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7i77 5i25 hm2_pci unloaded

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25 Nov 2016 17:26 #83294 by PCW
Replied by PCW on topic 7i77 5i25 hm2_pci unloaded
Why do you have a base thread at all?
The following user(s) said Thank You: bkt

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25 Nov 2016 17:31 - 25 Nov 2016 17:33 #83295 by bkt
Replied by bkt on topic 7i77 5i25 hm2_pci unloaded
what do you mean? unfortunately I do not understand the question ... I have not a good english ..

any how ... Is the first time for me ...how I can use linuxcnc whitout rip-envirenment commnad? ...

Regards
Giorgio
Last edit: 25 Nov 2016 17:33 by bkt.

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25 Nov 2016 17:38 #83296 by PCW
Replied by PCW on topic 7i77 5i25 hm2_pci unloaded
For your linuxcnc config you will not be running a base thread so the warning is not important

if you want to run a latency test, try:

latency-histogram --nobase

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25 Nov 2016 17:50 #83299 by bkt
Replied by bkt on topic 7i77 5i25 hm2_pci unloaded
my ini file section ...
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 50000
SERVO_PERIOD = 550000
TRAJ_PERIOD = 1100000

with 5i25 & 7i77 the value is more hight than how to see ...but...

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25 Nov 2016 17:53 #83300 by PCW
Replied by PCW on topic 7i77 5i25 hm2_pci unloaded
Why do you have a base thread?
The following user(s) said Thank You: bkt

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25 Nov 2016 18:11 #83302 by bkt
Replied by bkt on topic 7i77 5i25 hm2_pci unloaded 
# Generated by PNCconf at Tue Nov 10 10:24:28 2015
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
# Generated by PNCconf at Tue Nov 10 10:24:28 2015
# If you make changes to this file, they will be
# overwritten when you run PNCconf again


loadrt  delta_AAB_inv

#loadusr halui -ini /home/k1/linuxcnc/configs/n/n.ini



setp delta_AAB_inv.e 340.00     #LATO TRIANGOLO BASSO (174.598422 lato tri)  (138.564064606 lato tri)
setp delta_AAB_inv.f 848.704896   #LATO TRIANGOLO ALTO (375.60 lato TRI == 1/2) (187.80 1/2 h) 200.42165552  848.704896
setp delta_AAB_inv.re 1000.00         #link 02  (850.00 orinario) 852.1150157
setp delta_AAB_inv.rf 416.012         #link 01  (390.00 originario, 416.012 versione k1V2) [test k1v1 calcolato 394.5883931]


loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_pci config=" num_encoders=6 num_pwmgens=0 num_stepgens=0 sserial_port_0=000xxx" 
setp    hm2_5i25.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.a,pid.b
loadrt mux4 names=jogincr
loadrt ilowpass
loadrt conv_s32_float names=c32f.0,c32f.1,c32f.2,c32f.3,c32f.4
loadrt logic count=1 personality=0x203
loadrt and2 count=6
loadrt or2 count=7
loadrt mux2 count=3
loadrt sum2 count=4
loadrt offset count=1


addf hm2_5i25.0.read          servo-thread
addf motion-command-handler   servo-thread
addf motion-controller        servo-thread
addf pid.x.do-pid-calcs       servo-thread
addf pid.y.do-pid-calcs       servo-thread
addf pid.z.do-pid-calcs       servo-thread
addf pid.a.do-pid-calcs       servo-thread
addf pid.b.do-pid-calcs       servo-thread
addf offset.0.update-output   servo-thread
addf offset.0.update-feedback servo-thread
addf jogincr                  servo-thread
addf ilowpass.0 	      servo-thread
addf c32f.0 	              servo-thread
addf c32f.1 	              servo-thread
addf c32f.2 	              servo-thread
addf c32f.3 	              servo-thread
addf c32f.4 	              servo-thread
addf logic.0	              servo-thread
addf and2.0	              servo-thread
addf and2.1	              servo-thread
addf and2.2	              servo-thread
addf and2.3	              servo-thread
addf and2.4	              servo-thread
addf and2.5	              servo-thread
addf or2.0	              servo-thread
addf or2.1	              servo-thread
addf or2.2	              servo-thread
addf or2.3	              servo-thread
addf or2.4	              servo-thread
addf mux2.0	              servo-thread
addf mux2.1	              servo-thread
addf mux2.2	              servo-thread
addf sum2.0	              servo-thread
addf sum2.1	              servo-thread
addf sum2.2	              servo-thread
addf sum2.3	              servo-thread
addf hm2_5i25.0.write         servo-thread

