My computer is an IBM ThinkPad 700Hz laptop with 256MB of memory. The software
is Ubuntu and EMC2 2.1.6.
The problem is that I do get an (Unexpected realtime delay) error when I start
EMC2 and the servo starts to stepp by itself (~3 steps/sec). I can use the
program, but it drives the servo by mixing the command and the unwanted steps??
THE DMESG:
[ 700.559768] Bluetooth: RFCOMM ver 1.7
[ 731.643791] ISO 9660 Extensions: Microsoft Joliet Level 3
[ 733.616228] hdc: media error (bad sector): status=0x51 { DriveReady SeekCompl
ete Error }
[ 733.616249] hdc: media error (bad sector): error=0x34 { AbortedCommand LastFa
iledSense=0x03 }
[ 733.616260] ide: failed opcode was: unknown
[ 733.616269] end_request: I/O error, dev hdc, sector 76
[ 733.617157] ISOFS: unable to read i-node block
[ 733.617168] ISOFS: changing to secondary root
[ 734.769709] hdc: media error (bad sector): status=0x51 { DriveReady SeekCompl
ete Error }
[ 734.769731] hdc: media error (bad sector): error=0x34 { AbortedCommand LastFa
iledSense=0x03 }
[ 734.769742] ide: failed opcode was: unknown
[ 734.769750] end_request: I/O error, dev hdc, sector 460
[ 734.772273] ISOFS: unable to read i-node block
[ 773.738884] I-pipe: Domain RTAI registered.
[ 773.738905] RTAI[hal]: <magma> mounted over IPIPE-NOTHREADS 1.3-00.
[ 773.738912] RTAI[hal]: compiled with gcc version 4.0.3 (Ubuntu 4.0.3-1ubuntu5
).
[ 773.738925] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs VEC
TORED), ISOL_CPUS_MASK: 0).[ 773.738932] PIPELINE layers:
[ 773.738939] d0bf0780 9ac15d93 RTAI 200
[ 773.738946] c02d1680 0 Linux 100
[ 773.779616] RTAI[malloc]: vmalloced extent d0f01000, size 2097152.
[ 773.779727] RTAI[malloc]: loaded (global heap size=2097152 bytes).
[ 773.784645] RTAI[sched_lxrt]: loaded (IMMEDIATE, UP, USER/KERNEL SPACE <with
RTAI TASKs>).
[ 773.784663] RTAI[sched_lxrt]: hard timer type/freq = 8254-PIT/1193180(Hz); de
fault timing mode is periodic; linear ordering of timed lists.
[ 773.784676] RTAI[sched_lxrt]: Linux timer freq = 1000 (Hz), CPU freq = 697193
000 hz.
[ 773.784685] RTAI[sched_lxrt]: timer setup = 2010 ns, resched latency = 2687 n
s.
[ 773.882527] RTAI[math]: loaded.
[ 773.924599] RTAPI: Init
[ 773.924657] RTAPI: Init complete
[ 774.183636] MOTION: init_module() starting...
[ 774.183664] MOTION: init_hal_io() starting...
[ 774.187407] MOTION: init_hal_io() complete, 8 axes.
[ 774.187414] MOTION: init_comm_buffers() starting...
[ 774.198293] MOTION: init_comm_buffers() complete
[ 774.198319] MOTION: init_threads() starting...
[ 774.198329] HAL: creating thread base-thread, 50000 nsec
[ 774.198425] HAL: thread created
[ 774.198434] HAL: creating thread servo-thread, 1000000 nsec
[ 774.198473] HAL: thread created
[ 774.198591] MOTION: setting Traj cycle time to 10000000 nsecs
[ 774.198606] MOTION: setting Servo cycle time to 1000000 nsecs
[ 774.198616] MOTION: init_threads() complete
[ 774.198622] MOTION: init_module() complete
[ 774.232733] STEPGEN: installed 3 step pulse generators
[ 774.297387] config string '0x0378'
[ 774.298014] PARPORT: installed driver for 1 ports
[ 775.327307] 994: ERROR: Unexpected realtime delay: check dmesg for details.
[ 775.327325]
[ 775.327328] In recent history there were
[ 775.327332] 689463, 688776, 689337, 688922, and 688865
[ 775.327336] elapsed clocks between calls to the motion controller.
[ 775.327354] This time, there were 4894008 which is so anomalously
[ 775.327358] large that it probably signifies a problem with your
[ 775.327362] realtime configuration. For the rest of this run of
[ 775.327367] EMC, this message will be suppressed.
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