000-0x0009ffff]
[ 0.155299] pnp 00:0f: [mem 0x000c0000-0x000cffff]
[ 0.155305] pnp 00:0f: [mem 0x000e0000-0x000fffff]
[ 0.155312] pnp 00:0f: [mem 0x00100000-0x7f6fffff]
[ 0.155318] pnp 00:0f: [mem 0xfed90000-0xffffffff]
[ 0.155435] system 00:0f: [mem 0x00000000-0x0009ffff] could not be reserved
[ 0.155444] system 00:0f: [mem 0x000c0000-0x000cffff] could not be reserved
[ 0.155453] system 00:0f: [mem 0x000e0000-0x000fffff] could not be reserved
[ 0.155461] system 00:0f: [mem 0x00100000-0x7f6fffff] could not be reserved
[ 0.155470] system 00:0f: [mem 0xfed90000-0xffffffff] could not be reserved
[ 0.155479] system 00:0f: Plug and Play ACPI device, IDs PNP0c01 (active)
[ 0.155885] pnp: PnP ACPI: found 16 devices
[ 0.155891] ACPI: ACPI bus type pnp unregistered
[ 0.155899] PnPBIOS: Disabled by ACPI PNP
[ 0.196275] Switching to clocksource acpi_pm
[ 0.196358] pci 0000:00:1f.2: BAR 5: assigned [mem 0x80000000-0x800003ff]
[ 0.196371] pci 0000:00:1e.0: PCI bridge to [bus 01-01]
[ 0.196381] pci 0000:00:1e.0: bridge window [mem 0xfeb00000-0xfebfffff]
[ 0.196408] pci 0000:00:1e.0: setting latency timer to 64
[ 0.196417] pci_bus 0000:00: resource 4 [io 0x0000-0x0cf7]
[ 0.196424] pci_bus 0000:00: resource 5 [io 0x0d00-0xffff]
[ 0.196430] pci_bus 0000:00: resource 6 [mem 0x000a0000-0x000bffff]
[ 0.196437] pci_bus 0000:00: resource 7 [mem 0x000d0000-0x000dffff]
[ 0.196444] pci_bus 0000:00: resource 8 [mem 0x7f700000-0xf7ffffff]
[ 0.196451] pci_bus 0000:00: resource 9 [mem 0xfc000000-0xfed8ffff]
[ 0.196458] pci_bus 0000:01: resource 1 [mem 0xfeb00000-0xfebfffff]
[ 0.196465] pci_bus 0000:01: resource 4 [io 0x0000-0x0cf7]
[ 0.196472] pci_bus 0000:01: resource 5 [io 0x0d00-0xffff]
[ 0.196478] pci_bus 0000:01: resource 6 [mem 0x000a0000-0x000bffff]
[ 0.196485] pci_bus 0000:01: resource 7 [mem 0x000d0000-0x000dffff]
[ 0.196492] pci_bus 0000:01: resource 8 [mem 0x7f700000-0xf7ffffff]
[ 0.196499] pci_bus 0000:01: resource 9 [mem 0xfc000000-0xfed8ffff]
[ 0.196680] NET: Registered protocol family 2
[ 0.196830] IP route cache hash table entries: 32768 (order: 5, 131072 bytes)
[ 0.197232] TCP established hash table entries: 131072 (order: 8, 1048576 bytes)
[ 0.198095] TCP bind hash table entries: 65536 (order: 7, 524288 bytes)
[ 0.198495] TCP: Hash tables configured (established 131072 bind 65536)
[ 0.198502] TCP: reno registered
[ 0.198512] UDP hash table entries: 512 (order: 2, 16384 bytes)
[ 0.198530] UDP-Lite hash table entries: 512 (order: 2, 16384 bytes)
[ 0.198777] NET: Registered protocol family 1
[ 0.198815] pci 0000:00:02.0: Boot video device
[ 0.199054] PCI: CLS 0 bytes, default 64
[ 0.199178] Unpacking initramfs...
[ 0.791941] Freeing initrd memory: 14252k freed
[ 0.803154] audit: initializing netlink socket (disabled)
[ 0.803189] type=2000 audit(1449573301.800:1): initialized
[ 0.826516] highmem bounce pool size: 64 pages
[ 0.826531] HugeTLB registered 4 MB page size, pre-allocated 0 pages
[ 0.826987] VFS: Disk quotas dquot_6.5.2
[ 0.827052] Dquot-cache hash table entries: 1024 (order 0, 4096 bytes)
[ 0.827225] msgmni has been set to 1721
[ 0.827591] alg: No test for stdrng (krng)
[ 0.827664] Block layer SCSI generic (bsg) driver version 0.4 loaded (major 253)
[ 0.827674] io scheduler noop registered
[ 0.827679] io scheduler deadline registered
[ 0.827732] io scheduler cfq registered (default)
[ 0.827909] pci_hotplug: PCI Hot Plug PCI Core version: 0.5
[ 0.827952] pciehp: PCI Express Hot Plug Controller Driver version: 0.4
[ 0.827958] acpiphp: ACPI Hot Plug PCI Controller Driver version: 0.5
[ 0.828779] GHES: HEST is not enabled!
[ 0.828809] isapnp: Scanning for PnP cards...
[ 1.182753] isapnp: No Plug & Play device found
[ 1.182857] Serial: 8250/16550 driver, 4 ports, IRQ sharing enabled
[ 1.203243] serial8250: ttyS0 at I/O 0x3f8 (irq = 4) is a 16550A
[ 1.224210] 00:0c: ttyS0 at I/O 0x3f8 (irq = 4) is a 16550A
[ 1.224537] Linux agpgart interface v0.103
[ 1.224746] agpgart-intel 0000:00:00.0: Intel GMA3150 Chipset
[ 1.224917] agpgart-intel 0000:00:00.0: detected gtt size: 524288K total, 262144K mappable
[ 1.225134] agpgart-intel 0000:00:00.0: detected 8192K stolen memory
[ 1.225330] agpgart-intel 0000:00:00.0: AGP aperture is 256M @ 0xe0000000
[ 1.225623] i8042: PNP: PS/2 Controller [PNP0303:PS2K] at 0x60,0x64 irq 1
[ 1.225629] i8042: PNP: PS/2 appears to have AUX port disabled, if this is incorrect please boot with i8042.nopnp
[ 1.226383] serio: i8042 KBD port at 0x60,0x64 irq 1
[ 1.226611] mousedev: PS/2 mouse device common for all mice
[ 1.226708] rtc_cmos 00:03: RTC can wake from S4
[ 1.226904] rtc_cmos 00:03: rtc core: registered rtc_cmos as rtc0
[ 1.226939] rtc0: alarms up to one month, y3k, 114 bytes nvram
[ 1.227191] TCP: cubic registered
[ 1.227348] NET: Registered protocol family 10
[ 1.227825] Mobile IPv6
[ 1.227833] NET: Registered protocol family 17
[ 1.227846] Registering the dns_resolver key type
[ 1.227957] Using IPI No-Shortcut mode
[ 1.228226] PM: Hibernation image not present or could not be loaded.
[ 1.228255] registered taskstats version 1
[ 1.228743] rtc_cmos 00:03: setting system clock to 2015-12-08 11:15:02 UTC (1449573302)
[ 1.228944] Freeing unused kernel memory: 416k freed
[ 1.229311] Write protecting the kernel text: 3496k
[ 1.229367] Write protecting the kernel read-only data: 984k
[ 1.254214] input: AT Translated Set 2 keyboard as /devices/platform/i8042/serio0/input/input0
[ 1.264376] udevd[49]: starting version 175
[ 1.394186] usbcore: registered new interface driver usbfs
[ 1.394239] usbcore: registered new interface driver hub
[ 1.419006] usbcore: registered new device driver usb
[ 1.419943] ehci_hcd: USB 2.0 'Enhanced' Host Controller (EHCI) Driver
[ 1.420118] ehci_hcd 0000:00:1d.7: setting latency timer to 64
[ 1.420127] ehci_hcd 0000:00:1d.7: EHCI Host Controller
[ 1.420185] ehci_hcd 0000:00:1d.7: new USB bus registered, assigned bus number 1
[ 1.420221] ehci_hcd 0000:00:1d.7: using broken periodic workaround
[ 1.420238] ehci_hcd 0000:00:1d.7: debug port 1
[ 1.448859] uhci_hcd: USB Universal Host Controller Interface driver
[ 1.484221] ehci_hcd 0000:00:1d.7: cache line size of 64 is not supported
[ 1.484270] ehci_hcd 0000:00:1d.7: irq 23, io mem 0xfea77c00
[ 1.496742] ehci_hcd 0000:00:1d.7: USB 2.0 started, EHCI 1.00
[ 1.496804] usb usb1: New USB device found, idVendor=1d6b, idProduct=0002
[ 1.496812] usb usb1: New USB device strings: Mfr=3, Product=2, SerialNumber=1
[ 1.496819] usb usb1: Product: EHCI Host Controller
[ 1.496825] usb usb1: Manufacturer: Linux 3.4-9-rtai-686-pae ehci_hcd
[ 1.496831] usb usb1: SerialNumber: 0000:00:1d.7
[ 1.497133] hub 1-0:1.0: USB hub found
[ 1.497147] hub 1-0:1.0: 8 ports detected
[ 1.497389] uhci_hcd 0000:00:1d.0: setting latency timer to 64
[ 1.497398] uhci_hcd 0000:00:1d.0: UHCI Host Controller
[ 1.497423] uhci_hcd 0000:00:1d.0: new USB bus registered, assigned bus number 2
[ 1.497466] uhci_hcd 0000:00:1d.0: irq 23, io base 0x0000e880
[ 1.497550] usb usb2: New USB device found, idVendor=1d6b, idProduct=0001
[ 1.497557] usb usb2: New USB device strings: Mfr=3, Product=2, SerialNumber=1
[ 1.497563] usb usb2: Product: UHCI Host Controller
[ 1.497569] usb usb2: Manufacturer: Linux 3.4-9-rtai-686-pae uhci_hcd
[ 1.497575] usb usb2: SerialNumber: 0000:00:1d.0
[ 1.497831] hub 2-0:1.0: USB hub found
[ 1.497845] hub 2-0:1.0: 2 ports detected
[ 1.498051] uhci_hcd 0000:00:1d.1: setting latency timer to 64
[ 1.498059] uhci_hcd 0000:00:1d.1: UHCI Host Controller
[ 1.498079] uhci_hcd 0000:00:1d.1: new USB bus registered, assigned bus number 3
[ 1.498141] uhci_hcd 0000:00:1d.1: irq 19, io base 0x0000e800
[ 1.498222] usb usb3: New USB device found, idVendor=1d6b, idProduct=0001
[ 1.498230] usb usb3: New USB device strings: Mfr=3, Product=2, SerialNumber=1
[ 1.498236] usb usb3: Product: UHCI Host Controller
[ 1.498242] usb usb3: Manufacturer: Linux 3.4-9-rtai-686-pae uhci_hcd
[ 1.498248] usb usb3: SerialNumber: 0000:00:1d.1
[ 1.498489] hub 3-0:1.0: USB hub found
[ 1.498503] hub 3-0:1.0: 2 ports detected
[ 1.498694] uhci_hcd 0000:00:1d.2: setting latency timer to 64
[ 1.498702] uhci_hcd 0000:00:1d.2: UHCI Host Controller
[ 1.498727] uhci_hcd 0000:00:1d.2: new USB bus registered, assigned bus number 4
[ 1.498786] uhci_hcd 0000:00:1d.2: irq 18, io base 0x0000e480
[ 1.498867] usb usb4: New USB device found, idVendor=1d6b, idProduct=0001
[ 1.498875] usb usb4: New USB device strings: Mfr=3, Product=2, SerialNumber=1
[ 1.498881] usb usb4: Product: UHCI Host Controller
[ 1.498887] usb usb4: Manufacturer: Linux 3.4-9-rtai-686-pae uhci_hcd
[ 1.498893] usb usb4: SerialNumber: 0000:00:1d.2
[ 1.499143] hub 4-0:1.0: USB hub found
[ 1.499156] hub 4-0:1.0: 2 ports detected
[ 1.499340] uhci_hcd 0000:00:1d.3: setting latency timer to 64
[ 1.499348] uhci_hcd 0000:00:1d.3: UHCI Host Controller
[ 1.499368] uhci_hcd 0000:00:1d.3: new USB bus registered, assigned bus number 5
[ 1.499424] uhci_hcd 0000:00:1d.3: irq 16, io base 0x0000e400
[ 1.499514] usb usb5: New USB device found, idVendor=1d6b, idProduct=0001
[ 1.499522] usb usb5: New USB device strings: Mfr=3, Product=2, SerialNumber=1
[ 1.499528] usb usb5: Product: UHCI Host Controller
[ 1.499534] usb usb5: Manufacturer: Linux 3.4-9-rtai-686-pae uhci_hcd
[ 1.499540] usb usb5: SerialNumber: 0000:00:1d.3
[ 1.499798] hub 5-0:1.0: USB hub found
[ 1.499811] hub 5-0:1.0: 2 ports detected
[ 1.511837] SCSI subsystem initialized
[ 1.531844] microcode: CPU0 sig=0x106ca, pf=0x8, revision=0x107
[ 1.536347] libata version 3.00 loaded.
