Print file information: RUN_IN_PLACE=no EMC2_DIR= EMC2_BIN_DIR=/usr/bin EMC2_TCL_DIR=/usr/lib/tcltk/emc2 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 - 2.5.0-pre2-529-g22f845d Machine configuration directory is '/home/hurco/emc2/configs/Hurco_MD3' Machine configuration file is 'Hurco_MD3.ini' INIFILE=/home/hurco/emc2/configs/Hurco_MD3/Hurco_MD3.ini PARAMETER_FILE=emc.var EMCMOT=motmod EMCIO=io TASK=milltask HALUI=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 Starting HAL User Interface program: halui Shutting down and cleaning up EMC2... Running HAL shutdown script Killing task emcsvr, PID=2549 Removing HAL_LIB, RTAPI, and Real Time OS modules Removing NML shared memory segments Cleanup done Debug file information: Hurco_MD3.hal:209: Signal '%s-vel-fb' can not add OUT pin 'hm2_5i20.0.encoder.01.velocity', it already has OUT pin 'hm2_5i20.0.encoder.00.velocity' 2549 PID TTY STAT TIME COMMAND Stopping realtime threads Unloading hal components Kernel message information: [ 1862.680181] I-pipe: Domain RTAI registered. [ 1862.680194] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03. [ 1862.680199] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) . [ 1862.680347] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 1862.680353] PIPELINE layers: [ 1862.680359] facbce20 9ac15d93 RTAI 200 [ 1862.680364] c085cb20 0 Linux 100 [ 1862.723461] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 1862.724291] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes. [ 1862.724304] RTAI[sched]: hard timer type/freq = APIC/12429513(Hz); default timing: periodic; linear timed lists. [ 1862.724312] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 1799999000 hz. [ 1862.724318] RTAI[sched]: timer setup = 999 ns, resched latency = 2944 ns. [ 1862.724443] RTAI[usi]: enabled. [ 1862.814073] RTAI[math]: loaded. [ 1862.939598] hm2: loading Mesa HostMot2 driver version 0.15 [ 1862.944776] hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.7 [ 1862.944831] hm2_pci: discovered 5i20 at 0000:05:00.0 [ 1862.944951] hm2_5i20.0: firmware: requesting hm2/5i20/SV12_2X7I48_72.BIT [ 1863.109966] hm2/hm2_5i20.0: WARNING: this firmware has Muxed Encoder v2! [ 1863.109975] hm2/hm2_5i20.0: WARNING: velocity computation will be incorrect! [ 1863.109981] hm2/hm2_5i20.0: WARNING: upgrade your firmware! [ 1863.122717] hm2/hm2_5i20.0: 72 I/O Pins used: [ 1863.122726] hm2/hm2_5i20.0: IO Pin 000 (P2-01): PWMGen #0, pin Not-Enable (Output) [ 1863.122733] hm2/hm2_5i20.0: IO Pin 001 (P2-03): Muxed Encoder #0, pin Muxed A (Input) [ 1863.122741] hm2/hm2_5i20.0: IO Pin 002 (P2-05): Muxed Encoder #0, pin Muxed B (Input) [ 