Realtime system did not load
Shutting down and cleaning up EMC2...
ERROR: Module hal_lib does not exist in /proc/modules
ERROR: Module rtapi does not exist in /proc/modules
/home/samco/emc2-head1/bin/emc_module_helper: Invalid usage with args: remove @MODPATH_rtai_smi@

Usage: /home/samco/emc2-head1/bin/emc_module_helper insert /path/to/module.ext [param1=value1 ...]

where module is one of:
        rtai_math
        rtai_sem
        rtai_shm
        rtai_fifos
        rtai_up
        rtai_hal
        rtai_sched
        rtai_smi
        rtai
        rt_mem_mgr
        adeos
        rtl_time
        rtl_sched
        rtl_posixio
        rtl_fifo
        rtl
        mbuff

the path starts with one of:
        /lib/modules
        /usr/realtime

and the extension is one of:
        .ko

or the module is in the directory /home/samco/emc2-head1/rtlib

OR

/home/samco/emc2-head1/bin/emc_module_helper remove module

where module is one of the modules listed above.

Cleanup done
EMC terminated with an error.  You can find more information in the log files
    /home/samco/emc_debug.txt
and
    /home/samco/emc_print.txt
as well as in the output of the shell command 'dmesg' and in the terminal