[ 1.537111] ata_piix 0000:00:1f.2: version 2.13
[ 1.537136] ata_piix 0000:00:1f.2: enabling device (0005 -> 0007)
[ 1.537154] ata_piix 0000:00:1f.2: MAP [ P0 P2 P1 P3 ]
[ 1.537225] ata_piix 0000:00:1f.2: setting latency timer to 64
[ 1.544343] scsi0 : ata_piix
[ 1.551241] scsi1 : ata_piix
[ 1.555306] ata1: SATA max UDMA/133 cmd 0x1f0 ctl 0x3f6 bmdma 0xff90 irq 14
[ 1.555315] ata2: SATA max UDMA/133 cmd 0x170 ctl 0x376 bmdma 0xff98 irq 15
[ 1.638718] microcode: CPU1 sig=0x106ca, pf=0x8, revision=0x107
[ 1.645871] microcode: Microcode Update Driver: v2.00 <tigran@aivazian.fsnet.co.uk>, Peter Oruba
[ 1.755979] ata1.00: ATA-7: ST3320820AS, 3.AAC, max UDMA/133
[ 1.755989] ata1.00: 625142448 sectors, multi 16: LBA48 NCQ (depth 0/32)
[ 1.830928] ata1.00: configured for UDMA/133
[ 1.831165] scsi 0:0:0:0: Direct-Access ATA ST3320820AS 3.AA PQ: 0 ANSI: 5
[ 1.845196] sd 0:0:0:0: [sda] 625142448 512-byte logical blocks: (320 GB/298 GiB)
[ 1.845375] sd 0:0:0:0: [sda] Write Protect is off
[ 1.845384] sd 0:0:0:0: [sda] Mode Sense: 00 3a 00 00
[ 1.845462] sd 0:0:0:0: [sda] Write cache: enabled, read cache: enabled, doesn't support DPO or FUA
[ 1.890760] sda: sda1 sda2 < sda5 >
[ 1.891860] sd 0:0:0:0: [sda] Attached SCSI disk
[ 1.896615] sd 0:0:0:0: Attached scsi generic sg0 type 0
[ 7.269889] PM: Starting manual resume from disk
[ 7.269899] PM: Hibernation image partition 8:5 present
[ 7.269904] PM: Looking for hibernation image.
[ 7.270213] PM: Image not found (code -22)
[ 7.270219] PM: Hibernation image not present or could not be loaded.
[ 7.419013] EXT4-fs (sda1): mounted filesystem with ordered data mode. Opts: (null)
[ 9.278178] udevd[324]: starting version 175
[ 9.690132] input: Power Button as /devices/LNXSYSTM:00/LNXSYBUS:00/PNP0C0C:00/input/input1
[ 9.690146] ACPI: Power Button [PWRB]
[ 9.690766] input: Power Button as /devices/LNXSYSTM:00/LNXPWRBN:00/input/input2
[ 9.690778] ACPI: Power Button [PWRF]
[ 9.734918] [drm] Initialized drm 1.1.0 20060810
[ 9.835515] i915 0000:00:02.0: setting latency timer to 64
[ 9.840307] iTCO_vendor_support: vendor-support=0
[ 9.841839] iTCO_wdt: Intel TCO WatchDog Timer Driver v1.07
[ 9.842020] iTCO_wdt: Found a NM10 TCO device (Version=2, TCOBASE=0x0860)
[ 9.856081] iTCO_wdt: initialized. heartbeat=30 sec (nowayout=0)
[ 10.022324] [drm] Supports vblank timestamp caching Rev 1 (10.10.2010).
[ 10.022332] [drm] Driver supports precise vblank timestamp query.
[ 10.022414] vgaarb: device changed decodes: PCI:0000:00:02.0,olddecodes=io+mem,decodes=io+mem:owns=io+mem
[ 10.023245] fixme: max PWM is zero.
[ 10.059369] [drm] initialized overlay support
[ 10.079100] fbcon: inteldrmfb (fb0) is primary device
[ 10.121732] [drm] Changing LVDS panel from (+hsync, +vsync) to (-hsync, -vsync)
[ 10.161398] coretemp coretemp.0: Using relative temperature scale!
[ 10.161440] coretemp coretemp.0: Using relative temperature scale!
[ 10.185033] parport_pc 00:06: reported by Plug and Play ACPI
[ 10.185089] parport0: PC-style at 0x378 (0x778), irq 7 [PCSPP,TRISTATE]
[ 10.199478] Console: switching to colour frame buffer device 128x48
[ 10.208484] fb0: inteldrmfb frame buffer device
[ 10.208491] drm: registered panic notifier
[ 10.208517] No ACPI video bus found
[ 10.209226] [drm] Initialized i915 1.6.0 20080730 for 0000:00:02.0 on minor 0
[ 11.973317] Adding 4173820k swap on /dev/sda5. Priority:-1 extents:1 across:4173820k
[ 12.006082] EXT4-fs (sda1): re-mounted. Opts: (null)
[ 12.279896] EXT4-fs (sda1): re-mounted. Opts: errors=remount-ro
[ 12.459478] loop: module loaded
[ 14.861416] RPC: Registered named UNIX socket transport module.
[ 14.861425] RPC: Registered udp transport module.
[ 14.861431] RPC: Registered tcp transport module.
[ 14.861435] RPC: Registered tcp NFSv4.1 backchannel transport module.
[ 14.917338] FS-Cache: Loaded
[ 14.959463] NFS: Registering the id_resolver key type
[ 14.959515] FS-Cache: Netfs 'nfs' registered for caching
[ 14.969536] Installing knfsd (copyright (C) 1996 okir@monad.swb.de).
[ 17.682212] input: ACPI Virtual Keyboard Device as /devices/virtual/input/input3
[ 18.778149] Bluetooth: Core ver 2.16
[ 18.778719] NET: Registered protocol family 31
[ 18.778727] Bluetooth: HCI device and connection manager initialized
[ 18.778734] Bluetooth: HCI socket layer initialized
[ 18.778740] Bluetooth: L2CAP socket layer initialized
[ 18.778756] Bluetooth: SCO socket layer initialized
[ 18.794324] Bluetooth: RFCOMM TTY layer initialized
[ 18.794341] Bluetooth: RFCOMM socket layer initialized
[ 18.794348] Bluetooth: RFCOMM ver 1.11
[ 18.906866] Bluetooth: BNEP (Ethernet Emulation) ver 1.3
[ 18.906876] Bluetooth: BNEP filters: protocol multicast
[ 19.565531] lp0: using parport0 (interrupt-driven).
[ 19.704223] ppdev: user-space parallel port driver
[ 158.208042] usb 4-1: new low-speed USB device number 2 using uhci_hcd
[ 158.376056] usb 4-1: New USB device found, idVendor=192f, idProduct=0916
[ 158.376066] usb 4-1: New USB device strings: Mfr=0, Product=2, SerialNumber=0
[ 158.376087] usb 4-1: Product: USB Optical Mouse
[ 158.488242] input: USB Optical Mouse as /devices/pci0000:00/0000:00:1d.2/usb4/4-1/4-1:1.0/input/input4
[ 158.488967] generic-usb 0003:192F:0916.0001: input,hidraw0: USB HID v1.11 Mouse [USB Optical Mouse] on usb-0000:00:1d.2-1/input0
[ 158.489632] usbcore: registered new interface driver usbhid
[ 158.489640] usbhid: USB HID core driver
[ 194.288046] usb 1-6: new high-speed USB device number 3 using ehci_hcd
[ 194.420922] usb 1-6: New USB device found, idVendor=18d1, idProduct=4ee1
[ 194.420932] usb 1-6: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 194.420939] usb 1-6: Product: Nexus 5
[ 194.420944] usb 1-6: Manufacturer: LGE
[ 194.420950] usb 1-6: SerialNumber: 03b7f2223437cad1
[ 318.575481] usb 1-6: USB disconnect, device number 3
[ 318.844045] usb 1-6: new high-speed USB device number 4 using ehci_hcd
[ 318.976954] usb 1-6: New USB device found, idVendor=18d1, idProduct=4ee3
[ 318.976963] usb 1-6: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 318.976970] usb 1-6: Product: Nexus 5
[ 318.976975] usb 1-6: Manufacturer: LGE
[ 318.976980] usb 1-6: SerialNumber: 03b7f2223437cad1
[ 319.056794] usbcore: registered new interface driver cdc_ether
[ 319.061632] rndis_host 1-6:1.0: usb0: register 'rndis_host' at usb-0000:00:1d.7-6, RNDIS device, 76:2a:c0:26:29:99
[ 319.062353] usbcore: registered new interface driver rndis_host
[ 329.632028] usb0: no IPv6 routers present
[ 868.865944] I-pipe: head domain RTAI registered.