setp ilowpass.0.scale 1000
setp ilowpass.0.gain 0.01

& motor contro session ...
#*******************
#  AXIS X
#*******************

setp   pid.x.Pgain     [JOINT_0]P
setp   pid.x.Igain     [JOINT_0]I
setp   pid.x.Dgain     [JOINT_0]D
setp   pid.x.bias      [JOINT_0]BIAS
setp   pid.x.FF0       [JOINT_0]FF0
setp   pid.x.FF1       [JOINT_0]FF1
setp   pid.x.FF2       [JOINT_0]FF2
setp   pid.x.deadband  [JOINT_0]DEADBAND
setp   pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp   pid.x.error-previous-target true
#setp   pid.x.maxerror .0005

net x-index-enable  <=> pid.x.index-enable
net x-enable        =>  pid.x.enable
net x-pos-cmd       =>  pid.x.command
net x-vel-cmd       =>  pid.x.command-deriv
net x-pos-fb        =>  pid.x.feedback
net x-output        =>  pid.x.output

# ---PWM Generator signals/setup---

setp   hm2_5i25.0.7i77.0.1.analogout0-scalemax  [JOINT_0]OUTPUT_SCALE
setp   hm2_5i25.0.7i77.0.1.analogout0-minlim    [JOINT_0]OUTPUT_MIN_LIMIT
setp   hm2_5i25.0.7i77.0.1.analogout0-maxlim    [JOINT_0]OUTPUT_MAX_LIMIT

net x-output                             => hm2_5i25.0.7i77.0.1.analogout0
net x-pos-cmd    joint.0.motor-pos-cmd
net x-enable     joint.0.amp-enable-out
# enable _all_ sserial pwmgens
net x-enable   hm2_5i25.0.7i77.0.1.analogena

I don't now ... is the config that have 1 year .... I use custom comp for modbus comunication and alui... some remapped... but in hal file not see base-thread trace....

in attachment latency test nobase whit:

1- 10 glxgear and youtube 2 video run
2- same but only 4 glxgear
3- no ethernet connections and 1 glxgears


I hope was a positive value ...

Regards giorgio
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25 Nov 2016 18:22 #83303 by PCW
Replied by PCW on topic 7i77 5i25 hm2_pci unloaded
That amount of latency should be fine
The following user(s) said Thank You: bkt

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25 Nov 2016 18:30 #83305 by bkt
Replied by bkt on topic 7i77 5i25 hm2_pci unloaded
An other 2 step ....

1- on latency windows appear no_isolcpu ... but I have 2 core and 4 thread un cpu ... I must enable isolcpu for better performances??

2- please I would run linuxcnc whitouth rip-environment ... How to make it possible? in the past i use my own script but I have normal linuxcnc and ja9 installed at the same ... now only linuxcnc-dev...

regards
giorgio

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25 Nov 2016 18:52 - 25 Nov 2016 18:53 #83307 by PCW
Replied by PCW on topic 7i77 5i25 hm2_pci unloaded
1. In my experience isolcpus is a help with LinuxCNC/RTAI for parallel port stepper systems
but does nothing but lower LinuxCNC/Preempt-RT performance so I would not enable it

Besides, a slightly lower latency figure will make no practical difference for a servo system

2. I think if you build and then install the debian package (as shown in the linuxcnc build link),
you get a normal installed LinuxCNC instead of a RIP install, but I have not tried this
Last edit: 25 Nov 2016 18:53 by PCW.
The following user(s) said Thank You: bkt

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26 Nov 2016 08:43 #83330 by bkt
Replied by bkt on topic 7i77 5i25 hm2_pci unloaded
I have an other machine with 7i76 + 6i25 is possible run these with this latency??
regards
Giorgio

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