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 I would make sure that the 7I97T mounting hole near the RJ45 connector is grounded to chassis ground

When you get an error, what does:

halcmd show param *.tmax

report?
 

 

I did a continuity test on the 7i97t at the fasteners, it's not grounded.

below are videos of my errors. On one of them, the turret doesn't even launch before the error message.

the other is during rotation.

Mitch66 wrote:

Is there a list anywhere of the required changes please? If those changes reduce the latency then may be the graphics card might be worth a try.
thanks again

Try my list
docs.google.com/document/d/1jeV_4VKzVmOI...diY/edit?usp=sharing

The builder we have forked is based on Debian, not Rpi but we do fetch and build the Rpi  kernel from source.
That way you get the best of both worlds.
Linuxcnc is a Debian application so all the menu features are installed from Linuxcnc deb files.
Its not intended as a generic Rpi installation so it won't include any standard pi applications which could add additional latency.
 

Thank you for replying so quickly. I am afraid the answer is no. I just loaded Linux and did the stress test because I had rather suspected this old computer would not be very good. I had not realised that BIOS changes were necessary. I will try and find some instructions and give it a go. Is there a list anywhere of the required changes please? If those changes reduce the latency then may be the graphics card might be worth a try.
thanks again

macrimarco001 wrote:

Salve,
Thank you so much for this new resource. I think i'll start playing around with it as soon as i get a Raspberry Pi. i wonder what is the maximum control frequency using this solution.
I see you are a professor. I'm currently a computer engineering student at UniCal. i wish there would be a similar project at my university .
Hope you do well. Thanks again.

I have been retired for a couple of years now.
If you want, I can give you the name of a UniCal teacher who, in addition to knowing me personally, could answer your questions.
In the meantime, I'll see if I can find the digital copy of this thesis which could be a good starting point for your work.
 

Have you done all the suggested BIOS changes to reduce latency?

(disabling all power management, speed-step, hyperthreading, C state > C1 etc etc)

If you only get the error when enabling some motion it may be an EMI issue
Is the 7I96S's frame ground connected to chassis ground?

Also can you report the result of:

sudo chrt 99 ping -i .001 -q -c 60000 10.10.10.10

( This assumes the card IP address is 10.10.10.10 )

The test will take 1 minute