[ 868.865959] RTAI[hal]: compiled with gcc version 4.7.2 (Debian 4.7.2-5) .
[ 868.866057] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[ 868.866066] SYSINFO: CPUs 2, LINUX APIC IRQ 2312, TIM_FREQ 12465440, CLK_FREQ 1795052000, CPU_FREQ 1795052000
[ 868.866074] RTAI_APIC_TIMER_IPI: RTAI DEFINED 2314, VECTOR 2314; LINUX_APIC_TIMER_IPI: RTAI DEFINED 2312, VECTOR 2312
[ 868.866082] TIMER NAME: lapic; VARIOUSLY FOUND APIC FREQs: 12465440, 12465440, 12342250
[ 868.924504] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[ 868.924585] , <uses LINUX SYSCALLs>, kstacks pool size = 524288 bytes.
[ 868.924597] RTAI[sched]: hard timer type/freq = APIC/12465440(Hz); default timing: oneshot; linear timed lists.
[ 868.924606] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 1795052000 hz.
[ 868.924612] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns.
[ 868.956331] RTAI[math]: loaded.
[ 869.253812] hm2: loading Mesa HostMot2 driver version 0.15
[ 869.272709] hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.7
[ 869.272793] hm2_pci: discovered 5i25 at 0000:01:00.0
[ 869.275909] hm2/hm2_5i25.0: Smart Serial Firmware Version 43
[ 869.332994] Board hm2_5i25.0.7i77.0.0 Hardware Mode 0 = standard
[ 869.335899] Board hm2_5i25.0.7i77.0.0 Software Mode 0 = input_output
[ 869.338526] Board hm2_5i25.0.7i77.0.0 Software Mode 1 = io_analog
[ 869.342881] Board hm2_5i25.0.7i77.0.0 Software Mode 2 = io_analog_fieldvoltage
[ 869.348313] Board hm2_5i25.0.7i77.0.0 Software Mode 3 = io_encoder_analog_fieldvoltage
[ 869.444614] Board hm2_5i25.0.7i77.0.1 Hardware Mode 0 = standard
[ 869.447193] Board hm2_5i25.0.7i77.0.1 Software Mode 0 = analogout_enables
[ 869.529635] Board hm2_5i25.0.7i76.0.3 Hardware Mode 0 = standard
[ 869.531746] Board hm2_5i25.0.7i76.0.3 Software Mode 0 = io_spin
[ 869.534596] Board hm2_5i25.0.7i76.0.3 Software Mode 1 = io_ana_spin
[ 869.538413] Board hm2_5i25.0.7i76.0.3 Software Mode 2 = io_enc_ana_spin_fv
[ 869.620523] hm2/hm2_5i25.0: Warning: sserial remote device 7i76 channel 3 has old firmware that should be updated
[ 869.699469] hm2/hm2_5i25.0: 34 I/O Pins used:
[ 869.699480] hm2/hm2_5i25.0: IO Pin 000 (P3-01): IOPort
[ 869.699487] hm2/hm2_5i25.0: IO Pin 001 (P3-14): IOPort
[ 869.699493] hm2/hm2_5i25.0: IO Pin 002 (P3-02): IOPort
[ 869.699501] hm2/hm2_5i25.0: IO Pin 003 (P3-15): Smart Serial Interface #0, pin TxData1 (Output)
[ 869.699509] hm2/hm2_5i25.0: IO Pin 004 (P3-03): Smart Serial Interface #0, pin RxData1 (Input)
[ 869.699517] hm2/hm2_5i25.0: IO Pin 005 (P3-16): Smart Serial Interface #0, pin TxData0 (Output)
[ 869.699527] hm2/hm2_5i25.0: IO Pin 006 (P3-04): Smart Serial Interface #0, pin RxData0 (Input)
[ 869.699535] hm2/hm2_5i25.0: IO Pin 007 (P3-17): Muxed Encoder Select #0, pin Mux Select 0 (Output)
[ 869.699544] hm2/hm2_5i25.0: IO Pin 008 (P3-05): Muxed Encoder #0, pin Muxed A (Input)
[ 869.699551] hm2/hm2_5i25.0: IO Pin 009 (P3-06): Muxed Encoder #0, pin Muxed B (Input)
[ 869.699559] hm2/hm2_5i25.0: IO Pin 010 (P3-07): Muxed Encoder #0, pin Muxed Index (Input)
[ 869.699567] hm2/hm2_5i25.0: IO Pin 011 (P3-08): Muxed Encoder #1, pin Muxed A (Input)
[ 869.699575] hm2/hm2_5i25.0: IO Pin 012 (P3-09): Muxed Encoder #1, pin Muxed B (Input)
[ 869.699582] hm2/hm2_5i25.0: IO Pin 013 (P3-10): Muxed Encoder #1, pin Muxed Index (Input)
[ 869.699590] hm2/hm2_5i25.0: IO Pin 014 (P3-11): Muxed Encoder #2, pin Muxed A (Input)
[ 869.699598] hm2/hm2_5i25.0: IO Pin 015 (P3-12): Muxed Encoder #2, pin Muxed B (Input)
[ 869.699606] hm2/hm2_5i25.0: IO Pin 016 (P3-13): Muxed Encoder #2, pin Muxed Index (Input)
[ 869.699614] hm2/hm2_5i25.0: IO Pin 017 (P2-01): StepGen #0, pin Direction (Output)
[ 869.699622] hm2/hm2_5i25.0: IO Pin 018 (P2-14): StepGen #0, pin Step (Output)
[ 869.699629] hm2/hm2_5i25.0: IO Pin 019 (P2-02): StepGen #1, pin Direction (Output)
[ 869.699637] hm2/hm2_5i25.0: IO Pin 020 (P2-15): StepGen #1, pin Step (Output)
[ 869.699644] hm2/hm2_5i25.0: IO Pin 021 (P2-03): StepGen #2, pin Direction (Output)
[ 869.699652] hm2/hm2_5i25.0: IO Pin 022 (P2-16): StepGen #2, pin Step (Output)
[ 869.699659] hm2/hm2_5i25.0: IO Pin 023 (P2-04): StepGen #3, pin Direction (Output)
[ 869.699667] hm2/hm2_5i25.0: IO Pin 024 (P2-17): StepGen #3, pin Step (Output)
[ 869.699674] hm2/hm2_5i25.0: IO Pin 025 (P2-05): StepGen #4, pin Direction (Output)
[ 869.699682] hm2/hm2_5i25.0: IO Pin 026 (P2-06): StepGen #4, pin Step (Output)
[ 869.699690] hm2/hm2_5i25.0: IO Pin 027 (P2-07): Smart Serial Interface #0, pin TxData3 (Output)
[ 869.699698] hm2/hm2_5i25.0: IO Pin 028 (P2-08): Smart Serial Interface #0, pin RxData3 (Input)
[ 869.699705] hm2/hm2_5i25.0: IO Pin 029 (P2-09): IOPort
[ 869.699711] hm2/hm2_5i25.0: IO Pin 030 (P2-10): IOPort
[ 869.699717] hm2/hm2_5i25.0: IO Pin 031 (P2-11): IOPort
[ 869.699723] hm2/hm2_5i25.0: IO Pin 032 (P2-12): IOPort
[ 869.699730] hm2/hm2_5i25.0: IO Pin 033 (P2-13): IOPort
[ 869.700199] hm2/hm2_5i25.0: registered
[ 869.700206] hm2_5i25.0: initialized AnyIO board at 0000:01:00.0
[ 869.760504] classicladder_rt: module license 'LGPL' taints kernel.
[ 869.760513] Disabling lock debugging due to kernel taint
[ 869.761747] creating ladder-state
[ 1258.535137] hm2_5i25.0: dropping AnyIO board at 0000:01:00.0
[ 1258.535150] hm2/hm2_5i25.0: unregistered
[ 1258.535782] hm2_pci: driver unloaded
[ 1258.547736] hm2: unloading
[ 1260.886895] RTAI[math]: unloaded.
[ 1260.891699] SCHED releases registered named ALIEN PEDV$D
[ 1260.912217] RTAI[malloc]: unloaded.
[ 1261.012382] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[ 1261.017588] I-pipe: head domain RTAI unregistered.
[ 1261.017694] RTAI[hal]: unmounted.
[ 1264.155805] I-pipe: head domain RTAI registered.
[ 1264.155820] RTAI[hal]: compiled with gcc version 4.7.2 (Debian 4.7.2-5) .
[ 1264.155919] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[ 1264.155928] SYSINFO: CPUs 2, LINUX APIC IRQ 2312, TIM_FREQ 12465440, CLK_FREQ 1795052000, CPU_FREQ 1795052000
[ 1264.155936] RTAI_APIC_TIMER_IPI: RTAI DEFINED 2314, VECTOR 2314; LINUX_APIC_TIMER_IPI: RTAI DEFINED 2312, VECTOR 2312
[ 1264.155944] TIMER NAME: lapic; VARIOUSLY FOUND APIC FREQs: 12465440, 12465440, 12361500
[ 1264.170638] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[ 1264.170720] , <uses LINUX SYSCALLs>, kstacks pool size = 524288 bytes.
[ 1264.170732] RTAI[sched]: hard timer type/freq = APIC/12465440(Hz); default timing: oneshot; linear timed lists.
[ 1264.170740] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 1795052000 hz.
[ 1264.170746] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns.
[ 1264.193548] RTAI[math]: loaded.
