SERVO_PERIOD

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.

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...


 

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?

The trajectory period can be set though it defaults to the servo thread period.

man motion
 

Do you know what part of the source code it's embodying?