LINUXCNC - 2.8.1 Machine configuration directory is '/home/sgrgac/linuxcnc/configs' Machine configuration file is '5i24.ini' Starting LinuxCNC... emc/iotask/ioControl.cc 702: can't load tool table. Found file(REL): ./hm2-servo.hal Note: Using POSIX realtime HAL: removing component 12 HAL: releasing RTAPI resourcesHAL: component 12 removed, name = 'halcmd21823' HAL: initializing hal_lib /usr/bin/rtapi_app load hostmot2 HAL: initializing component 'halcmd21823' HAL: component 'halcmd21823' initialized, ID = 16 hm2: loading Mesa HostMot2 driver version 0.15 ./hm2-servo.hal:18: Component 'hostmot2' ready ./hm2-servo.hal:18: Program '/usr/bin/rtapi_app' started smalloc_up: shmem available 301271 ./hm2-servo.hal:18: Realtime module 'hostmot2' loaded HAL: removing component 16 HAL: releasing RTAPI resourcesHAL: component 16 removed, name = 'halcmd21823' HAL: initializing hal_lib /usr/bin/rtapi_app load iCNQCangle HAL: initializing component 'halcmd21823' HAL: component 'halcmd21823' initialized, ID = 19 ./hm2-servo.hal:19: Component 'iCNQCangle' ready ./hm2-servo.hal:19: Program '/usr/bin/rtapi_app' started smalloc_up: shmem available 299231 ./hm2-servo.hal:19: Realtime module 'iCNQCangle' loaded HAL: removing component 19 HAL: releasing RTAPI resourcesHAL: component 19 removed, name = 'halcmd21823' HAL: initializing hal_lib /usr/bin/rtapi_app load hm2_pci config="ssi_chan_0=x_fine%17fe ssi_chan_1=x_coarse%25fe ssi_chan_2=y_fine%25fe ssi_chan_3=y_coarse%25fe ssi_chan_4=z_fine%25fe ssi_chan_5=z_coarse%25fe ssi_chan_6=s_fine%25fe ssi_chan_7=s_coarse%25fe num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_1=1234xxxx" HAL: initializing component 'halcmd21823' HAL: component 'halcmd21823' initialized, ID = 22 hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.7 hm2_pci: discovered 5i24 at 0000:01:0a.0 hm2/hm2_5i24.0: Low Level init 0.15 hm2/hm2_5i24.0: Smart Serial Firmware Version 43 hm2/hm2_5i24.0: Smart Serial Firmware Version 43 hm2/hm2_5i24.0: 72 I/O Pins used: hm2/hm2_5i24.0: IO Pin 000 (P4-01): IOPort hm2/hm2_5i24.0: IO Pin 001 (P4-03): Muxed Encoder #0, pin Muxed A (Input) hm2/hm2_5i24.0: IO Pin 002 (P4-05): Muxed Encoder #0, pin Muxed B (Input) hm2/hm2_5i24.0: IO Pin 003 (P4-07): Muxed Encoder #0, pin Muxed Index (Input) hm2/hm2_5i24.0: IO Pin 004 (P4-09): IOPort hm2/hm2_5i24.0: IO Pin 005 (P4-11): IOPort hm2/hm2_5i24.0: IO Pin 006 (P4-13): IOPort hm2/hm2_5i24.0: IO Pin 007 (P4-15): IOPort hm2/hm2_5i24.0: IO Pin 008 (P4-17): IOPort hm2/hm2_5i24.0: IO Pin 009 (P4-19): IOPort