Here is data from the terminal,
Realtime Threads:
Period FP Name ( Time, Max-Time )
2500000 YES servo-thread ( 1344688, 4938272 )
1 hm2_7i80.0.read
2 hm2_7i80.0.write
3 motion-command-handler
4 motion-controller
5 classicladder.0.refresh
6 pid.x.do-pid-calcs
7 pid.y.do-pid-calcs
8 pid.z.do-pid-calcs
9 mux2.0
10 mux4.0
11 mux16.0
12 mux16.1
13 lowpass.0
14 abs.0
15 abs.1
16 abs.2
17 abs.3
18 abs.4
19 scale.0
20 scale.1
21 scale.2
22 scale.3
23 gearchange.0
24 ilowpass.0
25 conv-float-s32.0
26 carousel.0
greenmill@greenmill:~/linuxcnc-dev$
greenmill@greenmill:~$ cd linuxcnc-dev
greenmill@greenmill:~/linuxcnc-dev$ top
top - 07:57:32 up 2 days, 22:34, 2 users, load average: 1.03, 0.93,
1.13
Tasks: 147 total, 1 running, 146 sleeping, 0 stopped, 0 zombie
%Cpu(s): 38.5 us, 10.5 sy, 0.0 ni, 43.9 id, 0.0 wa, 0.0 hi, 7.0 si,
0.0 st
KiB Mem: 16302796 total, 887564 used, 15415232 free, 140024 buffers
KiB Swap: 4789244 total, 0 used, 4789244 free, 414992 cached
PID USER PR NI VIRT RES SHR S %CPU %MEM TIME+ COMMAND
23145 greenmil 20 0 220m 55m 26m S 22.5 0.3 0:04.87 gscreen
23105 root 20 0 40596 39m 6284 S 15.2 0.2 0:03.40 rtapi_app
2989 root 20 0 308m 30m 8664 S 8.3 0.2 762:43.27 Xorg
23136 greenmil 20 0 23904 9620 7628 S 3.6 0.1 0:00.80
classicladder
3419 root -51 0 0 0 0 S 1.3 0.0 40:16.51
irq/40-eth1
3732 greenmil 20 0 113m 13m 9936 S 0.7 0.1 0:04.56
xfce4-terminal
23142 greenmil 20 0 17112 9396 7292 S 0.7 0.1 0:00.11 milltask
525 root -51 0 0 0 0 S 0.3 0.0 2:09.91
irq/16-ath9k
3568 root 20 0 0 0 0 S 0.3 0.0 0:01.35 flush-8:0
22910 root 20 0 0 0 0 S 0.3 0.0 0:00.46
kworker/u:2
23099 greenmil 20 0 3924 1576 1384 S 0.3 0.0 0:00.04 halui
1 root 20 0 2284 748 644 S 0.0 0.0 0:01.98 init
2 root 20 0 0 0 0 S 0.0 0.0 0:00.03 kthreadd
3 root -2 0 0 0 0 S 0.0 0.0 3:41.22
ksoftirqd/0
6 root rt 0 0 0 0 S 0.0 0.0 0:00.00
posixcputmr/0
7 root 20 0 0 0 0 S 0.0 0.0 0:00.00
kcmosdelayd
8 root rt 0 0 0 0 S 0.0 0.0 0:00.00
migration/0
top - 08:04:07 up 2 days, 22:40, 3 users, load average: 0.85, 0.95,
1.09
Tasks: 146 total, 2 running, 144 sleeping, 0 stopped, 0 zombie
%Cpu(s): 43.1 us, 8.6 sy, 0.0 ni, 44.7 id, 0.0 wa, 0.0 hi, 3.5 si,
0.0 st
KiB Mem: 16302796 total, 915292 used, 15387504 free, 140168 buffers
KiB Swap: 4789244 total, 0 used, 4789244 free, 415796 cached
PID USER PR NI VIRT RES SHR S %CPU %MEM TIME+ COMMAND
23145 greenmil 20 0 221m 55m 26m S 26.9 0.4 1:47.83 gscreen
23105 root 20 0 40596 39m 6284 S 12.3 0.2 0:52.55 rtapi_app
2989 root 20 0 322m 44m 8896 R 8.3 0.3 763:07.27 Xorg
3732 greenmil 20 0 113m 13m 9.8m S 2.3 0.1 0:06.45
xfce4-terminal
3419 root -51 0 0 0 0 S 1.3 0.0 40:21.43
irq/40-eth1
172 root -51 0 0 0 0 S 0.3 0.0 0:32.88
irq/23-ehci_hcd
23097 greenmil 20 0 3916 1612 1396 S 0.3 0.0 0:00.08 io
23142 greenmil 20 0 17112 9396 7292 S 0.3 0.1 0:01.57 milltask
23247 greenmil 20 0 4512 1376 1004 R 0.3 0.0 0:00.80 top
