task: 29 cycles, min=0.000005, max=0.011024, avg=0
05 May 2016 18:05 #74282
by bkt
task: 29 cycles, min=0.000005, max=0.011024, avg=0 was created by bkt
With these hal hostmot config, after adding a new comp obtain sometime an error at start up ....
my hostmot :
my dmesg .....
I try different timeout value without success .... In ini file I have set SERVO PERIOD :
and now after the error to 500000 ....
Dpends of servo period the error or i become from other point??
regards
Giorgio
my hostmot :
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_pci config=" num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=000xxx"
setp hm2_5i25.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.c
loadrt mux16 names=jogincrmy dmesg .....
Print file information:
RUN_IN_PLACE=yes
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/home/k1kr/linuxcnc-joints_axes9/bin
LINUXCNC_TCL_DIR=/home/k1kr/linuxcnc-joints_axes9/tcl
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/home/k1kr/linuxcnc-joints_axes9/rtlib
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/home/k1kr/linuxcnc-joints_axes9/src/objects
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.5
LINUXCNC - 2.8.0~pre1-ja
Machine configuration directory is '/home/k1kr/linuxcnc/configs/kr1-test'
Machine configuration file is 'kr1-test.ini'
INIFILE=/home/k1kr/linuxcnc/configs/kr1-test/kr1-test.ini
VERSION=1.0
PARAMETER_FILE=linuxcnc.var
TASK=milltask
HALUI=halui
DISPLAY=axis
COORDINATES=X Y Z C
KINEMATICS=trivkins
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
Found file(REL): ./kr1-test.hal
Found file(REL): ./custom.hal
Starting TASK program: milltask
Starting DISPLAY program: axis
waiting for s.joints
waiting for s.joints
waiting for s.joints
waiting for s.joints
waiting for s.joints
waiting for s.joints
waiting for s.joints
waiting for s.joints
waiting for s.joints
Shutting down and cleaning up LinuxCNC...
Running HAL shutdown script
Killing task linuxcncsvr, PID=24271
Killing task milltask, PID=24346
task: 29 cycles, min=0.000005, max=0.011024, avg=0.004218, 0 latency excursions (> 10x expected cycle time of 0.010000s)
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments
Debug file information:
A configuration error is preventing LinuxCNC from starting.
More information may be available when running from a terminal.
24271
PID TTY STAT TIME COMMAND
24346
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components
Kernel message information:
[38430.365452] I-pipe: Domain RTAI registered.
[38430.365455] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03.
[38430.365456] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) .
[38430.365501] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[38430.365502] PIPELINE layers:
[38430.365504] fda40e20 9ac15d93 RTAI 200
[38430.365505] c085cb20 0 Linux 100
[38430.373045] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[38430.373225] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes.
[38430.373227] RTAI[sched]: hard timer type/freq = APIC/6235530(Hz); default timing: periodic; linear timed lists.
[38430.373229] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 3591329000 hz.
[38430.373230] RTAI[sched]: timer setup = 999 ns, resched latency = 2944 ns.
[38430.373261] RTAI[usi]: enabled.
[38430.387163] RTAI[math]: loaded.
[38430.432185] hm2: loading Mesa HostMot2 driver version 0.15
[38430.433285] hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.7
[38430.433304] hm2_pci 0000:06:00.0: PCI INT A -> GSI 16 (level, low) -> IRQ 16
[38430.433306] hm2_pci: discovered 5i25 at 0000:06:00.0
[38430.433694] hm2/hm2_5i25.0: Smart Serial Firmware Version 43
[38430.490924] Board hm2_5i25.0.7i76.0.0 Hardware Mode 0 = standard
[38430.493250] Board hm2_5i25.0.7i76.0.0 Software Mode 0 = io_spin
[38430.496212] Board hm2_5i25.0.7i76.0.0 Software Mode 1 = io_ana_spin
[38430.500128] Board hm2_5i25.0.7i76.0.0 Software Mode 2 = io_enc_ana_spin_fv
[38430.652944] hm2/hm2_5i25.0: 34 I/O Pins used:
[38430.652946] hm2/hm2_5i25.0: IO Pin 000 (P3-01): StepGen #0, pin Direction (Output)
[38430.652948] hm2/hm2_5i25.0: IO Pin 001 (P3-14): StepGen #0, pin Step (Output)
[38430.652949] hm2/hm2_5i25.0: IO Pin 002 (P3-02): StepGen #1, pin Direction (Output)
[38430.652951] hm2/hm2_5i25.0: IO Pin 003 (P3-15): StepGen #1, pin Step (Output)
[38430.652952] hm2/hm2_5i25.0: IO Pin 004 (P3-03): StepGen #2, pin Direction (Output)
[38430.652953] hm2/hm2_5i25.0: IO Pin 005 (P3-16): StepGen #2, pin Step (Output)
[38430.652954] hm2/hm2_5i25.0: IO Pin 006 (P3-04): StepGen #3, pin Direction (Output)
