I am new to Machinekit and Linux: * I tried hard to install Machinekit+IgH-EtherCAT-Master + linuxCNC-EtherCAT-HAL-driver + RT-Preempt @ RaspberryPI-2. * I have to admit that: ---- All these components may not be integrated well. ---- I am testing with Beckhoff digital inputs/outputs only: EK1100+EL1004+EL2004 ---- I modified .ini/.hal files based on examples, but I just ignored servo/motor setting. --- (see attached .ini/.hal./.xml configuration files) * As you can see from error message (see below): --- Machinekit starts successfully! --- I can watch/monitor the pin-value change, when I switch one input-pin of EL1004. --- *But when I close/exit Machinekit, I see the error message as shown below.*
Any hint? Thanks!
Jerry
------------------------------- * Error Message *
----------------------------------------------------
------------------------------------------------------------------------------------------------------------------------------------------------
pi@raspberrypi:~ $ machinekit
/usr/share/linuxcnc-ethercat/examples/generic-complex/Test/test.ini
MACHINEKIT - 0.1
Machine configuration directory is
'/usr/share/linuxcnc-ethercat/examples/generic-complex/Test'
Machine configuration file is 'test.ini'
Starting Machinekit...
warning: removing unused HAL shm segment /linuxcnc-0-00414c32
io started
halcmd loadusr io started
task pid=1332
emcTaskInit: using builtin interpreter
Shutting down and cleaning up Machinekit...
<commandline>:0: error unloading realtime module 'tp': rc=-1
<commandline>:0: rtapi_rpc(): reply timeout
<commandline>:0: error unloading realtime module 'trivkins': rc=-1
<commandline>:0: rtapi_rpc(): reply timeout
<commandline>:0: unloadrt failed
halcmd: cant connect to rtapi_app: -1 (uri=
uuid=a42c8c6b-4025-4f83-ba28-dad21114744a): rtapi_rpc(): reply timeout
halcmd: the rtapi:0 RT demon is not running - please investigate
/var/log/linuxcnc.log
halcmd: the msgd:0 logger demon is not running - please investigate
/var/log/linuxcnc.log
halcmd: cant connect to rtapi_app: -1 (uri=
uuid=a42c8c6b-4025-4f83-ba28-dad21114744a): rtapi_rpc(): reply timeout
halcmd: the rtapi:0 RT demon is not running - please investigate
/var/log/linuxcnc.log
halcmd: the msgd:0 logger demon is not running - please investigate
/var/log/linuxcnc.log
...
--
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https://github.com/machinekit
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basic.hal
Description: Binary data
ethercat-conf_X.xml
Description: XML document
basic.ini
Description: Binary data