23311 root 20 0 0 0 0 S 0.3 0.0 0:00.55
kworker/u:1
23361 root 20 0 0 0 0 S 0.3 0.0 0:00.17
kworker/0:1
1 root 20 0 2284 748 644 S 0.0 0.0 0:01.99 init
2 root 20 0 0 0 0 S 0.0 0.0 0:00.03 kthreadd
3 root -2 0 0 0 0 S 0.0 0.0 3:41.65
ksoftirqd/0
6 root rt 0 0 0 0 S 0.0 0.0 0:00.00
posixcputmr/0
7 root 20 0 0 0 0 S 0.0 0.0 0:00.00
kcmosdelayd
8 root rt 0 0 0 0 S 0.0 0.0 0:00.00
migration/0
9 root -2 0 0 0 0 S 0.0 0.0 0:11.53 rcuc/0
10 root rt 0 0 0 0 S 0.0 0.0 0:00.00 rcun/0
11 root -2 0 0 0 0 S 0.0 0.0 0:00.00 rcub/0
12 root rt 0 0 0 0 S 0.0 0.0 0:00.00 rcun/1
13 root -2 0 0 0 0 S 0.0 0.0 0:00.00 rcub/1
14 root rt 0 0 0 0 S 0.0 0.0 0:00.26 watchdog/0
15 root 0 -20 0 0 0 S 0.0 0.0 0:00.00 cpuset
16 root 0 -20 0 0 0 S 0.0 0.0 0:00.00 khelper
17 root 20 0 0 0 0 S 0.0 0.0 0:00.00 kdevtmpfs
18 root 0 -20 0 0 0 S 0.0 0.0 0:00.00 netns
19 root 20 0 0 0 0 S 0.0 0.0 0:00.21
sync_supers
20 root 20 0 0 0 0 S 0.0 0.0 0:00.00
bdi-default
My ladder has 81 inputs, 62 outputs, 50 bits, almost 60 iec timers,
multiple S32 inputs an outputs, 105 rungs, and 8 different sections.
> -------- Original Message --------
> Subject: Re: [Emc-users] Add another "servo_thread" to my config
> From: andy pugh <[email protected]>
> Date: Mon, November 16, 2015 7:26 am
> To: "Enhanced Machine Controller (EMC)"
> <[email protected]>
>
>
> On 16 November 2015 at 12:11, Rick Lair <[email protected]> wrote:
>
> > What I found is, is my servo_thread is set at 2,500,000 ns and my ladder
> > is peaking at 3,400,000 to 3,500,000 ns.
>
> Are you sure about those numbers?
>
> 1,000,000 bS (1mS) is a common servo thread rate. Sometimes there is
> an advantage in going lower, but if Ladder is taking 3.5mS it sounds
> like something unusual is happening.
>
> You could try turning on base_thread_fp then running ladder in a 10mS
> "servo-thread" and other stuff in a 1mS "base-thread" with FP enabled.
> I am not sure what that would do your traj-period, though.
>
> It is possible to have up to three threads, so it might be better to
> add a "loadrt threads" after the loadrt motmod line in the HAL, and
> create your new, slower, thread that way.
> http://linuxcnc.org/docs/2.7/html/man/man9/threads.9.html
>
> --
> atp
> If you can't fix it, you don't own it.
> http://www.ifixit.com/Manifesto
>
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------------------------------------------------------------------------------
Presto, an open source distributed SQL query engine for big data, initially
developed by Facebook, enables you to easily query your data on Hadoop in a
more interactive manner. Teradata is also now providing full enterprise
support for Presto. Download a free open source copy now.
http://pubads.g.doubleclick.net/gampad/clk?id=250295911&iu=/4140
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