I had yet no time to look deeper into it. But by accident we found out that the order of the components unloading itself matters.
So try in your case: loadusr -W lcec_conf /usr/share/linuxcnc-ethercat/examples/generic-complex/ Basic/ethercat-conf_X.xml loadrt trivkins loadrt tp loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec =[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES tp=tp kins=trivkins loadrt not count=1 loadrt lcec So if lcec is also the last to be unloaded, then any rtapi timeout won't influence the othre components as they were already unloaded before. b On Tuesday, November 22, 2016 at 5:17:46 PM UTC+1, Jerry Lian wrote: > > Hi, Boris: > > I used "Sittner" package directly: > https://github.com/sittner/linuxcnc-ethercat > As we look at the file "realtime.mk": > https://github.com/sittner/linuxcnc-ethercat/blob/master/src/realtime.mk > * The original "realtime.mk" mentions nothing about Xenomai. > * Do you suggest that "Sittner" package will not work well under > RT-Preempt? > > I have not tested your file yet: > * I can see that your "realtime.mk" is quite different from "realtime.mk" > of "Sittner" package. > * Do you have the whole package of your own version? > > Thanks! > > > On Monday, November 21, 2016 at 1:49:33 PM UTC-5, Boris Skegin wrote: >> >> Could you try out this gist >> https://gist.github.com/sirop/3f9e3ab52ea8188b65e9fc4c14656c88 >> <https://www.google.com/url?q=https%3A%2F%2Fgist.github.com%2Fsirop%2F3f9e3ab52ea8188b65e9fc4c14656c88&sa=D&sntz=1&usg=AFQjCNEOk8FyjY_ezJLEPSDUtOcSPE7oQw> >> for src/realtime.mk adjusting it for RT-Preempt which means >> smth. like >> cp $(module) $(DESTDIR)$(RTLIBDIR)/rt-preempt >> >> instead of >> cp $(module) $(DESTDIR)$(RTLIBDIR)/xenomai >> >> Probably, this would not help in your case as it did not help in my case >> ( on xenomai). >> Just to be sure ... >> >> -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