[ 1264.407128] hm2: loading Mesa HostMot2 driver version 0.15
[ 1264.412337] hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.7
[ 1264.412401] hm2_pci: discovered 5i25 at 0000:01:00.0
[ 1264.415914] hm2/hm2_5i25.0: Smart Serial Firmware Version 43
[ 1264.473116] Board hm2_5i25.0.7i77.0.0 Hardware Mode 0 = standard
[ 1264.475936] Board hm2_5i25.0.7i77.0.0 Software Mode 0 = input_output
[ 1264.478491] Board hm2_5i25.0.7i77.0.0 Software Mode 1 = io_analog
[ 1264.482880] Board hm2_5i25.0.7i77.0.0 Software Mode 2 = io_analog_fieldvoltage
[ 1264.488443] Board hm2_5i25.0.7i77.0.0 Software Mode 3 = io_encoder_analog_fieldvoltage
[ 1264.584512] Board hm2_5i25.0.7i77.0.1 Hardware Mode 0 = standard
[ 1264.587091] Board hm2_5i25.0.7i77.0.1 Software Mode 0 = analogout_enables
[ 1264.669227] Board hm2_5i25.0.7i76.0.3 Hardware Mode 0 = standard
[ 1264.671339] Board hm2_5i25.0.7i76.0.3 Software Mode 0 = io_spin
[ 1264.674190] Board hm2_5i25.0.7i76.0.3 Software Mode 1 = io_ana_spin
[ 1264.677975] Board hm2_5i25.0.7i76.0.3 Software Mode 2 = io_enc_ana_spin_fv
[ 1264.759676] hm2/hm2_5i25.0: Warning: sserial remote device 7i76 channel 3 has old firmware that should be updated
[ 1264.836229] hm2/hm2_5i25.0: 34 I/O Pins used:
[ 1264.836239] hm2/hm2_5i25.0: IO Pin 000 (P3-01): IOPort
[ 1264.836246] hm2/hm2_5i25.0: IO Pin 001 (P3-14): IOPort
[ 1264.836252] hm2/hm2_5i25.0: IO Pin 002 (P3-02): IOPort
[ 1264.836260] hm2/hm2_5i25.0: IO Pin 003 (P3-15): Smart Serial Interface #0, pin TxData1 (Output)
[ 1264.836269] hm2/hm2_5i25.0: IO Pin 004 (P3-03): Smart Serial Interface #0, pin RxData1 (Input)
[ 1264.836277] hm2/hm2_5i25.0: IO Pin 005 (P3-16): Smart Serial Interface #0, pin TxData0 (Output)
[ 1264.836285] hm2/hm2_5i25.0: IO Pin 006 (P3-04): Smart Serial Interface #0, pin RxData0 (Input)
[ 1264.836293] hm2/hm2_5i25.0: IO Pin 007 (P3-17): Muxed Encoder Select #0, pin Mux Select 0 (Output)
[ 1264.836302] hm2/hm2_5i25.0: IO Pin 008 (P3-05): Muxed Encoder #0, pin Muxed A (Input)
[ 1264.836309] hm2/hm2_5i25.0: IO Pin 009 (P3-06): Muxed Encoder #0, pin Muxed B (Input)
[ 1264.836317] hm2/hm2_5i25.0: IO Pin 010 (P3-07): Muxed Encoder #0, pin Muxed Index (Input)
[ 1264.836325] hm2/hm2_5i25.0: IO Pin 011 (P3-08): Muxed Encoder #1, pin Muxed A (Input)
[ 1264.836333] hm2/hm2_5i25.0: IO Pin 012 (P3-09): Muxed Encoder #1, pin Muxed B (Input)
[ 1264.836340] hm2/hm2_5i25.0: IO Pin 013 (P3-10): Muxed Encoder #1, pin Muxed Index (Input)
[ 1264.836348] hm2/hm2_5i25.0: IO Pin 014 (P3-11): Muxed Encoder #2, pin Muxed A (Input)
[ 1264.836356] hm2/hm2_5i25.0: IO Pin 015 (P3-12): Muxed Encoder #2, pin Muxed B (Input)
[ 1264.836364] hm2/hm2_5i25.0: IO Pin 016 (P3-13): Muxed Encoder #2, pin Muxed Index (Input)
[ 1264.836372] hm2/hm2_5i25.0: IO Pin 017 (P2-01): StepGen #0, pin Direction (Output)
[ 1264.836380] hm2/hm2_5i25.0: IO Pin 018 (P2-14): StepGen #0, pin Step (Output)
[ 1264.836387] hm2/hm2_5i25.0: IO Pin 019 (P2-02): StepGen #1, pin Direction (Output)
[ 1264.836395] hm2/hm2_5i25.0: IO Pin 020 (P2-15): StepGen #1, pin Step (Output)
[ 1264.836402] hm2/hm2_5i25.0: IO Pin 021 (P2-03): StepGen #2, pin Direction (Output)
[ 1264.836410] hm2/hm2_5i25.0: IO Pin 022 (P2-16): StepGen #2, pin Step (Output)
[ 1264.836418] hm2/hm2_5i25.0: IO Pin 023 (P2-04): StepGen #3, pin Direction (Output)
[ 1264.836425] hm2/hm2_5i25.0: IO Pin 024 (P2-17): StepGen #3, pin Step (Output)
[ 1264.836433] hm2/hm2_5i25.0: IO Pin 025 (P2-05): StepGen #4, pin Direction (Output)
[ 1264.836440] hm2/hm2_5i25.0: IO Pin 026 (P2-06): StepGen #4, pin Step (Output)
[ 1264.837556] hm2/hm2_5i25.0: IO Pin 027 (P2-07): Smart Serial Interface #0, pin TxData3 (Output)
[ 1264.837569] hm2/hm2_5i25.0: IO Pin 028 (P2-08): Smart Serial Interface #0, pin RxData3 (Input)
[ 1264.837576] hm2/hm2_5i25.0: IO Pin 029 (P2-09): IOPort
[ 1264.837583] hm2/hm2_5i25.0: IO Pin 030 (P2-10): IOPort
[ 1264.837589] hm2/hm2_5i25.0: IO Pin 031 (P2-11): IOPort
[ 1264.837595] hm2/hm2_5i25.0: IO Pin 032 (P2-12): IOPort
[ 1264.837601] hm2/hm2_5i25.0: IO Pin 033 (P2-13): IOPort
[ 1264.838089] hm2/hm2_5i25.0: registered
[ 1264.838096] hm2_5i25.0: initialized AnyIO board at 0000:01:00.0
[ 1264.852305] creating ladder-state
[ 1265.508114] hm2_5i25.0: dropping AnyIO board at 0000:01:00.0
[ 1265.508128] hm2/hm2_5i25.0: unregistered
[ 1265.509090] hm2_pci: driver unloaded
[ 1265.513771] hm2: unloading
[ 1267.766506] RTAI[math]: unloaded.
[ 1267.771300] SCHED releases registered named ALIEN PEDV$D
[ 1267.787803] RTAI[malloc]: unloaded.
[ 1267.884048] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[ 1267.887972] I-pipe: head domain RTAI unregistered.
[ 1267.888408] RTAI[hal]: unmounted.
[ 1305.900969] I-pipe: head domain RTAI registered.
[ 1305.900983] RTAI[hal]: compiled with gcc version 4.7.2 (Debian 4.7.2-5) .
[ 1305.901081] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[ 1305.901090] SYSINFO: CPUs 2, LINUX APIC IRQ 2312, TIM_FREQ 12465440, CLK_FREQ 1795052000, CPU_FREQ 1795052000
[ 1305.901098] RTAI_APIC_TIMER_IPI: RTAI DEFINED 2314, VECTOR 2314; LINUX_APIC_TIMER_IPI: RTAI DEFINED 2312, VECTOR 2312
[ 1305.901106] TIMER NAME: lapic; VARIOUSLY FOUND APIC FREQs: 12465440, 12465440, 12357000
[ 1305.923059] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[ 1305.923141] , <uses LINUX SYSCALLs>, kstacks pool size = 524288 bytes.
[ 1305.923154] RTAI[sched]: hard timer type/freq = APIC/12465440(Hz); default timing: oneshot; linear timed lists.
[ 1305.923163] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 1795052000 hz.
[ 1305.923169] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns.
[ 1305.946017] RTAI[math]: loaded.
[ 1306.160676] hm2: loading Mesa HostMot2 driver version 0.15
[ 1306.165695] hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.7
[ 1306.165759] hm2_pci: discovered 5i25 at 0000:01:00.0
[ 1306.169277] hm2/hm2_5i25.0: Smart Serial Firmware Version 43
[ 1306.226459] Board hm2_5i25.0.7i77.0.0 Hardware Mode 0 = standard
[ 1306.229414] Board hm2_5i25.0.7i77.0.0 Software Mode 0 = input_output
[ 1306.231822] Board hm2_5i25.0.7i77.0.0 Software Mode 1 = io_analog
[ 1306.236182] Board hm2_5i25.0.7i77.0.0 Software Mode 2 = io_analog_fieldvoltage
[ 1306.241583] Board hm2_5i25.0.7i77.0.0 Software Mode 3 = io_encoder_analog_fieldvoltage
[ 1306.337419] Board hm2_5i25.0.7i77.0.1 Hardware Mode 0 = standard
[ 1306.339999] Board hm2_5i25.0.7i77.0.1 Software Mode 0 = analogout_enables
[ 1306.422362] Board hm2_5i25.0.7i76.0.3 Hardware Mode 0 = standard
[ 1306.424684] Board hm2_5i25.0.7i76.0.3 Software Mode 0 = io_spin
[ 1306.427359] Board hm2_5i25.0.7i76.0.3 Software Mode 1 = io_ana_spin
[ 1306.431090] Board hm2_5i25.0.7i76.0.3 Software Mode 2 = io_enc_ana_spin_fv
[ 1306.512870] hm2/hm2_5i25.0: Warning: sserial remote device 7i76 channel 3 has old firmware that should be updated
[ 1306.589226] hm2/hm2_5i25.0: 34 I/O Pins used:
[ 1306.589236] hm2/hm2_5i25.0: IO Pin 000 (P3-01): IOPort
[ 1306.589243] hm2/hm2_5i25.0: IO Pin 001 (P3-14): IOPort
[ 1306.589249] hm2/hm2_5i25.0: IO Pin 002 (P3-02): IOPort
[ 1306.589257] hm2/hm2_5i25.0: IO Pin 003 (P3-15): Smart Serial Interface #0, pin TxData1 (Output)
[ 1306.589265] hm2/hm2_5i25.0: IO Pin 004 (P3-03): Smart Serial Interface #0, pin RxData1 (Input)
[ 1306.589273] hm2/hm2_5i25.0: IO Pin 005 (P3-16): Smart Serial Interface #0, pin TxData0 (Output)
[ 1306.589281] hm2/hm2_5i25.0: IO Pin 006 (P3-04): Smart Serial Interface #0, pin RxData0 (Input)
[ 1306.589290] hm2/hm2_5i25.0: IO Pin 007 (P3-17): Muxed Encoder Select #0, pin Mux Select 0 (Output)
[ 1306.589298] hm2/hm2_5i25.0: IO Pin 008 (P3-05): Muxed Encoder #0, pin Muxed A (Input)
[ 1306.589306] hm2/hm2_5i25.0: IO Pin 009 (P3-06): Muxed Encoder #0, pin Muxed B (Input)
[ 1306.589313] hm2/hm2_5i25.0: IO Pin 010 (P3-07): Muxed Encoder #0, pin Muxed Index (Input)
