I'm having some trouble getting my system configured to accept a pendant. I've
got a ECS TIGT-I2 motherboard with an Atom D410 processor and built in parallel
port. That seems to work fine controlling my mill. The hitch is that the
motherboard only has a PCIe bus on it.
Having seen some posts that favorably mentioned SIIG boards, I ordered their DP
1-Port board (JJ-E01211-S1). After installing the new hardware, I started
following the Hooking Up A MPG Pendant wiki. Here is the relevant output from
executing 'lspci -v':
02:00.0 Parallel controller: Oxford Semiconductor Ltd Device c110 (prog-if 02)
Subsystem: Oxford Semiconductor Ltd Device c110
Flags: bus master, fast devsel, latency 0, IRQ 17
I/O ports at ec00 [size=8]
I/O ports at e880 [size=4]
Capabilities: [40] Power Management version 3
Capabilities: [50] Message Signalled Interrupts: Mask- 64bit+ Queue=0/0
Enable-
Capabilities: [70] Express Legacy Endpoint, MSI 00
Capabilities: [100] Device Serial Number 10-01-00-11-11-e0-30-00
Capabilities: [110] Power Budgeting <?>
Kernel driver in use: parport_pc
Kernel modules: parport_pc
I updated my HAL file accordingly:
loadrt hal_parport cfg="0x378 0xec00 in" # Added 2012-Jun-18, NCP
addf parport.1.read base-thread # Added 2012-Jun-18, NCP
addf parport.1.write base-thread # Added 2012-Jun-18, NCP
I tried launching AXIS at this point as a test and everything appears to work,
short of the pendant anyway. I added the included content to the custom.hal.
When I attempt to launch AXIS it pukes the following:
Print file information:
RUN_IN_PLACE=no
EMC2_DIR=
EMC2_BIN_DIR=/usr/bin
EMC2_TCL_DIR=/usr/share/emc/tcl
EMC2_SCRIPT_DIR=
EMC2_RTLIB_DIR=/usr/realtime-2.6.32-122-rtai/modules/emc2
EMC2_CONFIG_DIR=
EMC2_LANG_DIR=/usr/share/emc/tcl/msgs
INIVAR=inivar
HALCMD=halcmd
EMC2_EMCSH=/usr/bin/wish8.5
EMC2 - 2.4.6
Machine configuration directory is
'/home/n_christopher_perry/emc2/configs/mini-mill'
Machine configuration file is 'mini-mill.ini'
INIFILE=/home/n_christopher_perry/emc2/configs/mini-mill/mini-mill.ini
PARAMETER_FILE=emc.var
EMCMOT=motmod
EMCIO=io
TASK=milltask
HALUI=
DISPLAY=axis
NML_FILE=
Starting EMC2...
Starting EMC2 server program: emcsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting EMC2 IO program: io
Shutting down and cleaning up EMC2...
Killing task emcsvr, PID=3347
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments
Cleanup done
Debug file information:
custom.hal:16: parameter or pin 'axis.N.jog-vel-mode' not found
3347
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components
Kernel message information:
[ 1535.678381] I-pipe: Domain RTAI registered.
[ 1535.678396] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03.
[ 1535.678402] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu
4.4.3-4ubuntu5) .
[ 1535.678457] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs
DISPATCHED), ISOL_CPUS_MASK: 0).
[ 1535.678462] PIPELINE layers:
[ 1535.678468] fad66e20 9ac15d93 RTAI 200
[ 1535.678473] c085cb20 0 Linux 100
[ 1535.729984] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[ 1535.730393] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN
KTASKs>, kstacks pool size = 524288 bytes.
[ 1535.730406] RTAI[sched]: hard timer type/freq = APIC/10415798(Hz); default
timing: periodic; linear timed lists.
[ 1535.730414] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq =
1666429000 hz.
[ 1535.730420] RTAI[sched]: timer setup = 999 ns, resched latency = 2944 ns.
[ 1535.730551] RTAI[usi]: enabled.
[ 1535.846165] RTAI[math]: loaded.
[ 1535.968433] config string '0x378 0xec00 in'
[ 1537.609860] RTAI[math]: unloaded.
[ 1537.674269] SCHED releases registered named ALIEN RTGLBH
[ 1537.708446] RTAI[malloc]: unloaded.
[ 1537.808031] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps
0, syscalls 0).
[ 1537.814618] I-pipe: Domain RTAI unregistered.
[ 1537.814688] RTAI[hal]: unmounted.
I switched to the other I/O port:
loadrt hal_parport cfg="0x378 0xec00 in" # Added 2012-Jun-18, NCP
Attempted to relaunch and got a different error:
Print file information:
RUN_IN_PLACE=no
EMC2_DIR=
EMC2_BIN_DIR=/usr/bin
EMC2_TCL_DIR=/usr/share/emc/tcl
EMC2_SCRIPT_DIR=
EMC2_RTLIB_DIR=/usr/realtime-2.6.32-122-rtai/modules/emc2
EMC2_CONFIG_DIR=
EMC2_LANG_DIR=/usr/share/emc/tcl/msgs
INIVAR=inivar
HALCMD=halcmd
EMC2_EMCSH=/usr/bin/wish8.5
EMC2 - 2.4.6
Machine configuration directory is
'/home/n_christopher_perry/emc2/configs/mini-mill'
Machine configuration file is 'mini-mill.ini'
INIFILE=/home/n_christopher_perry/emc2/configs/mini-mill/mini-mill.ini
PARAMETER_FILE=emc.var
EMCMOT=motmod
EMCIO=io
TASK=milltask
HALUI=
DISPLAY=axis
NML_FILE=
Starting EMC2...
Starting EMC2 server program: emcsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting EMC2 IO program: io
Shutting down and cleaning up EMC2...
Killing task emcsvr, PID=3553
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments
Cleanup done
Debug file information:
insmod: error inserting
'/usr/realtime-2.6.32-122-rtai/modules/emc2/hal_parport.ko': -1 Device or
resource busy
mini-mill.hal:8: exit value: 1
mini-mill.hal:8: insmod failed, returned -1
See the output of 'dmesg' for more information.
3553
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components
Kernel message information:
[ 1897.371048] I-pipe: Domain RTAI registered.
[ 1897.371063] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03.
[ 1897.371069] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu
4.4.3-4ubuntu5) .
[ 1897.371125] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs
DISPATCHED), ISOL_CPUS_MASK: 0).
[ 1897.371130] PIPELINE layers:
[ 1897.371136] fb2dae20 9ac15d93 RTAI 200
[ 1897.371141] c085cb20 0 Linux 100
[ 1897.423219] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[ 1897.423582] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN
KTASKs>, kstacks pool size = 524288 bytes.
[ 1897.423594] RTAI[sched]: hard timer type/freq = APIC/10415798(Hz); default
timing: periodic; linear timed lists.
[ 1897.423602] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq =
1666429000 hz.
[ 1897.423608] RTAI[sched]: timer setup = 999 ns, resched latency = 2944 ns.
[ 1897.425476] RTAI[usi]: enabled.
[ 1897.546939] RTAI[math]: loaded.
[ 1897.672331] config string '0x378 0xe880 in'
[ 1897.672756] PARPORT: ERROR: request_region(0xe880) failed
[ 1898.624443] RTAI[math]: unloaded.
[ 1898.706116] SCHED releases registered named ALIEN RTGLBH
[ 1898.736950] RTAI[malloc]: unloaded.
[ 1898.836027] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps
0, syscalls 0).
[ 1898.842684] I-pipe: Domain RTAI unregistered.
[ 1898.842754] RTAI[hal]: unmounted.
How should I proceed?
N. C.
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