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[18:22:34] <mhaberler> any suggestion how to nail this: rtapi_app[6719]: segfault at 0 ip 009b949e sp 08717c98 error 6 in motmod.so[9b2000+14000]
[18:22:37] <mhaberler> ?
[18:25:15] <micges> mhaberler: you can try use this information:
http://git.linuxcnc.org/gitweb?p=emc2.git;a=blob;f=docs/rtfaults.txt;h=6095276de5cef3733d416c341a637134dd862a26;hb=64b9ac8462c473fc5b63815d43a939cc7c212051
[18:25:46] <mhaberler> thanks!
[18:26:59] <mhaberler> 749e
[18:27:07] <mhaberler> oops.. sorry
[18:27:09] <psha> :)
[18:27:29] <mhaberler> that was the bug offset ;-)
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[18:36:48] <mhaberler> micges: thanks - nailed!
[18:36:56] <mhaberler> (found, that is)
[18:37:29] <micges> what was it?
[18:38:11] <mhaberler> I'm porting the rack toolchanger patch from 2.4.6 to master (and into iocontrolv2)
[18:38:29] <micges> nice
[18:39:17] <mhaberler> it seems cradeks rotary changes from Feb 2 require a prerequisite the old patch doesnt provide
[18:39:44] <micges> yes
[18:40:03] <micges> you must locate in emccanon.cc some missing arguments
[18:40:07] <mhaberler> motion/command.c:291 segfaults at *(emcmot_hal_data->joint[axis].unlock) = unlock;
[18:40:13] <micges> they are making those faults
[18:40:26] <micges> hold on maybe I'll find it
[18:40:29] <mhaberler> that's likely it, addenda to emccanon.c
[18:41:10] <mhaberler> its this statement: emccanon.c generate_toolchange_move(
[18:41:11] <mhaberler> FROM_EXT_LEN(TOOL_CHANGE_POSITION.tran.x), canonEndPoint.y, canonEndPoint.z,
[18:41:11] <mhaberler> a, b, c, u, v, w);
[18:41:30] <mhaberler> function tool_getput_move()
[18:42:14] <mhaberler> this is the patch:
http://wiki.linuxcnc.org/uploads/emc2.4.6_rack_toolchanger.patch
[18:42:32] <mhaberler> dont worry, I'll find it
[18:42:56] <micges> I know this patch, I made it ;)
[18:43:15] <mhaberler> aha... that explains your intimate knowledge..
[18:43:15] <micges> and I solved this problem once
[18:44:08] <mhaberler> do you remember how..?
[18:45:06] <micges> jas
[18:45:37] <mhaberler> could it be the indexrotary field - try set to -1?
[18:47:02] <micges> point is that generate_toolchange_move() doesn't initialize some field generating move
[18:47:56] <mhaberler> linearMoveMsg.indexrotary = -1; ?
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[18:48:08] <micges> probably
[18:48:15] <mhaberler> I'll try
[18:49:19] <mhaberler> could be the type field as well. We'll see.
[18:50:20] <micges> for 99% problem is missing linearMoveMsg.indexrotary = -1;
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[18:50:45] <mhaberler> bingo. that was it. Working now.
[18:50:48] <mhaberler> thanks!
[18:50:52] <micges> np
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[18:53:12] <mhaberler> micges: any usage hints wrt the tool-locked and tool-flushed HAL pins ?
[18:53:48] <micges> tool lock is for locking tool in spindle signal
[18:54:16] <micges> tool-flush is for air flush tool before grab tool to spindle
[18:54:24] <mhaberler> aha
[18:54:35] <micges> it is machine specific for my machine
[18:55:22] <micges> if you generalize this patch it could be added to 2.6
[18:56:10] <mhaberler> look: I dont even have a mill with a toolchanger.. I wouldnt know how to 'generalize'
[18:56:26] <mhaberler> but I'll put up the patch wrt master into my repo
[18:57:07] <micges> I see
[18:57:08] <mhaberler> btw test sequences are missing too
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[18:58:39] <mhaberler> I'll integrate your docs into the iocontrolv2 wiki page, this will wind up in the manual eventually
[18:59:09] <micges> cool
[19:07:45] <mhaberler> micges: would you mind pulling
http://git.mah.priv.at/gitweb/emc2-dev.git/shortlog/refs/heads/rack-tool-changer-iocontrolv2 and run emc configs/sim/axis_mm_racktoolchanger.ini ?
[19:08:11] <mhaberler> I have some doubts wether the TOOL_SLOT_DELTA positioning works correctly
[19:08:38] <mhaberler> in sim it looks like the change always happens at the same place
[19:09:18] <micges> mhaberler: sure but later
[19:09:23] <mhaberler> ok
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[19:26:30] <mhaberler> micges: actually I think your rack toolchanger could quite easily be done as a toolchange-gcode-sub. This might be a good example for the docs.
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