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You could try reducing the servo thread rate to 2 ms
(and all stepgen P terms to 500)

You could also see if pinning the Ethernet IRQ to the top processor helps:

 

first chmod +x pinirq.txt
then
sudo pinirq.txt [ethernet device name]

And see if that helps (it will only last until a reboot)


 

Thanks
Haven't gotten back to the touch probe stuff but hope to soon.

Currently a couple other issues. The first is definitely PB related.
Every time I start PB it puts the coordinate readout in inches when linear units is set to mm in the ini.
G21 does switch it but it's still annoying. How do I set it so everything starts and always stays in mm?


The second I don't remember if this was an issue in other UIs but if I hit home x or y it does not lift Z before homing.
I see there is a go to home file in subroutines which I assume is used for home all but don't see anything specifically for individual axis. Would I need to create a subroutine for x and for y to get it to Z0 before homing them?

Hello, is it possible to create "internal buttons"? I mean not a physical button, but only in the software e.g.

One time I only received a warning message.
I did the latency test using the script at @ tommylight
Most of the time the maximum delay is 190us
I think when it jumped up 700us I saved a file to a flash drive.

What should I do now?
 

Because I couldn't figure out how to disable smt for my fx 8350 cpu with the rtai kernel.  I tried switching to an X6 1090T.  I also disabled the thermal limits in bios.  My max jitter reduces to +/-14.4us (with all points within +/-5us except the ones right at +/-14.4us.  I wish I had taken a picture.)  I then turned the thermal limits back on, and I got about the same result I was getting for the fx 8350.  So, I turned the thermal limits back of again, but it didn't go back to the +/-14.4us max jitter.  It still looked the same as the fx 8350.  I tried resetting and messing with some other settings, and I can't get back to that +/-14.4us or better.  With some systems, is there some random timing at startup that causes different latency results even though there were no settings changes?

Very possible...wrong file attached.  

In the meantime, found several apparent errors in the HAL when comparing to the original version conversion.  Further,  I had to reset the BIOS to defaults for Debian 12 to install and had not reset the serial port address. This should be consistent set of INI, HAL, and error report files.

Thanks royka,
Do you happen to know, in the rtai kernel, would I move the processes with priority listed as rt?

I don't have all the answers but to get you going here is something.

Afaik a gantry system is setup using trivkins kinematics - that you have - and specify coordinates=XXYZ (if you have two servos in X).
You will get four joints, joint_0 and joint_1 is X, joint_2 is Y, joint_3 is Z.
Consequently, a joint represents a servo.
Set up the system like any gantry system.
Homing - see the linuxcnc homing doc.
Looking at the hal and ini files you seem to be almost there. Just change the trivkins line in the ini file and see if it becomes better.
 

This is for v2.10. My apologies for the ambiguity. 
Thank you

Wow your numbers are impressive.
I have been under tuning my machines. The acceleration is around 0.1-0.2G. Since I only mill steel so no need for high speed and I can already feel my machine shake with that acceleration. I think it need jerk limit trajectory planner to unlock its full potential

Do you still get real time errors on the 6.12 kernel?

(the 6.1x kernels are know to have poor network latency)

Note that the normal latency test is not really helpful here
as it doesn't actually do anything (no memory allocation, no I/O etc etc)
so just tests dispatch latency
 

Let me know when you think the Gui is ready for inclusion.

stkvit wrote:

delivery to our country does not work.

Where are you from ?

stkvit wrote:

I would be happy to buy your sensor, but delivery to our country does not work. If possible, share basic information about your developments (source code is not needed), this is very interesting and can motivate many to develop their own sensors. From simple ideas, study the BCL-AMP circuit and create on one board together with a fast microcontroller (like on BCS100) and EtherCAT on LAN9252. 
Several people have analyzed BCL-AMP circuits – these are very simple LC generators built from just a few basic components like here:
BCL-AMP  
Someone even posted a example schematic like the one below (not the same device but simply).

I tested it, and it works, but as you correctly pointed out, it requires advanced processing, like in BCS-100 controllers, for example, which is not a small cost. I had to look for other methods, and measuring the charging/discharging time of a capacitance with a very small variable current turned out to be a more effective approach, so I pursued that direction. The output interface is a completely separate matter – I chose a simple 0-10V signal and a variable frequency range of 20 kHz - 70 kHz.

Hi,
i am trying to setup a gantry config with ethercat servos.
Is there some working sample config somewhere? I am kind of lost...
Attached is my nonworking config.

Some questions:
- In linuxcnc terminology, does a gantry count as one or two joints?
- What is the difference between "gantry" and "gantrykins"? 
- How are the different inputs and ouputs of the two ethercat drives combined into one axis? "gantry" module does this only for pos/fb, but not for status, etc.
- How is homing done?
- How can i detect faults, e.g. one servo nonop, or both servos out of sync; and stop everything?