[ 1306.589321] hm2/hm2_5i25.0: IO Pin 011 (P3-08): Muxed Encoder #1, pin Muxed A (Input)
[ 1306.589329] hm2/hm2_5i25.0: IO Pin 012 (P3-09): Muxed Encoder #1, pin Muxed B (Input)
[ 1306.589337] hm2/hm2_5i25.0: IO Pin 013 (P3-10): Muxed Encoder #1, pin Muxed Index (Input)
[ 1306.589345] hm2/hm2_5i25.0: IO Pin 014 (P3-11): Muxed Encoder #2, pin Muxed A (Input)
[ 1306.589352] hm2/hm2_5i25.0: IO Pin 015 (P3-12): Muxed Encoder #2, pin Muxed B (Input)
[ 1306.589360] hm2/hm2_5i25.0: IO Pin 016 (P3-13): Muxed Encoder #2, pin Muxed Index (Input)
[ 1306.589368] hm2/hm2_5i25.0: IO Pin 017 (P2-01): StepGen #0, pin Direction (Output)
[ 1306.589376] hm2/hm2_5i25.0: IO Pin 018 (P2-14): StepGen #0, pin Step (Output)
[ 1306.589384] hm2/hm2_5i25.0: IO Pin 019 (P2-02): StepGen #1, pin Direction (Output)
[ 1306.589391] hm2/hm2_5i25.0: IO Pin 020 (P2-15): StepGen #1, pin Step (Output)
[ 1306.589399] hm2/hm2_5i25.0: IO Pin 021 (P2-03): StepGen #2, pin Direction (Output)
[ 1306.589406] hm2/hm2_5i25.0: IO Pin 022 (P2-16): StepGen #2, pin Step (Output)
[ 1306.589414] hm2/hm2_5i25.0: IO Pin 023 (P2-04): StepGen #3, pin Direction (Output)
[ 1306.589422] hm2/hm2_5i25.0: IO Pin 024 (P2-17): StepGen #3, pin Step (Output)
[ 1306.589429] hm2/hm2_5i25.0: IO Pin 025 (P2-05): StepGen #4, pin Direction (Output)
[ 1306.589437] hm2/hm2_5i25.0: IO Pin 026 (P2-06): StepGen #4, pin Step (Output)
[ 1306.589445] hm2/hm2_5i25.0: IO Pin 027 (P2-07): Smart Serial Interface #0, pin TxData3 (Output)
[ 1306.589453] hm2/hm2_5i25.0: IO Pin 028 (P2-08): Smart Serial Interface #0, pin RxData3 (Input)
[ 1306.589460] hm2/hm2_5i25.0: IO Pin 029 (P2-09): IOPort
[ 1306.589466] hm2/hm2_5i25.0: IO Pin 030 (P2-10): IOPort
[ 1306.589472] hm2/hm2_5i25.0: IO Pin 031 (P2-11): IOPort
[ 1306.589478] hm2/hm2_5i25.0: IO Pin 032 (P2-12): IOPort
[ 1306.589485] hm2/hm2_5i25.0: IO Pin 033 (P2-13): IOPort
[ 1306.589951] hm2/hm2_5i25.0: registered
[ 1306.589957] hm2_5i25.0: initialized AnyIO board at 0000:01:00.0
[ 1306.605086] creating ladder-state
[ 1307.245326] hm2_5i25.0: dropping AnyIO board at 0000:01:00.0
[ 1307.245340] hm2/hm2_5i25.0: unregistered
[ 1307.245972] hm2_pci: driver unloaded
[ 1307.250678] hm2: unloading
[ 1309.500413] RTAI[math]: unloaded.
[ 1309.506290] SCHED releases registered named ALIEN PEDV$D
[ 1309.523543] RTAI[malloc]: unloaded.
[ 1309.620050] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[ 1309.625777] I-pipe: head domain RTAI unregistered.
[ 1309.625887] RTAI[hal]: unmounted.
[ 1698.597920] I-pipe: head domain RTAI registered.
[ 1698.597935] RTAI[hal]: compiled with gcc version 4.7.2 (Debian 4.7.2-5) .
[ 1698.598035] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[ 1698.598044] SYSINFO: CPUs 2, LINUX APIC IRQ 2312, TIM_FREQ 12465440, CLK_FREQ 1795052000, CPU_FREQ 1795052000
[ 1698.598052] RTAI_APIC_TIMER_IPI: RTAI DEFINED 2314, VECTOR 2314; LINUX_APIC_TIMER_IPI: RTAI DEFINED 2312, VECTOR 2312
[ 1698.598060] TIMER NAME: lapic; VARIOUSLY FOUND APIC FREQs: 12465440, 12465440, 12335500
[ 1698.619983] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[ 1698.620410] , <uses LINUX SYSCALLs>, kstacks pool size = 524288 bytes.
[ 1698.620424] RTAI[sched]: hard timer type/freq = APIC/12465440(Hz); default timing: oneshot; linear timed lists.
[ 1698.620433] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 1795052000 hz.
[ 1698.620439] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns.
[ 1698.642914] RTAI[math]: loaded.
[ 1698.858886] hm2: loading Mesa HostMot2 driver version 0.15
[ 1698.863959] hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.7
[ 1698.864023] hm2_pci: discovered 5i25 at 0000:01:00.0
[ 1698.867639] hm2/hm2_5i25.0: Smart Serial Firmware Version 43
[ 1698.924707] Board hm2_5i25.0.7i77.0.0 Hardware Mode 0 = standard
[ 1698.927486] Board hm2_5i25.0.7i77.0.0 Software Mode 0 = input_output
[ 1698.930145] Board hm2_5i25.0.7i77.0.0 Software Mode 1 = io_analog
[ 1698.934478] Board hm2_5i25.0.7i77.0.0 Software Mode 2 = io_analog_fieldvoltage
[ 1698.939892] Board hm2_5i25.0.7i77.0.0 Software Mode 3 = io_encoder_analog_fieldvoltage
[ 1699.035812] Board hm2_5i25.0.7i77.0.1 Hardware Mode 0 = standard
[ 1699.038593] Board hm2_5i25.0.7i77.0.1 Software Mode 0 = analogout_enables
[ 1699.120827] Board hm2_5i25.0.7i76.0.3 Hardware Mode 0 = standard
[ 1699.122938] Board hm2_5i25.0.7i76.0.3 Software Mode 0 = io_spin
[ 1699.125791] Board hm2_5i25.0.7i76.0.3 Software Mode 1 = io_ana_spin
[ 1699.129628] Board hm2_5i25.0.7i76.0.3 Software Mode 2 = io_enc_ana_spin_fv
[ 1699.212724] hm2/hm2_5i25.0: Warning: sserial remote device 7i76 channel 3 has old firmware that should be updated
[ 1699.289388] hm2/hm2_5i25.0: 34 I/O Pins used:
[ 1699.289398] hm2/hm2_5i25.0: IO Pin 000 (P3-01): IOPort
[ 1699.289405] hm2/hm2_5i25.0: IO Pin 001 (P3-14): IOPort
[ 1699.289411] hm2/hm2_5i25.0: IO Pin 002 (P3-02): IOPort
[ 1699.289419] hm2/hm2_5i25.0: IO Pin 003 (P3-15): Smart Serial Interface #0, pin TxData1 (Output)
[ 1699.289428] hm2/hm2_5i25.0: IO Pin 004 (P3-03): Smart Serial Interface #0, pin RxData1 (Input)
[ 1699.289436] hm2/hm2_5i25.0: IO Pin 005 (P3-16): Smart Serial Interface #0, pin TxData0 (Output)
[ 1699.289444] hm2/hm2_5i25.0: IO Pin 006 (P3-04): Smart Serial Interface #0, pin RxData0 (Input)
[ 1699.289453] hm2/hm2_5i25.0: IO Pin 007 (P3-17): Muxed Encoder Select #0, pin Mux Select 0 (Output)
[ 1699.289461] hm2/hm2_5i25.0: IO Pin 008 (P3-05): Muxed Encoder #0, pin Muxed A (Input)
[ 1699.289468] hm2/hm2_5i25.0: IO Pin 009 (P3-06): Muxed Encoder #0, pin Muxed B (Input)
[ 1699.289476] hm2/hm2_5i25.0: IO Pin 010 (P3-07): Muxed Encoder #0, pin Muxed Index (Input)
[ 1699.289484] hm2/hm2_5i25.0: IO Pin 011 (P3-08): Muxed Encoder #1, pin Muxed A (Input)
[ 1699.289492] hm2/hm2_5i25.0: IO Pin 012 (P3-09): Muxed Encoder #1, pin Muxed B (Input)
[ 1699.289500] hm2/hm2_5i25.0: IO Pin 013 (P3-10): Muxed Encoder #1, pin Muxed Index (Input)
[ 1699.289507] hm2/hm2_5i25.0: IO Pin 014 (P3-11): Muxed Encoder #2, pin Muxed A (Input)
[ 1699.289515] hm2/hm2_5i25.0: IO Pin 015 (P3-12): Muxed Encoder #2, pin Muxed B (Input)
[ 1699.289523] hm2/hm2_5i25.0: IO Pin 016 (P3-13): Muxed Encoder #2, pin Muxed Index (Input)
[ 1699.289531] hm2/hm2_5i25.0: IO Pin 017 (P2-01): StepGen #0, pin Direction (Output)
[ 1699.289539] hm2/hm2_5i25.0: IO Pin 018 (P2-14): StepGen #0, pin Step (Output)
[ 1699.289546] hm2/hm2_5i25.0: IO Pin 019 (P2-02): StepGen #1, pin Direction (Output)
[ 1699.289554] hm2/hm2_5i25.0: IO Pin 020 (P2-15): StepGen #1, pin Step (Output)
[ 1699.289561] hm2/hm2_5i25.0: IO Pin 021 (P2-03): StepGen #2, pin Direction (Output)
[ 1699.289569] hm2/hm2_5i25.0: IO Pin 022 (P2-16): StepGen #2, pin Step (Output)
[ 1699.289577] hm2/hm2_5i25.0: IO Pin 023 (P2-04): StepGen #3, pin Direction (Output)
[ 1699.289584] hm2/hm2_5i25.0: IO Pin 024 (P2-17): StepGen #3, pin Step (Output)
[ 1699.289592] hm2/hm2_5i25.0: IO Pin 025 (P2-05): StepGen #4, pin Direction (Output)
[ 1699.289599] hm2/hm2_5i25.0: IO Pin 026 (P2-06): StepGen #4, pin Step (Output)
[ 1699.289607] hm2/hm2_5i25.0: IO Pin 027 (P2-07): Smart Serial Interface #0, pin TxData3 (Output)
[ 1699.289615] hm2/hm2_5i25.0: IO Pin 028 (P2-08): Smart Serial Interface #0, pin RxData3 (Input)
[ 1699.289622] hm2/hm2_5i25.0: IO Pin 029 (P2-09): IOPort
[ 1699.289629] hm2/hm2_5i25.0: IO Pin 030 (P2-10): IOPort
[ 1699.289635] hm2/hm2_5i25.0: IO Pin 031 (P2-11): IOPort
[ 1699.289641] hm2/hm2_5i25.0: IO Pin 032 (P2-12): IOPort
[ 1699.289647] hm2/hm2_5i25.0: IO Pin 033 (P2-13): IOPort
[ 1699.290113] hm2/hm2_5i25.0: registered
[ 1699.290120] hm2_5i25.0: initialized AnyIO board at 0000:01:00.0
[ 1699.305286] creating ladder-state
[ 1699.994996] hm2_5i25.0: dropping AnyIO board at 0000:01:00.0
[ 1699.995009] hm2/hm2_5i25.0: unregistered
[ 1699.995659] hm2_pci: driver unloaded
[ 1700.000444] hm2: unloading
[ 1702.264453] RTAI[math]: unloaded.
