could not insert module lcec.ko

[ilyaq]

Hello sittner Thank you for your work I installed your driver using deb http://repo.modusoft.de/linuxcnc/wheezy ./ My problem is running the program using loadrt lcec in the hal file. I getting that: Error: could not insert module /usr/realtime-3.4-9-rtai-686-pae/modules/linuxcnc/lcec.ko: Unknown symbol in module linuxcnc_debug.txt linuxcnc_print.txt

I know little about this and I hope for Your help. Would you mind pointing me in the right direction?

[robochime]

Hi, ilyaq Are you using RTAI, are not you? I think the new version only works for RP-PREEMPT .. regards Chimeno

[ilyaq]

Hi, chimeno I think you're right. I'm using the LinuxCNC distribute 2.7.12. Can you tell me where to find knowledge about RP-PREEMPT? uname -a Linux debian 3.4-9-rtai-686-pae #1 SMP PREEMPT Debian 3.4.55-4linuxcnc i686 GNU/Linux SMP PREEMPT is this not appropriate? regards ilyaq

[robochime]

hi ilyaq important is "debian 3.4-9-rtai-686-pae" your core kernel is rtai, there are two options or re-copy the kenner or if you do not have much experience install linuxcnc again from this location that is formed by 4.9.5 with core RT-PREEMPT http://www.linuxcnc.org/testing-stretch-rtpreempt/ regards Chimeno

[ilyaq]

Hi, chimeno I used the second option and installed linuxcnc which you advised me. It helped, thank you! But now I get another error. I am trying to run swm-fm45a example

To run under a debugger with I/O, use e.g., sudo env RTAPI_UID=id -uRTAPI_FIFO_PATH=$HOME/.rtapi_fifo gdb rtapi_app ./swm-fm45a.hal:16: waitpid failed /usr/bin/rtapi_app trivkins ./swm-fm45a.hal:16: /usr/bin/rtapi_app exited without becoming ready ./swm-fm45a.hal:16: insmod for trivkins failed, returned -1

I'm not sure I installed the HAL-driver correctly

regards ilyaq

[robochime]

hi ilyaq, If you are running it and the configuration is not correct, it will give you an error, start with a module and gradually add it. regards Albert

[ilyaq]

Hi, chimeno First, Thank you for your help May I clarify? What configuration do you mean? I can't use loadrt lcec in my hal file. I get the error Do you know what this is about? XML, ini, hal or are there other configurations I could skip? thanks ilya

[robochime]

hi ilyaq, what modules do you have?

.hal file

load ethercat config parser

loadusr -W lcec_conf ethercat-conf.xml "edit with the modules you have"

load ethercat realtime module

loadrt lcec addf lcec.read-all servo-thread addf lcec.write-all servo-thread

regards Chimeno

[ilyaq]

Hi Chimeno, i have two servo drive Delta ASDA A2-E. If I don't edit .xml file, then the program will not start? I mean. I used loadusr -W lcec_conf ethercat-conf.xml and loadrt lcec in .hal file, but I get an error when the program reaches the line containing loadrt lcec. But I didn't edit the .xml file. Can whether the reason be in this? Thanks Ilya

================================================

Yeah, I made sure it was. Now I need to figure out how to properly create this .xml file for my modules

[robochime]

hi ilyaq, sure the error comes from the .XML file, if you only have two modules you would have to edit it in this way I think, I do not use the DELTA servo, I do not know if I can help you a lot, regards Chimeno

edit .xml

masters>    master idx = "0" appTimePeriod = "1000000" refClockSyncCycles = "1000">        slave idx = "0" type = "DeASDA" name = "3A1">        dcConf assignActivate = "300" sync0Cycle = " 1" sync0Shift = "- 25000" />      / slave>      slave idx = "1" type = "DeASDA" name = "3A2">        dcConf assignActivate = "300" sync0Cycle = " 1" sync0Shift = "- 25000" />      / slave>    / master> / masters>

[ilyaq]

Hi chimeno, You've already helped me a lot. And I'm ashamed of myself, but I still need help. I've been trying to figure it out on my own, but so far, it's not working.

I get this error message: ./swm-fm45a-io.hal:41: parameter or pin 'lcec.0.3A1.srv-pos-scale' not found Do you know what this is about?

Regards, Ilya

[robochime]

Hello Ilya,    if it is a common error, it means that in your .hal file you have connected a pin to 'lcec.0.3A1.srv-pos-scale that does not exist, looking at the file src / lcec_deasda.c I think it would be "lcec.0.3A1. pos-scale ", prove if it works for you now.

regards Chimeno

[ilyaq]

Hello Chimeno, Yes, It worked! Many thanks! Following your example, i found in file lcec_deasda.c this parameter - pos-scale and used it instead of srv-pos-scale.

Now I get the following error: ./swm-fm45a-io.hal:70: Pin 'lcec.0.3A1.srv-pos-extenc' does not exist In the hal file is written as follows: # motor encoder position is used as joint # position feedback net x-pos-fb <= lcec.0.3A1.srv-pos-extenc

I tried to find information in the lcec_deasda.c and lcec_deasda.h files, and tried using different parameters from them, but so far without success.

regards Ilya

[robochime]

Hello Ilya, It's the same mistake that happened before, I think it would be something like this:

motor encoder position is used as joint

position feedback

net x-post-fb <= lcec.0.3A1.srv-vel-fb

regards Chimeno

[ilyaq]

Hello chimeno, Thank you for your time and help

It works, but it's wrong. This is a speed feedback, not a position. and when the engine stops, the data on this axis is reset to zero. So far, I'm still looking for the right parameter

Regards Ilya

[robochime]

Hello Ilya, you can look at the issue of the "generic" driver, it can help you with the tests. regards Chimeno

[ilyaq]

Hello chimeno I found the right pin. If anyone needs it, then you need to use the following net x-post-fb <= lcec.0.3A1.enc-pos

I am very grateful to you, chimeno! regards Ilya

[robochime]

Hello Ilya, I'm glad you finally work well! It has been a pleasure to help you! regards Chimeno