hm2/hm2_5i24.0: IO Pin 010 (P4-21): Muxed Encoder Select #0, pin Mux Select 0 (Output) hm2/hm2_5i24.0: IO Pin 011 (P4-23): IOPort hm2/hm2_5i24.0: IO Pin 012 (P4-25): IOPort hm2/hm2_5i24.0: IO Pin 013 (P4-27): IOPort hm2/hm2_5i24.0: IO Pin 014 (P4-29): IOPort hm2/hm2_5i24.0: IO Pin 015 (P4-31): IOPort hm2/hm2_5i24.0: IO Pin 016 (P4-33): IOPort hm2/hm2_5i24.0: IO Pin 017 (P4-35): IOPort hm2/hm2_5i24.0: IO Pin 018 (P4-37): IOPort hm2/hm2_5i24.0: IO Pin 019 (P4-39): IOPort hm2/hm2_5i24.0: IO Pin 020 (P4-41): IOPort hm2/hm2_5i24.0: IO Pin 021 (P4-43): IOPort hm2/hm2_5i24.0: IO Pin 022 (P4-45): IOPort hm2/hm2_5i24.0: IO Pin 023 (P4-47): IOPort hm2/hm2_5i24.0: IO Pin 024 (P3-01): SSI Encoder #4, pin Clock (Output) hm2/hm2_5i24.0: IO Pin 025 (P3-03): SSI Encoder #5, pin Clock (Output) hm2/hm2_5i24.0: IO Pin 026 (P3-05): SSI Encoder #6, pin Clock (Output) hm2/hm2_5i24.0: IO Pin 027 (P3-07): SSI Encoder #7, pin Clock (Output) hm2/hm2_5i24.0: IO Pin 028 (P3-09): SSI Encoder #0, pin Data (Input) hm2/hm2_5i24.0: IO Pin 029 (P3-11): SSI Encoder #6, pin Data (Input) hm2/hm2_5i24.0: IO Pin 030 (P3-13): SSI Encoder #1, pin Data (Input) hm2/hm2_5i24.0: IO Pin 031 (P3-15): SSI Encoder #7, pin Data (Input) hm2/hm2_5i24.0: IO Pin 032 (P3-17): SSI Encoder #2, pin Data (Input) hm2/hm2_5i24.0: IO Pin 033 (P3-19): IOPort hm2/hm2_5i24.0: IO Pin 034 (P3-21): SSI Encoder #3, pin Data (Input) hm2/hm2_5i24.0: IO Pin 035 (P3-23): IOPort hm2/hm2_5i24.0: IO Pin 036 (P3-25): SSI Encoder #4, pin Data (Input) hm2/hm2_5i24.0: IO Pin 037 (P3-27): IOPort hm2/hm2_5i24.0: IO Pin 038 (P3-29): SSI Encoder #5, pin Data (Input) hm2/hm2_5i24.0: IO Pin 039 (P3-31): IOPort hm2/hm2_5i24.0: IO Pin 040 (P3-33): IOPort hm2/hm2_5i24.0: IO Pin 041 (P3-35): IOPort hm2/hm2_5i24.0: IO Pin 042 (P3-37): IOPort hm2/hm2_5i24.0: IO Pin 043 (P3-39): IOPort hm2/hm2_5i24.0: IO Pin 044 (P3-41): SSI Encoder #0, pin Clock (Output) hm2/hm2_5i24.0: IO Pin 045 (P3-43): SSI Encoder #1, pin Clock (Output) hm2/hm2_5i24.0: IO Pin 046 (P3-45): SSI Encoder #2, pin Clock (Output) hm2/hm2_5i24.0: IO Pin 047 (P3-47): SSI Encoder #3, pin Clock (Output) hm2/hm2_5i24.0: IO Pin 048 (P2-01): IOPort hm2/hm2_5i24.0: IO Pin 049 (P2-03): IOPort hm2/hm2_5i24.0: IO Pin 050 (P2-05): IOPort hm2/hm2_5i24.0: IO Pin 051 (P2-07): IOPort hm2/hm2_5i24.0: IO Pin 052 (P2-09): IOPort hm2/hm2_5i24.0: IO Pin 053 (P2-11): IOPort hm2/hm2_5i24.0: IO Pin 054 (P2-13): IOPort hm2/hm2_5i24.0: IO Pin 055 (P2-15): IOPort hm2/hm2_5i24.0: IO Pin 056 (P2-17): IOPort hm2/hm2_5i24.0: IO Pin 057 (P2-19): IOPort