Unexpected realtime delay and genserkins

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19 Apr 2018 15:47 #109301 by Cornflakes
I have problem when command G0 is running
There is no errror when homing

Dummy config brings nothing

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19 Apr 2018 15:52 - 19 Apr 2018 16:11 #109302 by PCW
What version of LinuxCNC and how did you install LinuxCNC?

Also can you get those numbers I mentioned before and after the first G0?

An easy way to get the max times of all functions is this:

halcmd show param *.tmax
Last edit: 19 Apr 2018 16:11 by PCW.

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26 Apr 2018 12:42 #109649 by andypugh
Coming late to this...

Note that tmax is in clocks, not nS.

Perhaps genserkins itself is getting stuck in an iteration loop and taking too long to compute a result?

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26 Apr 2018 13:42 #109653 by Cornflakes


Perhaps genserkins itself is getting stuck in an iteration loop and taking too long to compute a result?


I think its possible

How can check it?

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26 Apr 2018 14:05 #109655 by andypugh

I think its possible
How can check it?


There should be a genserkins.tmax HAL param.

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27 Apr 2018 12:55 #109704 by Cornflakes
There is not pin "genserkins.tmax"

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27 Apr 2018 13:16 #109707 by andypugh
Ah, sorry. It's not a HAL module is it?

Genserkins runs as part of motion. (and you have already looked at motion.tmax)

It might be instructive to halscope the motion function period to see if it jumps near the troublesome position.

It looks like Genserkins hasn't changed for quite a long time:
github.com/LinuxCNC/linuxcnc/commits/mas...ematics/genserkins.c

What are you actually controlling? I wonder if Pumakins might work?

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27 Apr 2018 13:30 #109709 by Cornflakes
I need to control arm with serial joints. Pumakins is not valid for me.

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27 Apr 2018 13:33 #109710 by PCW
Can you please post the results of this:

halcmd show param *.tmax

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28 Apr 2018 04:33 #109742 by Cornflakes
After homing:

Owner Type Dir Value Name
28 s32 RW 0 hm2_7i92.0.read-request.tmax
28 s32 RW 629562 hm2_7i92.0.read.tmax
28 s32 RW 92764 hm2_7i92.0.write.tmax
31 s32 RW 51810 latensy-servo.tmax
21 s32 RW 47008 motion-command-handler.tmax
21 s32 RW 122232 motion-controller.tmax
22 s32 RW 768200 servo-thread.tmax

When G0 command starts and error appears:

Owner Type Dir Value Name
28 s32 RW 0 hm2_7i92.0.read-request.tmax
28 s32 RW 629828 hm2_7i92.0.read.tmax
28 s32 RW 116876 hm2_7i92.0.write.tmax
31 s32 RW 51810 latensy-servo.tmax
21 s32 RW 375108 motion-command-handler.tmax
21 s32 RW 13882600 motion-controller.tmax
22 s32 RW 14342798 servo-thread.tmax

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