[ 1702.269270] SCHED releases registered named ALIEN PEDV$D
[ 1702.283899] RTAI[malloc]: unloaded.
[ 1702.380045] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[ 1702.383958] I-pipe: head domain RTAI unregistered.
[ 1702.384404] RTAI[hal]: unmounted.
[ 1742.747165] I-pipe: head domain RTAI registered.
[ 1742.747180] RTAI[hal]: compiled with gcc version 4.7.2 (Debian 4.7.2-5) .
[ 1742.747276] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[ 1742.747285] SYSINFO: CPUs 2, LINUX APIC IRQ 2312, TIM_FREQ 12465440, CLK_FREQ 1795052000, CPU_FREQ 1795052000
[ 1742.747293] RTAI_APIC_TIMER_IPI: RTAI DEFINED 2314, VECTOR 2314; LINUX_APIC_TIMER_IPI: RTAI DEFINED 2312, VECTOR 2312
[ 1742.747301] TIMER NAME: lapic; VARIOUSLY FOUND APIC FREQs: 12465440, 12465440, 12358000
[ 1742.769211] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[ 1742.769296] , <uses LINUX SYSCALLs>, kstacks pool size = 524288 bytes.
[ 1742.769308] RTAI[sched]: hard timer type/freq = APIC/12465440(Hz); default timing: oneshot; linear timed lists.
[ 1742.769317] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 1795052000 hz.
[ 1742.769323] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns.
[ 1742.790936] RTAI[math]: loaded.
[ 1743.007067] hm2: loading Mesa HostMot2 driver version 0.15
[ 1743.012160] hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.7
[ 1743.012223] hm2_pci: discovered 5i25 at 0000:01:00.0
[ 1743.015730] hm2/hm2_5i25.0: Smart Serial Firmware Version 43
[ 1743.072881] Board hm2_5i25.0.7i77.0.0 Hardware Mode 0 = standard
[ 1743.075609] Board hm2_5i25.0.7i77.0.0 Software Mode 0 = input_output
[ 1743.078285] Board hm2_5i25.0.7i77.0.0 Software Mode 1 = io_analog
[ 1743.082589] Board hm2_5i25.0.7i77.0.0 Software Mode 2 = io_analog_fieldvoltage
[ 1743.088070] Board hm2_5i25.0.7i77.0.0 Software Mode 3 = io_encoder_analog_fieldvoltage
[ 1743.184337] Board hm2_5i25.0.7i77.0.1 Hardware Mode 0 = standard
[ 1743.187124] Board hm2_5i25.0.7i77.0.1 Software Mode 0 = analogout_enables
[ 1743.269407] Board hm2_5i25.0.7i76.0.3 Hardware Mode 0 = standard
[ 1743.271416] Board hm2_5i25.0.7i76.0.3 Software Mode 0 = io_spin
[ 1743.274163] Board hm2_5i25.0.7i76.0.3 Software Mode 1 = io_ana_spin
[ 1743.277955] Board hm2_5i25.0.7i76.0.3 Software Mode 2 = io_enc_ana_spin_fv
[ 1743.359553] hm2/hm2_5i25.0: Warning: sserial remote device 7i76 channel 3 has old firmware that should be updated
[ 1743.435685] hm2/hm2_5i25.0: 34 I/O Pins used:
[ 1743.435694] hm2/hm2_5i25.0: IO Pin 000 (P3-01): IOPort
[ 1743.435701] hm2/hm2_5i25.0: IO Pin 001 (P3-14): IOPort
[ 1743.435707] hm2/hm2_5i25.0: IO Pin 002 (P3-02): IOPort
[ 1743.435716] hm2/hm2_5i25.0: IO Pin 003 (P3-15): Smart Serial Interface #0, pin TxData1 (Output)
[ 1743.435724] hm2/hm2_5i25.0: IO Pin 004 (P3-03): Smart Serial Interface #0, pin RxData1 (Input)
[ 1743.435732] hm2/hm2_5i25.0: IO Pin 005 (P3-16): Smart Serial Interface #0, pin TxData0 (Output)
[ 1743.435740] hm2/hm2_5i25.0: IO Pin 006 (P3-04): Smart Serial Interface #0, pin RxData0 (Input)
[ 1743.435749] hm2/hm2_5i25.0: IO Pin 007 (P3-17): Muxed Encoder Select #0, pin Mux Select 0 (Output)
[ 1743.435757] hm2/hm2_5i25.0: IO Pin 008 (P3-05): Muxed Encoder #0, pin Muxed A (Input)
[ 1743.435764] hm2/hm2_5i25.0: IO Pin 009 (P3-06): Muxed Encoder #0, pin Muxed B (Input)
[ 1743.435772] hm2/hm2_5i25.0: IO Pin 010 (P3-07): Muxed Encoder #0, pin Muxed Index (Input)
[ 1743.435780] hm2/hm2_5i25.0: IO Pin 011 (P3-08): Muxed Encoder #1, pin Muxed A (Input)
[ 1743.435788] hm2/hm2_5i25.0: IO Pin 012 (P3-09): Muxed Encoder #1, pin Muxed B (Input)
[ 1743.435796] hm2/hm2_5i25.0: IO Pin 013 (P3-10): Muxed Encoder #1, pin Muxed Index (Input)
[ 1743.435804] hm2/hm2_5i25.0: IO Pin 014 (P3-11): Muxed Encoder #2, pin Muxed A (Input)
[ 1743.435811] hm2/hm2_5i25.0: IO Pin 015 (P3-12): Muxed Encoder #2, pin Muxed B (Input)
[ 1743.435819] hm2/hm2_5i25.0: IO Pin 016 (P3-13): Muxed Encoder #2, pin Muxed Index (Input)
[ 1743.435827] hm2/hm2_5i25.0: IO Pin 017 (P2-01): StepGen #0, pin Direction (Output)
[ 1743.435835] hm2/hm2_5i25.0: IO Pin 018 (P2-14): StepGen #0, pin Step (Output)
[ 1743.435843] hm2/hm2_5i25.0: IO Pin 019 (P2-02): StepGen #1, pin Direction (Output)
[ 1743.435850] hm2/hm2_5i25.0: IO Pin 020 (P2-15): StepGen #1, pin Step (Output)
[ 1743.435858] hm2/hm2_5i25.0: IO Pin 021 (P2-03): StepGen #2, pin Direction (Output)
[ 1743.435865] hm2/hm2_5i25.0: IO Pin 022 (P2-16): StepGen #2, pin Step (Output)
[ 1743.435873] hm2/hm2_5i25.0: IO Pin 023 (P2-04): StepGen #3, pin Direction (Output)
[ 1743.435881] hm2/hm2_5i25.0: IO Pin 024 (P2-17): StepGen #3, pin Step (Output)
[ 1743.435888] hm2/hm2_5i25.0: IO Pin 025 (P2-05): StepGen #4, pin Direction (Output)
[ 1743.435896] hm2/hm2_5i25.0: IO Pin 026 (P2-06): StepGen #4, pin Step (Output)
[ 1743.435903] hm2/hm2_5i25.0: IO Pin 027 (P2-07): Smart Serial Interface #0, pin TxData3 (Output)
[ 1743.435912] hm2/hm2_5i25.0: IO Pin 028 (P2-08): Smart Serial Interface #0, pin RxData3 (Input)
[ 1743.435919] hm2/hm2_5i25.0: IO Pin 029 (P2-09): IOPort
[ 1743.435925] hm2/hm2_5i25.0: IO Pin 030 (P2-10): IOPort
[ 1743.435931] hm2/hm2_5i25.0: IO Pin 031 (P2-11): IOPort
[ 1743.435937] hm2/hm2_5i25.0: IO Pin 032 (P2-12): IOPort
[ 1743.435944] hm2/hm2_5i25.0: IO Pin 033 (P2-13): IOPort
[ 1743.436409] hm2/hm2_5i25.0: registered
[ 1743.436416] hm2_5i25.0: initialized AnyIO board at 0000:01:00.0
[ 1743.451724] creating ladder-state
[ 1876.440131] hm2_5i25.0: dropping AnyIO board at 0000:01:00.0
[ 1876.440144] hm2/hm2_5i25.0: unregistered
[ 1876.448513] hm2_pci: driver unloaded
[ 1876.453186] hm2: unloading
[ 1878.733911] RTAI[math]: unloaded.
[ 1878.738717] SCHED releases registered named ALIEN PEDV$D
[ 1878.753397] RTAI[malloc]: unloaded.
[ 1878.852042] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[ 1878.857929] I-pipe: head domain RTAI unregistered.
[ 1878.858040] RTAI[hal]: unmounted.
[ 1881.414714] I-pipe: head domain RTAI registered.
[ 1881.414729] RTAI[hal]: compiled with gcc version 4.7.2 (Debian 4.7.2-5) .
[ 1881.414830] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[ 1881.414839] SYSINFO: CPUs 2, LINUX APIC IRQ 2312, TIM_FREQ 12465440, CLK_FREQ 1795052000, CPU_FREQ 1795052000
[ 1881.414847] RTAI_APIC_TIMER_IPI: RTAI DEFINED 2314, VECTOR 2314; LINUX_APIC_TIMER_IPI: RTAI DEFINED 2312, VECTOR 2312
[ 1881.414855] TIMER NAME: lapic; VARIOUSLY FOUND APIC FREQs: 12465440, 12465440, 12340500
[ 1881.429526] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[ 1881.429606] , <uses LINUX SYSCALLs>, kstacks pool size = 524288 bytes.
[ 1881.429618] RTAI[sched]: hard timer type/freq = APIC/12465440(Hz); default timing: oneshot; linear timed lists.
[ 1881.429627] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 1795052000 hz.
[ 1881.429633] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns.
[ 1881.452379] RTAI[math]: loaded.