hm2/hm2_5i24.0: IO Pin 058 (P2-21): IOPort hm2/hm2_5i24.0: IO Pin 059 (P2-23): IOPort hm2/hm2_5i24.0: IO Pin 060 (P2-25): IOPort hm2/hm2_5i24.0: IO Pin 061 (P2-27): IOPort hm2/hm2_5i24.0: IO Pin 062 (P2-29): IOPort hm2/hm2_5i24.0: IO Pin 063 (P2-31): IOPort hm2/hm2_5i24.0: IO Pin 064 (P2-33): IOPort hm2/hm2_5i24.0: IO Pin 065 (P2-35): IOPort hm2/hm2_5i24.0: IO Pin 066 (P2-37): IOPort hm2/hm2_5i24.0: IO Pin 067 (P2-39): IOPort hm2/hm2_5i24.0: IO Pin 068 (P2-41): IOPort hm2/hm2_5i24.0: IO Pin 069 (P2-43): IOPort hm2/hm2_5i24.0: IO Pin 070 (P2-45): IOPort hm2/hm2_5i24.0: IO Pin 071 (P2-47): IOPort hm2/hm2_5i24.0: registered hm2_5i24.0: initialized AnyIO board at 0000:01:0a.0 ./hm2-servo.hal:22: Component 'hm2_pci' ready ./hm2-servo.hal:22: Program '/usr/bin/rtapi_app' started smalloc_up: shmem available 212706 ./hm2-servo.hal:22: Realtime module 'hm2_pci' loaded ./hm2-servo.hal:23: setting parameter 'hm2_5i24.0.watchdog.timeout_ns' to '5000000' ./hm2-servo.hal:23: Parameter 'hm2_5i24.0.watchdog.timeout_ns' set to 5000000 HAL: adding function 'hm2_5i24.0.read' to thread 'servo-thread' smalloc_dn: shmem available 212658 ./hm2-servo.hal:31: Function 'hm2_5i24.0.read' added to thread 'servo-thread' HAL: adding function 'motion-command-handler' to thread 'servo-thread' smalloc_dn: shmem available 212610 ./hm2-servo.hal:33: Function 'motion-command-handler' added to thread 'servo-thread' HAL: adding function 'motion-controller' to thread 'servo-thread' smalloc_dn: shmem available 212562 ./hm2-servo.hal:34: Function 'motion-controller' added to thread 'servo-thread' HAL: adding function 'hm2_5i24.0.write' to thread 'servo-thread' smalloc_dn: shmem available 212514 ./hm2-servo.hal:36: Function 'hm2_5i24.0.write' added to thread 'servo-thread' HAL: adding function 'iCNQCangle.0' to thread 'servo-thread' smalloc_dn: shmem available 212466 ./hm2-servo.hal:37: Function 'iCNQCangle.0' added to thread 'servo-thread' ./hm2-servo.hal:45: setting parameter 'hm2_5i24.0.dpll.01.timer-us' to '-100' ./hm2-servo.hal:45: Pin 'hm2_5i24.0.dpll.01.timer-us' set to -100 ./hm2-servo.hal:50: setting parameter 'hm2_5i24.0.ssi.00.frequency-khz' to '400' ./hm2-servo.hal:50: Parameter 'hm2_5i24.0.ssi.00.frequency-khz' set to 400 ./hm2-servo.hal:51: setting parameter 'hm2_5i24.0.ssi.00.timer-number' to '1' ./hm2-servo.hal:51: Parameter 'hm2_5i24.0.ssi.00.timer-number' set to 1 ./hm2-servo.hal:53: setting parameter 'hm2_5i24.0.ssi.01.frequency-khz' to '400' ./hm2-servo.hal:53: Parameter 'hm2_5i24.0.ssi.01.frequency-khz' set