1863.122748] hm2/hm2_5i20.0: IO Pin 003 (P2-07): Muxed Encoder #0, pin Muxed Index (Input) [ 1863.122756] hm2/hm2_5i20.0: IO Pin 004 (P2-09): Muxed Encoder #1, pin Muxed A (Input) [ 1863.122763] hm2/hm2_5i20.0: IO Pin 005 (P2-11): Muxed Encoder #1, pin Muxed B (Input) [ 1863.122770] hm2/hm2_5i20.0: IO Pin 006 (P2-13): Muxed Encoder #1, pin Muxed Index (Input) [ 1863.122778] hm2/hm2_5i20.0: IO Pin 007 (P2-15): Muxed Encoder #2, pin Muxed A (Input) [ 1863.122785] hm2/hm2_5i20.0: IO Pin 008 (P2-17): Muxed Encoder #2, pin Muxed B (Input) [ 1863.122792] hm2/hm2_5i20.0: IO Pin 009 (P2-19): Muxed Encoder #2, pin Muxed Index (Input) [ 1863.122800] hm2/hm2_5i20.0: IO Pin 010 (P2-21): Muxed Encoder Select #0, pin Mux Select 0 (Output) [ 1863.122808] hm2/hm2_5i20.0: IO Pin 011 (P2-23): PWMGen #0, pin Out0 (PWM or Up) (Output) [ 1863.122816] hm2/hm2_5i20.0: IO Pin 012 (P2-25): PWMGen #0, pin Out1 (Dir or Down) (Output) [ 1863.122823] hm2/hm2_5i20.0: IO Pin 013 (P2-27): PWMGen #1, pin Out0 (PWM or Up) (Output) [ 1863.122831] hm2/hm2_5i20.0: IO Pin 014 (P2-29): PWMGen #1, pin Out1 (Dir or Down) (Output) [ 1863.122838] hm2/hm2_5i20.0: IO Pin 015 (P2-31): PWMGen #2, pin Out0 (PWM or Up) (Output) [ 1863.122846] hm2/hm2_5i20.0: IO Pin 016 (P2-33): PWMGen #2, pin Out1 (Dir or Down) (Output) [ 1863.122853] hm2/hm2_5i20.0: IO Pin 017 (P2-35): PWMGen #3, pin Out0 (PWM or Up) (Output) [ 1863.122861] hm2/hm2_5i20.0: IO Pin 018 (P2-37): PWMGen #3, pin Out1 (Dir or Down) (Output) [ 1863.122868] hm2/hm2_5i20.0: IO Pin 019 (P2-39): PWMGen #4, pin Out0 (PWM or Up) (Output) [ 1863.122876] hm2/hm2_5i20.0: IO Pin 020 (P2-41): PWMGen #4, pin Out1 (Dir or Down) (Output) [ 1863.122883] hm2/hm2_5i20.0: IO Pin 021 (P2-43): PWMGen #5, pin Out0 (PWM or Up) (Output) [ 1863.122891] hm2/hm2_5i20.0: IO Pin 022 (P2-45): PWMGen #5, pin Out1 (Dir or Down) (Output) [ 1863.122898] hm2/hm2_5i20.0: IO Pin 023 (P2-47): PWMGen #0, pin Not-Enable (Output) [ 1863.122904] hm2/hm2_5i20.0: IO Pin 024 (P3-01): IOPort [ 1863.122910] hm2/hm2_5i20.0: IO Pin 025 (P3-03): IOPort [ 1863.122916] hm2/hm2_5i20.0: IO Pin 026 (P3-05): IOPort [ 1863.122921] hm2/hm2_5i20.0: IO Pin 027 (P3-07): IOPort [ 1863.122927] hm2/hm2_5i20.0: IO Pin 028 (P3-09): IOPort [ 1863.122933] hm2/hm2_5i20.0: IO Pin 029 (P3-11): IOPort [ 1863.122938] hm2/hm2_5i20.0: IO Pin 030 (P3-13): IOPort [ 1863.122944] hm2/hm2_5i20.0: IO Pin 031 (P3-15): IOPort [ 1863.122950] hm2/hm2_5i20.0: IO Pin 032 (P3-17): IOPort [ 1863.122956] hm2/hm2_5i20.0: IO Pin 033 (P3-19): IOPort [ 1863.122961] hm2/hm2_5i20.0: IO Pin 034 (P3-21): IOPort [ 1863.122967] hm2/hm2_5i20.0: IO Pin 035 (P3-23): IOPort [ 