[ 1881.666519] hm2: loading Mesa HostMot2 driver version 0.15
[ 1881.671714] hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.7
[ 1881.671778] hm2_pci: discovered 5i25 at 0000:01:00.0
[ 1881.675298] hm2/hm2_5i25.0: Smart Serial Firmware Version 43
[ 1881.732438] Board hm2_5i25.0.7i77.0.0 Hardware Mode 0 = standard
[ 1881.735321] Board hm2_5i25.0.7i77.0.0 Software Mode 0 = input_output
[ 1881.737974] Board hm2_5i25.0.7i77.0.0 Software Mode 1 = io_analog
[ 1881.742369] Board hm2_5i25.0.7i77.0.0 Software Mode 2 = io_analog_fieldvoltage
[ 1881.747849] Board hm2_5i25.0.7i77.0.0 Software Mode 3 = io_encoder_analog_fieldvoltage
[ 1881.843837] Board hm2_5i25.0.7i77.0.1 Hardware Mode 0 = standard
[ 1881.846585] Board hm2_5i25.0.7i77.0.1 Software Mode 0 = analogout_enables
[ 1881.929024] Board hm2_5i25.0.7i76.0.3 Hardware Mode 0 = standard
[ 1881.931135] Board hm2_5i25.0.7i76.0.3 Software Mode 0 = io_spin
[ 1881.934004] Board hm2_5i25.0.7i76.0.3 Software Mode 1 = io_ana_spin
[ 1881.937883] Board hm2_5i25.0.7i76.0.3 Software Mode 2 = io_enc_ana_spin_fv
[ 1882.019893] hm2/hm2_5i25.0: Warning: sserial remote device 7i76 channel 3 has old firmware that should be updated
[ 1882.096603] hm2/hm2_5i25.0: 34 I/O Pins used:
[ 1882.096612] hm2/hm2_5i25.0: IO Pin 000 (P3-01): IOPort
[ 1882.096619] hm2/hm2_5i25.0: IO Pin 001 (P3-14): IOPort
[ 1882.096625] hm2/hm2_5i25.0: IO Pin 002 (P3-02): IOPort
[ 1882.096633] hm2/hm2_5i25.0: IO Pin 003 (P3-15): Smart Serial Interface #0, pin TxData1 (Output)
[ 1882.096641] hm2/hm2_5i25.0: IO Pin 004 (P3-03): Smart Serial Interface #0, pin RxData1 (Input)
[ 1882.096650] hm2/hm2_5i25.0: IO Pin 005 (P3-16): Smart Serial Interface #0, pin TxData0 (Output)
[ 1882.096658] hm2/hm2_5i25.0: IO Pin 006 (P3-04): Smart Serial Interface #0, pin RxData0 (Input)
[ 1882.096666] hm2/hm2_5i25.0: IO Pin 007 (P3-17): Muxed Encoder Select #0, pin Mux Select 0 (Output)
[ 1882.096674] hm2/hm2_5i25.0: IO Pin 008 (P3-05): Muxed Encoder #0, pin Muxed A (Input)
[ 1882.096682] hm2/hm2_5i25.0: IO Pin 009 (P3-06): Muxed Encoder #0, pin Muxed B (Input)
[ 1882.096689] hm2/hm2_5i25.0: IO Pin 010 (P3-07): Muxed Encoder #0, pin Muxed Index (Input)
[ 1882.096697] hm2/hm2_5i25.0: IO Pin 011 (P3-08): Muxed Encoder #1, pin Muxed A (Input)
[ 1882.096705] hm2/hm2_5i25.0: IO Pin 012 (P3-09): Muxed Encoder #1, pin Muxed B (Input)
[ 1882.096713] hm2/hm2_5i25.0: IO Pin 013 (P3-10): Muxed Encoder #1, pin Muxed Index (Input)
[ 1882.096720] hm2/hm2_5i25.0: IO Pin 014 (P3-11): Muxed Encoder #2, pin Muxed A (Input)
[ 1882.096728] hm2/hm2_5i25.0: IO Pin 015 (P3-12): Muxed Encoder #2, pin Muxed B (Input)
[ 1882.096736] hm2/hm2_5i25.0: IO Pin 016 (P3-13): Muxed Encoder #2, pin Muxed Index (Input)
[ 1882.096744] hm2/hm2_5i25.0: IO Pin 017 (P2-01): StepGen #0, pin Direction (Output)
[ 1882.096751] hm2/hm2_5i25.0: IO Pin 018 (P2-14): StepGen #0, pin Step (Output)
[ 1882.096759] hm2/hm2_5i25.0: IO Pin 019 (P2-02): StepGen #1, pin Direction (Output)
[ 1882.096767] hm2/hm2_5i25.0: IO Pin 020 (P2-15): StepGen #1, pin Step (Output)
[ 1882.096774] hm2/hm2_5i25.0: IO Pin 021 (P2-03): StepGen #2, pin Direction (Output)
[ 1882.096782] hm2/hm2_5i25.0: IO Pin 022 (P2-16): StepGen #2, pin Step (Output)
[ 1882.096789] hm2/hm2_5i25.0: IO Pin 023 (P2-04): StepGen #3, pin Direction (Output)
[ 1882.096797] hm2/hm2_5i25.0: IO Pin 024 (P2-17): StepGen #3, pin Step (Output)
[ 1882.096804] hm2/hm2_5i25.0: IO Pin 025 (P2-05): StepGen #4, pin Direction (Output)
[ 1882.096812] hm2/hm2_5i25.0: IO Pin 026 (P2-06): StepGen #4, pin Step (Output)
[ 1882.096819] hm2/hm2_5i25.0: IO Pin 027 (P2-07): Smart Serial Interface #0, pin TxData3 (Output)
[ 1882.096827] hm2/hm2_5i25.0: IO Pin 028 (P2-08): Smart Serial Interface #0, pin RxData3 (Input)
[ 1882.096835] hm2/hm2_5i25.0: IO Pin 029 (P2-09): IOPort
[ 1882.096841] hm2/hm2_5i25.0: IO Pin 030 (P2-10): IOPort
[ 1882.096847] hm2/hm2_5i25.0: IO Pin 031 (P2-11): IOPort
[ 1882.096853] hm2/hm2_5i25.0: IO Pin 032 (P2-12): IOPort
[ 1882.096859] hm2/hm2_5i25.0: IO Pin 033 (P2-13): IOPort
[ 1882.098704] hm2/hm2_5i25.0: registered
[ 1882.098713] hm2_5i25.0: initialized AnyIO board at 0000:01:00.0
[ 1882.112731] creating ladder-state
[ 1923.984273] hm2_5i25.0: dropping AnyIO board at 0000:01:00.0
[ 1923.984287] hm2/hm2_5i25.0: unregistered
[ 1923.992564] hm2_pci: driver unloaded
[ 1923.997202] hm2: unloading
[ 1926.256299] RTAI[math]: unloaded.
[ 1926.261069] SCHED releases registered named ALIEN PEDV$D
[ 1926.277358] RTAI[malloc]: unloaded.
[ 1926.376048] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[ 1926.379960] I-pipe: head domain RTAI unregistered.
[ 1926.380387] RTAI[hal]: unmounted.
[ 1947.266531] I-pipe: head domain RTAI registered.
[ 1947.266546] RTAI[hal]: compiled with gcc version 4.7.2 (Debian 4.7.2-5) .
[ 1947.266646] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[ 1947.266655] SYSINFO: CPUs 2, LINUX APIC IRQ 2312, TIM_FREQ 12465440, CLK_FREQ 1795052000, CPU_FREQ 1795052000
[ 1947.266663] RTAI_APIC_TIMER_IPI: RTAI DEFINED 2314, VECTOR 2314; LINUX_APIC_TIMER_IPI: RTAI DEFINED 2312, VECTOR 2312
[ 1947.266671] TIMER NAME: lapic; VARIOUSLY FOUND APIC FREQs: 12465440, 12465440, 12336500
[ 1947.281346] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[ 1947.281432] , <uses LINUX SYSCALLs>, kstacks pool size = 524288 bytes.
[ 1947.281444] RTAI[sched]: hard timer type/freq = APIC/12465440(Hz); default timing: oneshot; linear timed lists.
[ 1947.281453] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 1795052000 hz.
[ 1947.281459] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns.
[ 1947.304057] RTAI[math]: loaded.