to 400 ./hm2-servo.hal:54: setting parameter 'hm2_5i24.0.ssi.01.timer-number' to '1' ./hm2-servo.hal:54: Parameter 'hm2_5i24.0.ssi.01.timer-number' set to 1 ./hm2-servo.hal:59: setting parameter 'hm2_5i24.0.ssi.02.frequency-khz' to '400' ./hm2-servo.hal:59: Parameter 'hm2_5i24.0.ssi.02.frequency-khz' set to 400 ./hm2-servo.hal:60: setting parameter 'hm2_5i24.0.ssi.02.timer-number' to '1' ./hm2-servo.hal:60: Parameter 'hm2_5i24.0.ssi.02.timer-number' set to 1 ./hm2-servo.hal:62: setting parameter 'hm2_5i24.0.ssi.03.frequency-khz' to '400' ./hm2-servo.hal:62: Parameter 'hm2_5i24.0.ssi.03.frequency-khz' set to 400 ./hm2-servo.hal:63: setting parameter 'hm2_5i24.0.ssi.03.timer-number' to '1' ./hm2-servo.hal:63: Parameter 'hm2_5i24.0.ssi.03.timer-number' set to 1 ./hm2-servo.hal:68: setting parameter 'hm2_5i24.0.ssi.04.frequency-khz' to '400' ./hm2-servo.hal:68: Parameter 'hm2_5i24.0.ssi.04.frequency-khz' set to 400 ./hm2-servo.hal:69: setting parameter 'hm2_5i24.0.ssi.04.timer-number' to '1' ./hm2-servo.hal:69: Parameter 'hm2_5i24.0.ssi.04.timer-number' set to 1 ./hm2-servo.hal:71: setting parameter 'hm2_5i24.0.ssi.05.frequency-khz' to '400' ./hm2-servo.hal:71: Parameter 'hm2_5i24.0.ssi.05.frequency-khz' set to 400 ./hm2-servo.hal:72: setting parameter 'hm2_5i24.0.ssi.05.timer-number' to '1' ./hm2-servo.hal:72: Parameter 'hm2_5i24.0.ssi.05.timer-number' set to 1 ./hm2-servo.hal:77: setting parameter 'hm2_5i24.0.ssi.06.frequency-khz' to '400' ./hm2-servo.hal:77: Parameter 'hm2_5i24.0.ssi.06.frequency-khz' set to 400 ./hm2-servo.hal:78: setting parameter 'hm2_5i24.0.ssi.06.timer-number' to '1' ./hm2-servo.hal:78: Parameter 'hm2_5i24.0.ssi.06.timer-number' set to 1 ./hm2-servo.hal:80: setting parameter 'hm2_5i24.0.ssi.07.frequency-khz' to '400' ./hm2-servo.hal:80: Parameter 'hm2_5i24.0.ssi.07.frequency-khz' set to 400 ./hm2-servo.hal:81: setting parameter 'hm2_5i24.0.ssi.07.timer-number' to '1' ./hm2-servo.hal:81: Parameter 'hm2_5i24.0.ssi.07.timer-number' set to 1 HAL: creating signal 'fine2sgnl' smalloc_up: shmem available 212456 smalloc_dn: shmem available 212376 HAL: linking pin 'iCNQCangle.0.fine2' to 'fine2sgnl' ./hm2-servo.hal:88: Pin 'iCNQCangle.0.fine2' linked to signal 'fine2sgnl' HAL: linking pin 'hm2_5i24.0.ssi.00.x_fine-02' to 'fine2sgnl' ./hm2-servo.hal:88: Pin 'hm2_5i24.0.ssi.00.x_fine-02' linked to signal 'fine2sgnl' HAL: creating signal 'fine3sgnl' smalloc_up: shmem available 212368 smalloc_dn: shmem available 212288 HAL: linking pin 'iCNQCangle.0.fine3' to 'fine3sgnl' ./hm2-servo.hal:89: Pin 'iCNQCangle.0.fine3' linked to signal 'fine3sgnl' HAL: linking pin 'hm2_5i24.0.ssi.00.x_fine-03' to 'fine3sgnl' ./hm2-servo.hal:89: Pin 'hm2_5i24.0.ssi.00.x_fine-03' linked to signal 'fine3sgnl' HAL: creating signal 'fine4sgnl' smalloc_up: shmem available 212280 smalloc_dn: shmem available 212200 HAL: linking pin 'iCNQCangle.0.fine4' to 'fine4sgnl' ./hm2-servo.hal:90: Pin 'iCNQCangle.0.fine4' linked to signal 'fine4sgnl' HAL: linking pin 'hm2_5i24.0.ssi.00.x_fine-04' to 'fine4sgnl' ./hm2-servo.hal:90: Pin 'hm2_5i24.0.ssi.00.x_fine-04' linked to signal 'fine4sgnl' HAL: creating signal 'fine5sgnl' smalloc_up: shmem available 212192 smalloc_dn: shmem available 212112 HAL: linking pin 'iCNQCangle.0.fine5' to 'fine5sgnl' ./hm2-servo.hal:91: Pin 'iCNQCangle.0.fine5' linked to signal 'fine5sgnl' HAL: linking pin 'hm2_5i24.0.ssi.00.x_fine-05' to 'fine5sgnl' ./hm2-servo.hal:91: Pin 'hm2_5i24.0.ssi.00.x_fine-05' linked to signal 'fine5sgnl' HAL: creating signal 'fine6sgnl' smalloc_up: shmem available 212104 smalloc_dn: shmem available 212024 HAL: linking pin 'iCNQCangle.0.fine6' to 'fine6sgnl' ./hm2-servo.hal:92: Pin 'iCNQCangle.0.fine6' linked to signal 'fine6sgnl' HAL: linking pin 'hm2_5i24.0.ssi.00.x_fine-06' to 'fine6sgnl' ./hm2-servo.hal:92: Pin 'hm2_5i24.0.ssi.00.x_fine-06' linked to signal 'fine6sgnl' HAL: creating signal 'fine7sgnl' smalloc_up: shmem available 212016 smalloc_dn: shmem available 211936 HAL: linking pin 'iCNQCangle.0.fine7' to 'fine7sgnl' ./hm2-servo.hal:93: Pin 'iCNQCangle.0.fine7' linked to signal 'fine7sgnl' HAL: linking pin 'hm2_5i24.0.ssi.00.x_fine-07' to 'fine7sgnl' ./hm2-servo.hal:93: Pin 'hm2_5i24.0.ssi.00.x_fine-07' linked to signal 'fine7sgnl' HAL: creating signal 'fine8sgnl' smalloc_up: shmem available 211928 smalloc_dn: shmem available 211848 HAL: linking pin 'iCNQCangle.0.fine8' to 'fine8sgnl' ./hm2-servo.hal:94: Pin 'iCNQCangle.0.fine8' linked to signal 'fine8sgnl' HAL: linking pin 'hm2_5i24.0.ssi.00.x_fine-08' to 'fine8sgnl' ./hm2-servo.hal:94: Pin 'hm2_5i24.0.ssi.00.x_fine-08' linked to signal 'fine8sgnl' HAL: creating signal 'fine9sgnl' smalloc_up: shmem available 211840 smalloc_dn: shmem available 211760 HAL: linking pin 'iCNQCangle.0.fine9' to 'fine9sgnl' ./hm2-servo.hal:95: Pin 'iCNQCangle.0.fine9' linked to signal 'fine9sgnl' HAL: linking pin 'hm2_5i24.0.ssi.00.x_fine-09' to 'fine9sgnl' ./hm2-servo.hal:95: Pin 'hm2_5i24.0.ssi.00.x_fine-09' linked to signal 'fine9sgnl' HAL: creating signal 'fine10sgnl' smalloc_up: shmem available 211752 