5i25+7i76 to 7i76E config conversion

Do you have isolcpus=1.2.3?

I think that's pretty much a requirement for RPI4 setups

Also even with isolcpus=1.2.3, some RPI4 Ethernet setups need a 2000000 ns servo thread

Happy holidays ,

Looks like the pi image is set to use isolcpus=3 , I changed it to isolcpus=1.2.3 but that did not fix the issue. I set the servo thread to 2000000 ns and that got rid of the realtime delay errors but now I am getting following errors, is there something else to change along with the servo thread time that needs adjusting as well or is the Pi4 just not up to the task?

Change PID "P" value to 500 for each axis/joint in the ini file.

***Edit*** Looks like isolcpus=1,2,3 fixed the issue. I had put in isolcpus=1.2.3 using periods and not comma’s after the proper isolcpus config was used the latency errors have gone away even while using a 1000000 ns servo thread. Thanks so much, pretty happy with the new setup now.




Changed the P to 500 still get the following errors, upped my following error and that gets rid of the messages but the machine does not run well, I get hiccups when moving the motors, they don’t sound healthy with 2000000 ns servo thread. I made a new sd card up with a fresh install and it is bit better latency wise but I do still get the warnings. If it would be better I’ll start a new post in the computer hardware section to chase this down as I now have the config well sorted for the 7i76e. Thank both of you for the help on this one.