[ 1947.520760] hm2: loading Mesa HostMot2 driver version 0.15
[ 1947.525788] hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.7
[ 1947.525850] hm2_pci: discovered 5i25 at 0000:01:00.0
[ 1947.529405] hm2/hm2_5i25.0: Smart Serial Firmware Version 43
[ 1947.586523] Board hm2_5i25.0.7i77.0.0 Hardware Mode 0 = standard
[ 1947.589494] Board hm2_5i25.0.7i77.0.0 Software Mode 0 = input_output
[ 1947.591962] Board hm2_5i25.0.7i77.0.0 Software Mode 1 = io_analog
[ 1947.596289] Board hm2_5i25.0.7i77.0.0 Software Mode 2 = io_analog_fieldvoltage
[ 1947.601720] Board hm2_5i25.0.7i77.0.0 Software Mode 3 = io_encoder_analog_fieldvoltage
[ 1947.698004] Board hm2_5i25.0.7i77.0.1 Hardware Mode 0 = standard
[ 1947.700766] Board hm2_5i25.0.7i77.0.1 Software Mode 0 = analogout_enables
[ 1947.783023] Board hm2_5i25.0.7i76.0.3 Hardware Mode 0 = standard
[ 1947.785363] Board hm2_5i25.0.7i76.0.3 Software Mode 0 = io_spin
[ 1947.787987] Board hm2_5i25.0.7i76.0.3 Software Mode 1 = io_ana_spin
[ 1947.791842] Board hm2_5i25.0.7i76.0.3 Software Mode 2 = io_enc_ana_spin_fv
[ 1947.873878] hm2/hm2_5i25.0: Warning: sserial remote device 7i76 channel 3 has old firmware that should be updated
[ 1947.949974] hm2/hm2_5i25.0: 34 I/O Pins used:
[ 1947.949984] hm2/hm2_5i25.0: IO Pin 000 (P3-01): IOPort
[ 1947.949991] hm2/hm2_5i25.0: IO Pin 001 (P3-14): IOPort
[ 1947.949997] hm2/hm2_5i25.0: IO Pin 002 (P3-02): IOPort
[ 1947.950005] hm2/hm2_5i25.0: IO Pin 003 (P3-15): Smart Serial Interface #0, pin TxData1 (Output)
[ 1947.950014] hm2/hm2_5i25.0: IO Pin 004 (P3-03): Smart Serial Interface #0, pin RxData1 (Input)
[ 1947.950022] hm2/hm2_5i25.0: IO Pin 005 (P3-16): Smart Serial Interface #0, pin TxData0 (Output)
[ 1947.950030] hm2/hm2_5i25.0: IO Pin 006 (P3-04): Smart Serial Interface #0, pin RxData0 (Input)
[ 1947.950038] hm2/hm2_5i25.0: IO Pin 007 (P3-17): Muxed Encoder Select #0, pin Mux Select 0 (Output)
[ 1947.950046] hm2/hm2_5i25.0: IO Pin 008 (P3-05): Muxed Encoder #0, pin Muxed A (Input)
[ 1947.950054] hm2/hm2_5i25.0: IO Pin 009 (P3-06): Muxed Encoder #0, pin Muxed B (Input)
[ 1947.950062] hm2/hm2_5i25.0: IO Pin 010 (P3-07): Muxed Encoder #0, pin Muxed Index (Input)
[ 1947.950070] hm2/hm2_5i25.0: IO Pin 011 (P3-08): Muxed Encoder #1, pin Muxed A (Input)
[ 1947.950077] hm2/hm2_5i25.0: IO Pin 012 (P3-09): Muxed Encoder #1, pin Muxed B (Input)
[ 1947.950085] hm2/hm2_5i25.0: IO Pin 013 (P3-10): Muxed Encoder #1, pin Muxed Index (Input)
[ 1947.950093] hm2/hm2_5i25.0: IO Pin 014 (P3-11): Muxed Encoder #2, pin Muxed A (Input)
[ 1947.950101] hm2/hm2_5i25.0: IO Pin 015 (P3-12): Muxed Encoder #2, pin Muxed B (Input)
[ 1947.950109] hm2/hm2_5i25.0: IO Pin 016 (P3-13): Muxed Encoder #2, pin Muxed Index (Input)
[ 1947.950117] hm2/hm2_5i25.0: IO Pin 017 (P2-01): StepGen #0, pin Direction (Output)
[ 1947.950124] hm2/hm2_5i25.0: IO Pin 018 (P2-14): StepGen #0, pin Step (Output)
[ 1947.950132] hm2/hm2_5i25.0: IO Pin 019 (P2-02): StepGen #1, pin Direction (Output)
[ 1947.950140] hm2/hm2_5i25.0: IO Pin 020 (P2-15): StepGen #1, pin Step (Output)
[ 1947.950147] hm2/hm2_5i25.0: IO Pin 021 (P2-03): StepGen #2, pin Direction (Output)
[ 1947.950155] hm2/hm2_5i25.0: IO Pin 022 (P2-16): StepGen #2, pin Step (Output)
[ 1947.950162] hm2/hm2_5i25.0: IO Pin 023 (P2-04): StepGen #3, pin Direction (Output)
[ 1947.950170] hm2/hm2_5i25.0: IO Pin 024 (P2-17): StepGen #3, pin Step (Output)
[ 1947.950178] hm2/hm2_5i25.0: IO Pin 025 (P2-05): StepGen #4, pin Direction (Output)
[ 1947.950185] hm2/hm2_5i25.0: IO Pin 026 (P2-06): StepGen #4, pin Step (Output)
[ 1947.950195] hm2/hm2_5i25.0: IO Pin 027 (P2-07): Smart Serial Interface #0, pin TxData3 (Output)
[ 1947.950203] hm2/hm2_5i25.0: IO Pin 028 (P2-08): Smart Serial Interface #0, pin RxData3 (Input)
[ 1947.950210] hm2/hm2_5i25.0: IO Pin 029 (P2-09): IOPort
[ 1947.950216] hm2/hm2_5i25.0: IO Pin 030 (P2-10): IOPort
[ 1947.950223] hm2/hm2_5i25.0: IO Pin 031 (P2-11): IOPort
[ 1947.950229] hm2/hm2_5i25.0: IO Pin 032 (P2-12): IOPort
[ 1947.950235] hm2/hm2_5i25.0: IO Pin 033 (P2-13): IOPort
[ 1947.950701] hm2/hm2_5i25.0: registered
[ 1947.950707] hm2_5i25.0: initialized AnyIO board at 0000:01:00.0
[ 1947.965854] creating ladder-state
[ 2310.617973] hm2_5i25.0: dropping AnyIO board at 0000:01:00.0
[ 2310.617987] hm2/hm2_5i25.0: unregistered
[ 2310.618615] hm2_pci: driver unloaded
[ 2310.623399] hm2: unloading
[ 2312.872800] RTAI[math]: unloaded.
[ 2312.877627] SCHED releases registered named ALIEN PEDV$D
[ 2312.893460] RTAI[malloc]: unloaded.
[ 2312.992045] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[ 2312.995974] I-pipe: head domain RTAI unregistered.
[ 2312.996416] RTAI[hal]: unmounted.
[ 2316.872872] usb 1-6: USB disconnect, device number 4
[ 2316.873047] rndis_host 1-6:1.0: usb0: unregister 'rndis_host' usb-0000:00:1d.7-6, RNDIS device
[ 5294.806159] I-pipe: head domain RTAI registered.
[ 5294.806174] RTAI[hal]: compiled with gcc version 4.7.2 (Debian 4.7.2-5) .
[ 5294.806272] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[ 5294.806280] SYSINFO: CPUs 2, LINUX APIC IRQ 2312, TIM_FREQ 12465440, CLK_FREQ 1795052000, CPU_FREQ 1795052000
[ 5294.806288] RTAI_APIC_TIMER_IPI: RTAI DEFINED 2314, VECTOR 2314; LINUX_APIC_TIMER_IPI: RTAI DEFINED 2312, VECTOR 2312
[ 5294.806296] TIMER NAME: lapic; VARIOUSLY FOUND APIC FREQs: 12465440, 12465440, 12339750
[ 5294.821351] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[ 5294.821433] , <uses LINUX SYSCALLs>, kstacks pool size = 524288 bytes.
[ 5294.821445] RTAI[sched]: hard timer type/freq = APIC/12465440(Hz); default timing: oneshot; linear timed lists.
[ 5294.821453] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 1795052000 hz.
[ 5294.821460] RTAI[sched]: timer setup = 999 ns, resched latency = 2943 ns.
[ 5294.844843] RTAI[math]: loaded.
[ 5295.042992] GANTRYKINS: joints[0] = 0
[ 5295.043002] GANTRYKINS: joints[1] = 1
[ 5295.043009] GANTRYKINS: joints[2] = 1
[ 5295.043015] GANTRYKINS: joints[3] = 2
[ 5295.043021] GANTRYKINS: joints[4] = 8
[ 5295.043028] GANTRYKINS: joints[5] = -1
[ 5295.043035] GANTRYKINS: joints[6] = -1
[ 5295.043042] GANTRYKINS: joints[7] = -1
[ 5295.043049] GANTRYKINS: joints[8] = -1
[ 5295.071176] hm2: loading Mesa HostMot2 driver version 0.15
[ 5295.076207] hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.7
[ 5295.076271] hm2_pci: discovered 5i25 at 0000:01:00.0
[ 5295.079700] hm2/hm2_5i25.0: Smart Serial Firmware Version 43
[ 5295.136771] Board hm2_5i25.0.7i77.0.0 Hardware Mode 0 = standard
[ 5295.139547] Board hm2_5i25.0.7i77.0.0 Software Mode 0 = input_output
[ 5295.142190] Board hm2_5i25.0.7i77.0.0 Software Mode 1 = io_analog
[ 5295.146515] Board hm2_5i25.0.7i77.0.0 Software Mode 2 = io_analog_fieldvoltage
[ 5295.151990] Board hm2_5i25.0.7i77.0.0 Software Mode 3 = io_encoder_analog_fieldvoltage
[ 5295.248331] Board hm2_5i25.0.7i77.0.1 Hardware Mode 0 = standard
[ 5295.251118] Board hm2_5i25.0.7i77.0.1 Software Mode 0 = analogout_enables
[ 5295.334819] Board hm2_5i25.0.7i76.0.3 Hardware Mode 0 = standard
[ 5295.337145] Board hm2_5i25.0.7i76.0.3 Software Mode 0 = io_spin
[ 5295.340020] Board hm2_5i25.0.7i76.0.3 Software Mode 1 = io_ana_spin
[ 5295.343823] Board hm2_5i25.0.7i76.0.3 Software Mode 2 = io_enc_ana_spin_fv
[ 5295.426200] hm2/hm2_5i25.0: Warning: sserial remote device 7i76 channel 3 has old firmware that should be updated
[ 5295.483686] hm2/hm2_5i25.0: 34 I/O Pins used:
[ 5295.483695] hm2/hm2_5i25.0: IO Pin 000 (P3-01): IOPort
[ 5295.483702] hm2/hm2_5i25.0: IO Pin 001 (P3-14): IOPort
[ 5295.483708] hm2/hm2_5i25.0: IO Pin 002 (P3-02): IOPort
[ 5295.483716] hm2/hm2_5i25.0: IO Pin 003 (P3-15): Smart Serial Interface #0, pin TxData1 (Output)
[ 5295.483724] hm2/hm2_5i25.0: IO Pin 004 (P3-03): Smart Serial Interface #0, pin RxData1 (Input)
[ 5295.483732] hm2/hm2_5i25.0: IO Pin 005 (P3-16): Smart Serial Interface #0, pin TxData0 (Output)
[ 5295.483740] hm2/hm2_5i25.0: IO Pin 006 (P3-04): Smart Serial Interface #0, pin RxData0 (Input)
[ 5295.483749] hm2/hm2_5i25.0: IO Pin 007 (P3-17): Muxed Encoder Select #0, pin Mux Select 0 (Output)
[ 5295.483757] hm2/hm2_5i25.0: IO Pin 008 (P3-05): Muxed Encoder #0, pin Muxed A (Input)
[ 5295.483765] hm2/hm2_5i25.0: IO Pin 009 (P3-06): Muxed Encoder #0, pin Muxed B (Input)
[ 5295.483772] hm2/hm2_5i25.0: IO Pin 010 (P3-07): Muxed Encoder #0, pin Muxed Index (Input)
[ 5295.483780] hm2/hm2_5i25.0: IO Pin 011 (P3-08): Muxed Encoder #1, pin

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10 years 10 months ago #66623 by andypugh
Replied by andypugh on topic W axis with gantry kins hal/ini configuration
I think "Axes = 5" is the problem.

To use a W axis you need a full 9 axes.

You need to check what the "loadrt motmod" line in the HAL file is using for num_axes. This normally comes from the INI, but it doesn't have to.

If you have [TRAJ] COORDINATES = XYZW then you won't see (and can't reference in G-code) the missing axes.

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10 years 10 months ago #66624 by guymalpass
Replied by guymalpass on topic W axis with gantry kins hal/ini configuration
Sorry the code tags don't seem to be working for that post. I did start off with this branch of JA: github.com/curtdutt/linuxcnc but I was having issues getting that to work too. I was having the problem described in this thread: forum.linuxcnc.org/forum/49-basic-config...try-machine?start=10 and also some peculiar jog speeds etc. I was planning to have another go at gentrivkins if I could gantrykins working.

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