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

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

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

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

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

root@armcnc:~/linuxcnc/script# ethercat cstruct /* Master 0, Slave 0, "ECR60"  * Vendor ID:       0x00000a88  * Product code:    0x0a880001  * Revision number: 0x00000202  */ ec_pdo_entry_info_t slave_0_pdo_entries[] = {     {0x6040, 0x00, 16}, /* Control Word */     {0x6060, 0x00, 8}, /* ModeOfOperation */     {0x607a, 0x00, 32}, /* Profile Target Position */     {0x6041, 0x00, 16}, /* Status Word */     {0x6061, 0x00, 8}, /* Modes of Operation display */     {0x6064, 0x00, 32}, /* Position Actual Value */     {0x60fd, 0x00, 32}, /* Digital Inputs */ }; ec_pdo_info_t slave_0_pdos[] = {     {0x1600, 3, slave_0_pdo_entries + 0}, /* Receive PDO 1 */     {0x1a00, 4, slave_0_pdo_entries + 3}, /* Transmit PDO 1 */ }; ec_sync_info_t slave_0_syncs[] = {     {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},     {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},     {2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_ENABLE},     {3, EC_DIR_INPUT, 1, slave_0_pdos + 1, EC_WD_DISABLE},     {0xff} }; /* Master 0, Slave 1, "ECR60"  * Vendor ID:       0x00000a88  * Product code:    0x0a880001  * Revision number: 0x00000202  */ ec_pdo_entry_info_t slave_1_pdo_entries[] = {     {0x6040, 0x00, 16}, /* Control Word */     {0x6060, 0x00, 8}, /* ModeOfOperation */     {0x607a, 0x00, 32}, /* Profile Target Position */     {0x6041, 0x00, 16}, /* Status Word */     {0x6061, 0x00, 8}, /* Modes of Operation display */     {0x6064, 0x00, 32}, /* Position Actual Value */     {0x60fd, 0x00, 32}, /* Digital Inputs */ }; ec_pdo_info_t slave_1_pdos[] = {     {0x1600, 3, slave_1_pdo_entries + 0}, /* Receive PDO 1 */     {0x1a00, 4, slave_1_pdo_entries + 3}, /* Transmit PDO 1 */ }; ec_sync_info_t slave_1_syncs[] = {     {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},     {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},     {2, EC_DIR_OUTPUT, 1, slave_1_pdos + 0, EC_WD_ENABLE},     {3, EC_DIR_INPUT, 1, slave_1_pdos + 1, EC_WD_DISABLE},     {0xff} }; /* Master 0, Slave 2, "ECR60"  * Vendor ID:       0x00000a88  * Product code:    0x0a880001  * Revision number: 0x00000202  */ ec_pdo_entry_info_t slave_2_pdo_entries[] = {     {0x6040, 0x00, 16}, /* Control Word */     {0x6060, 0x00, 8}, /* ModeOfOperation */     {0x607a, 0x00, 32}, /* Profile Target Position */     {0x6041, 0x00, 16}, /* Status Word */     {0x6061, 0x00, 8}, /* Modes of Operation display */     {0x6064, 0x00, 32}, /* Position Actual Value */     {0x60fd, 0x00, 32}, /* Digital Inputs */ }; ec_pdo_info_t slave_2_pdos[] = {     {0x1600, 3, slave_2_pdo_entries + 0}, /* Receive PDO 1 */     {0x1a00, 4, slave_2_pdo_entries + 3}, /* Transmit PDO 1 */ }; ec_sync_info_t slave_2_syncs[] = {     {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},     {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},     {2, EC_DIR_OUTPUT, 1, slave_2_pdos + 0, EC_WD_ENABLE},     {3, EC_DIR_INPUT, 1, slave_2_pdos + 1, EC_WD_DISABLE},     {0xff} };

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

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

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

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