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Код: Выделить всё

loadrt classicladder_rt
addf classicladder.0.refresh servo-thread
loadusr -w classicladder --nogui Touch_OFF_Button.clp

Код: Выделить всё

net remote-z-axis-touchoff classicladder.0.in-00 <= gladevcp.hal_button2 
net mode halui.mode.is-mdi => classicladder.0.in-01
net in_pos motion.motion-inpos => classicladder.0.in-02
net z-touchoff classicladder.0.out-00 => halui.mdi-command-01
net z-zero classicladder.0.out-01 => halui.mdi-command-02
net rapid-away classicladder.0.out-02 => halui.mdi-command-03

Код: Выделить всё

Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/realtime-2.6.32-122-rtai/modules/linuxcnc
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/share/linuxcnc/tcl/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.5
LINUXCNC - 2.5.0
Machine configuration directory is '/home/vitaliy/linuxcnc/configs/cnc'
Machine configuration file is 'cnc.ini'
INIFILE=/home/vitaliy/linuxcnc/configs/cnc/cnc.ini
PARAMETER_FILE=linuxcnc.var
TASK=milltask
HALUI=halui
DISPLAY=axis
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Starting HAL User Interface program: halui
INFO CLASSICLADDER-   No ladder GUI requested-Realtime runs till HAL closes.
Starting TASK program: milltask
Starting DISPLAY program: axis
RTAPI: ERROR: Unexpected realtime delay on task 1
This Message will only display once per session.
Run the Latency Test and resolve before continuing.

Shutting down and cleaning up LinuxCNC...

progname=gladevcp; RGBA=on
**** GLADE VCP INFO:    Not a libglade project, trying to load as a GTK builder project
Xlib.protocol.request.QueryExtension
Xlib.protocol.request.QueryExtension
**** GLADE VCP ERROR:    X Protocol Error: 3
Killing task linuxcncsvr, PID=3121
Killing task milltask, PID=3171
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments
Cleanup done

Debug file information:
Can not find -sec MOT -var MOT -num 1 
Can not find -sec IO -var IO -num 1 
Can not find -sec LINUXCNC -var NML_FILE -num 1 
Can not find -sec EMC -var NML_FILE -num 1 

(gladevcp:3178): libglade-WARNING **: Expected <glade-interface>.  Got <interface>.

(gladevcp:3178): libglade-WARNING **: did not finish in PARSER_FINISH state
/usr/bin/gladevcp:290: GtkWarning: gtk_widget_size_allocate(): attempt to allocate widget with width -5 and height 17
  gtk.main()
postgui.hal:31: Pin 'motion.motion-inpos' does not exist
/usr/bin/gladevcp:290: GtkWarning: GdkWindow 0x4800004 unexpectedly destroyed
  gtk.main()
3121
  PID TTY      STAT   TIME COMMAND
3171
  PID TTY      STAT   TIME COMMAND
Stopping realtime threads
Unloading hal components

Kernel message information:
[ 7082.500317] I-pipe: Domain RTAI registered.
[ 7082.500326] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03.
[ 7082.500329] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) .
[ 7082.500334] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[ 7082.500336] PIPELINE layers:
[ 7082.500339] f867ae20 9ac15d93 RTAI 200
[ 7082.500341] c085cb20 0 Linux 100
[ 7082.526095] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[ 7082.526295] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes.
[ 7082.526299] RTAI[sched]: hard timer type/freq = APIC/12564314(Hz); default timing: periodic; linear timed lists.
[ 7082.526303] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 2211222000 hz.
[ 7082.526305] RTAI[sched]: timer setup = 999 ns, resched latency = 2944 ns.
[ 7082.526437] RTAI[usi]: enabled.
[ 7082.626248] RTAI[math]: loaded.
[ 7082.744542] config string '0x378 out  '
[ 7082.770956] creating ladder-state
[ 7085.849281] RTAPI: ERROR: Unexpected realtime delay on task 1
[ 7085.849285] This Message will only display once per session.
[ 7085.849287] Run the Latency Test and resolve before continuing.
[ 7086.885763] RTAI[math]: unloaded.
[ 7086.945753] SCHED releases registered named ALIEN RTGLBH
[ 7086.960894] RTAI[malloc]: unloaded.
[ 7087.060037] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[ 7087.063379] I-pipe: Domain RTAI unregistered.
[ 7087.063389] RTAI[hal]: unmounted.

Код: Выделить всё

net in_pos motion.motion-inpos => classicladder.0.in-02

Код: Выделить всё

loadusr -w classicladder --nogui Touch_OFF_Button.clp

Код: Выделить всё

loadusr -w classicladder  Touch_OFF_Button.clp