Error：Unexpected realtime delay on task 0 with period 1000000

Dears
I've successfully run linuxcnc and get in the UI. but I can't switch on my servo .
There is an error appeared on the UI said:
************************************************************************
Unexpected realtime delay on task 0 with period 1000000
This message will only display once per session.
Run the latency Test and resolve before continuing.
************************************************************************
and when I run the latency-test ,it has 1ms period with 25us jitter.
What can I do now?



Thanks & Best Regards
wade

You seem to be using Ethercat about which I now very little, but you call for a base_period of zero.
That looks a bit strange to me.

[EMCMOT]

EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 0
SERVO_PERIOD = 1000000

If you don't need the base_period try
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS

Hi，Platinum
Thanks for your kind advice。
I‘ll try it now。
Thanks & Best Regards
wade

The motion module (motmod, typically specified as [EMCMOT]EMCMOT)
defaults are:
base_period_nsec=0
servo_period_nsec=100000.
No base thread is created when base_period_nsec=0

Demonstrate using halrun:

Hi Platinum
I‘ve tride your advice to remove base_period_nsec,but after that , the linuxcnc can not run correctly.
I think I have found the reason about the Error message. I set the period 1ms, but actually the task run max 10x period.
The following is the message shown at the terminal
*********************************************************
Unexcepted realtime delay on task 0 with period 1000000
This message will only display once per session.
Run the Latency Test and resolve before continuing.
task: main loop took 0.022446 seconds
task: main loop took 0.010904 seconds
task: main loop took 0.011113 seconds
task: main loop took 0.011344 seconds
task: main loop took 0.030612 seconds
Shutting down and cleaning uo LinuxCNC
task: 44863 cycles, min=0.000744, max=0.081036, avg=0.002223, 159 latency excurs
ions (> 10x excepted cycle time of 0.001000s)
Note: Using POSIX realtime
*************************************************************
My linux kernel is 4.19.132-cip30-rt59 and when I run latency-test , servo-period 1ms just with 25us jitter. I have no idea why when I run linuxcnc with an Ethercat servo, the jitter changes to be 10x.

Thanks & Best Regards
wade

I am using a cortex-a53 board.
now I'll try to config the things you as said.