SERVO_PERIOD

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28 Apr 2024 11:19 #299242 by diammo
SERVO_PERIOD was created by diammo
Hi, everyone. In the LinuxCNC source code, there should be a directive like IniFile->Find(, “SERVO_PERIOD”, ) to initialize SERVO_PERIOD, but why can't I find it? Also, I found in the motion.c file that SERVO_PERIOD_SEC is given by the system and this value does not change based on the ini file.

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28 Apr 2024 15:14 #299258 by tommylight
Replied by tommylight on topic SERVO_PERIOD
No double posting.
The other topic deleted.

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28 Apr 2024 15:52 #299259 by PCW
Replied by PCW on topic SERVO_PERIOD
Its done in the hal file when motmod is loaded:

loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS

It's done this way typically with ini file macro substitutions but can be done directly in the hal file without
any reference to the ini file at all...


 

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29 Apr 2024 08:03 #299301 by diammo
Replied by diammo on topic SERVO_PERIOD
Thanks very much. And I see “loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD” code in the source code. But why is there no “traj_period_nsec=[EMCMOT]TRAJ_PERIOD”? Does this mean that traj_period cannot be set?

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29 Apr 2024 14:23 #299320 by PCW
Replied by PCW on topic SERVO_PERIOD
The trajectory period can be set though it defaults to the servo thread period.

man motion
 

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06 May 2024 06:49 #299892 by diammo
Replied by diammo on topic SERVO_PERIOD
Do you know what part of the source code it's embodying?

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