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 -u RTAPI_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