smalloc_dn: shmem available 211672 HAL: linking pin 'iCNQCangle.0.fine10' to 'fine10sgnl' ./hm2-servo.hal:96: Pin 'iCNQCangle.0.fine10' linked to signal 'fine10sgnl' HAL: linking pin 'hm2_5i24.0.ssi.00.x_fine-10' to 'fine10sgnl' ./hm2-servo.hal:96: Pin 'hm2_5i24.0.ssi.00.x_fine-10' linked to signal 'fine10sgnl' HAL: creating signal 'fine11sgnl' smalloc_up: shmem available 211664 smalloc_dn: shmem available 211584 HAL: linking pin 'iCNQCangle.0.fine11' to 'fine11sgnl' ./hm2-servo.hal:97: Pin 'iCNQCangle.0.fine11' linked to signal 'fine11sgnl' HAL: linking pin 'hm2_5i24.0.ssi.00.x_fine-11' to 'fine11sgnl' ./hm2-servo.hal:97: Pin 'hm2_5i24.0.ssi.00.x_fine-11' linked to signal 'fine11sgnl' HAL: creating signal 'fine12sgnl' smalloc_up: shmem available 211576 smalloc_dn: shmem available 211496 HAL: linking pin 'iCNQCangle.0.fine12' to 'fine12sgnl' ./hm2-servo.hal:98: Pin 'iCNQCangle.0.fine12' linked to signal 'fine12sgnl' HAL: linking pin 'hm2_5i24.0.ssi.00.x_fine-12' to 'fine12sgnl' ./hm2-servo.hal:98: Pin 'hm2_5i24.0.ssi.00.x_fine-12' linked to signal 'fine12sgnl' HAL: creating signal 'fine13sgnl' smalloc_up: shmem available 211488 smalloc_dn: shmem available 211408 HAL: linking pin 'iCNQCangle.0.fine13' to 'fine13sgnl' ./hm2-servo.hal:99: Pin 'iCNQCangle.0.fine13' linked to signal 'fine13sgnl' HAL: linking pin 'hm2_5i24.0.ssi.00.x_fine-13' to 'fine13sgnl' ./hm2-servo.hal:99: Pin 'hm2_5i24.0.ssi.00.x_fine-13' linked to signal 'fine13sgnl' HAL: creating signal 'fine14sgnl' smalloc_up: shmem available 211400 smalloc_dn: shmem available 211320 HAL: linking pin 'iCNQCangle.0.fine14' to 'fine14sgnl' ./hm2-servo.hal:100: Pin 'iCNQCangle.0.fine14' linked to signal 'fine14sgnl' HAL: linking pin 'hm2_5i24.0.ssi.00.x_fine-14' to 'fine14sgnl' ./hm2-servo.hal:100: Pin 'hm2_5i24.0.ssi.00.x_fine-14' linked to signal 'fine14sgnl' HAL: creating signal 'fine15sgnl' smalloc_up: shmem available 211312 smalloc_dn: shmem available 211232 HAL: linking pin 'iCNQCangle.0.fine15' to 'fine15sgnl' ./hm2-servo.hal:101: Pin 'iCNQCangle.0.fine15' linked to signal 'fine15sgnl' HAL: linking pin 'hm2_5i24.0.ssi.00.x_fine-15' to 'fine15sgnl' ./hm2-servo.hal:101: Pin 'hm2_5i24.0.ssi.00.x_fine-15' linked to signal 'fine15sgnl' HAL: removing component 22 HAL: releasing RTAPI resourcesHAL: component 22 removed, name = 'halcmd21823' note: MAXV max: 4.000 units/sec 240.000 units/min note: LJOG max: 4.000 units/sec 240.000 units/min note: LJOG default: 3.000 units/sec 180.000 units/min note: jog_order='XYZ' note: jog_invert=set([])