1863.122973] hm2/hm2_5i20.0: IO Pin 036 (P3-25): IOPort [ 1863.122978] hm2/hm2_5i20.0: IO Pin 037 (P3-27): IOPort [ 1863.122984] hm2/hm2_5i20.0: IO Pin 038 (P3-29): IOPort [ 1863.122990] hm2/hm2_5i20.0: IO Pin 039 (P3-31): IOPort [ 1863.122995] hm2/hm2_5i20.0: IO Pin 040 (P3-33): IOPort [ 1863.123001] hm2/hm2_5i20.0: IO Pin 041 (P3-35): IOPort [ 1863.123007] hm2/hm2_5i20.0: IO Pin 042 (P3-37): IOPort [ 1863.123012] hm2/hm2_5i20.0: IO Pin 043 (P3-39): IOPort [ 1863.123018] hm2/hm2_5i20.0: IO Pin 044 (P3-41): IOPort [ 1863.123024] hm2/hm2_5i20.0: IO Pin 045 (P3-43): IOPort [ 1863.123029] hm2/hm2_5i20.0: IO Pin 046 (P3-45): IOPort [ 1863.123035] hm2/hm2_5i20.0: IO Pin 047 (P3-47): IOPort [ 1863.123041] hm2/hm2_5i20.0: IO Pin 048 (P4-01): IOPort [ 1863.123046] hm2/hm2_5i20.0: IO Pin 049 (P4-03): IOPort [ 1863.123052] hm2/hm2_5i20.0: IO Pin 050 (P4-05): IOPort [ 1863.123058] hm2/hm2_5i20.0: IO Pin 051 (P4-07): IOPort [ 1863.123063] hm2/hm2_5i20.0: IO Pin 052 (P4-09): IOPort [ 1863.123069] hm2/hm2_5i20.0: IO Pin 053 (P4-11): IOPort [ 1863.123075] hm2/hm2_5i20.0: IO Pin 054 (P4-13): IOPort [ 1863.123080] hm2/hm2_5i20.0: IO Pin 055 (P4-15): IOPort [ 1863.123086] hm2/hm2_5i20.0: IO Pin 056 (P4-17): IOPort [ 1863.123092] hm2/hm2_5i20.0: IO Pin 057 (P4-19): IOPort [ 1863.123098] hm2/hm2_5i20.0: IO Pin 058 (P4-21): IOPort [ 1863.123103] hm2/hm2_5i20.0: IO Pin 059 (P4-23): IOPort [ 1863.123109] hm2/hm2_5i20.0: IO Pin 060 (P4-25): IOPort [ 1863.123115] hm2/hm2_5i20.0: IO Pin 061 (P4-27): IOPort [ 1863.123120] hm2/hm2_5i20.0: IO Pin 062 (P4-29): IOPort [ 1863.123126] hm2/hm2_5i20.0: IO Pin 063 (P4-31): IOPort [ 1863.123132] hm2/hm2_5i20.0: IO Pin 064 (P4-33): IOPort [ 1863.123137] hm2/hm2_5i20.0: IO Pin 065 (P4-35): IOPort [ 1863.123143] hm2/hm2_5i20.0: IO Pin 066 (P4-37): IOPort [ 1863.123149] hm2/hm2_5i20.0: IO Pin 067 (P4-39): IOPort [ 1863.123154] hm2/hm2_5i20.0: IO Pin 068 (P4-41): IOPort [ 1863.123160] hm2/hm2_5i20.0: IO Pin 069 (P4-43): IOPort [ 1863.123166] hm2/hm2_5i20.0: IO Pin 070 (P4-45): IOPort [ 1863.123171] hm2/hm2_5i20.0: IO Pin 071 (P4-47): IOPort [ 1863.123417] hm2/hm2_5i20.0: registered [ 1863.123422] hm2_5i20.0: initialized AnyIO board at 0000:05:00.0 [ 1863.751333] hm2_5i20.0: dropping AnyIO board at 0000:05:00.0 [ 1863.751341] hm2/hm2_5i20.0: unregistered [ 1863.751412] hm2_pci: driver unloaded [ 1863.756267] hm2: unloading [ 1863.825154] RTAI[math]: unloaded. [ 1863.843412] SCHED releases registered named ALIEN RTGLBH [ 1863.880527] RTAI[malloc]: unloaded. [ 1863.980032] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [ 1863.984629] I-pipe: Domain RTAI unregistered. [ 1863.984719] RTAI[hal]: unmounted.