Unexpected realtime delay and genserkins

Cornflakes wrote: I think its possible
How can check it?

There should be a genserkins.tmax HAL param.

There is not pin "genserkins.tmax"

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?

I need to control arm with serial joints. Pumakins is not valid for me.

Can you please post the results of this:

halcmd show param *.tmax

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