[38430.652956] hm2/hm2_5i25.0: IO Pin 007 (P3-17): StepGen #3, pin Step (Output)
[38430.652957] hm2/hm2_5i25.0: IO Pin 008 (P3-05): StepGen #4, pin Direction (Output)
[38430.652958] hm2/hm2_5i25.0: IO Pin 009 (P3-06): StepGen #4, pin Step (Output)
[38430.652960] hm2/hm2_5i25.0: IO Pin 010 (P3-07): Smart Serial Interface #0, pin TxData0 (Output)
[38430.652961] hm2/hm2_5i25.0: IO Pin 011 (P3-08): Smart Serial Interface #0, pin RxData0 (Input)
[38430.652962] hm2/hm2_5i25.0: IO Pin 012 (P3-09): IOPort
[38430.652963] hm2/hm2_5i25.0: IO Pin 013 (P3-10): IOPort
[38430.652964] hm2/hm2_5i25.0: IO Pin 014 (P3-11): Encoder #0, pin Index (Input)
[38430.652966] hm2/hm2_5i25.0: IO Pin 015 (P3-12): Encoder #0, pin B (Input)
[38430.652967] hm2/hm2_5i25.0: IO Pin 016 (P3-13): Encoder #0, pin A (Input)
[38430.652968] hm2/hm2_5i25.0: IO Pin 017 (P2-01): IOPort
[38430.652969] hm2/hm2_5i25.0: IO Pin 018 (P2-14): IOPort
[38430.652970] hm2/hm2_5i25.0: IO Pin 019 (P2-02): IOPort
[38430.652971] hm2/hm2_5i25.0: IO Pin 020 (P2-15): IOPort
[38430.652972] hm2/hm2_5i25.0: IO Pin 021 (P2-03): IOPort
[38430.652973] hm2/hm2_5i25.0: IO Pin 022 (P2-16): IOPort
[38430.652974] hm2/hm2_5i25.0: IO Pin 023 (P2-04): IOPort
[38430.652975] hm2/hm2_5i25.0: IO Pin 024 (P2-17): IOPort
[38430.652976] hm2/hm2_5i25.0: IO Pin 025 (P2-05): IOPort
[38430.652977] hm2/hm2_5i25.0: IO Pin 026 (P2-06): IOPort
[38430.652978] hm2/hm2_5i25.0: IO Pin 027 (P2-07): IOPort
[38430.652979] hm2/hm2_5i25.0: IO Pin 028 (P2-08): IOPort
[38430.652980] hm2/hm2_5i25.0: IO Pin 029 (P2-09): IOPort
[38430.652981] hm2/hm2_5i25.0: IO Pin 030 (P2-10): IOPort
[38430.652982] hm2/hm2_5i25.0: IO Pin 031 (P2-11): IOPort
[38430.652983] hm2/hm2_5i25.0: IO Pin 032 (P2-12): IOPort
[38430.652984] hm2/hm2_5i25.0: IO Pin 033 (P2-13): IOPort
[38430.653025] hm2/hm2_5i25.0: registered
[38430.653026] hm2_5i25.0: initialized AnyIO board at 0000:06:00.0
[38431.055487] hm2_5i25.0: dropping AnyIO board at 0000:06:00.0
[38431.055490] hm2/hm2_5i25.0: unregistered
[38431.055502] hm2_pci 0000:06:00.0: PCI INT A disabled
[38431.055511] hm2_pci: driver unloaded
[38431.056446] hm2: unloading
[38433.121262] RTAI[math]: unloaded.
[38433.129573] SCHED releases registered named ALIEN RTGLBH
[38433.196472] RTAI[malloc]: unloaded.
[38433.291799] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[38433.292943] I-pipe: Domain RTAI unregistered.
[38433.292995] RTAI[hal]: unmounted.
I try different timeout value without success .... In ini file I have set SERVO PERIOD :
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
SERVO_PERIOD = 1000000and now after the error to 500000 ....
Dpends of servo period the error or i become from other point??
regards
Giorgio
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08 May 2016 09:30 #74357
by andypugh
Replied by andypugh on topic task: 29 cycles, min=0.000005, max=0.011024, avg=0
I don't think that the "task" info is related to the problem.
Something is preventing the Axis UI from starting:
github.com/LinuxCNC/linuxcnc/blob/2957cc...cripts/axis.py#L3004
So, Axis is waiting for Motion to complete setting up the joints structure, and it isn't happening in time (this is nothing to do with the watchdog timeout).
Which version of LinuxCNC are you using? I would expect to see "waiting for s.axes" in normal LinuxCNC and a mention of the kinematicstype in Joints_Axes13
Something is preventing the Axis UI from starting:
github.com/LinuxCNC/linuxcnc/blob/2957cc...cripts/axis.py#L3004
So, Axis is waiting for Motion to complete setting up the joints structure, and it isn't happening in time (this is nothing to do with the watchdog timeout).
Which version of LinuxCNC are you using? I would expect to see "waiting for s.axes" in normal LinuxCNC and a mention of the kinematicstype in Joints_Axes13
The following user(s) said Thank You: bkt
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14 May 2016 16:21 - 14 May 2016 16:22 #74653
by bkt
Replied by bkt on topic task: 29 cycles, min=0.000005, max=0.011024, avg=0
5axes....lcnc2.8 ja13...
correcting emcmot section in these way ... and the error disappear....
my comp have delay of 20000usleep....
but i'm not shure is the correct solution of problem....
regards
giorgio
correcting emcmot section in these way ... and the error disappear....
my comp have delay of 20000usleep....
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 50000
SERVO_PERIOD = 550000
TRAJ_PERIOD = 1250000 #THIS NOT TESTED whit running motorbut i'm not shure is the correct solution of problem....
regards
giorgio
Last edit: 14 May 2016 16:22 by bkt.
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