Unexcepted realtime delay on task 0 with period 1000000

[ibXCM]

Dears When I run linuxcnc,there is always an error exist as following:

Unexcepted realtime delay on task 0 with period 1000000 This message will only display once per session. Run the Latency Test and resolve before continuing. task: main loop took 0.022446 seconds task: main loop took 0.010904 seconds task: main loop took 0.011113 seconds task: main loop took 0.011344 seconds task: main loop took 0.030612 seconds Shutting down and cleaning uo LinuxCNC task: 44863 cycles, min=0.000744, max=0.081036, avg=0.002223, 159 latency excurs ions (> 10x excepted cycle time of 0.001000s) Note: Using POSIX realtime

I'm using debian9 with kernel 4.19.132-rt59. and when I run rt-tests, the max jitter is 90us. The following is my "demsg" printed

what should I do now？

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[16733.892777] ravb e6800000.ethernet eth0: Link is Down [16733.898024] EtherCAT 0: Link state of ecm0 changed to DOWN. [16733.903653] EtherCAT WARNING 0: 1 datagram TIMED OUT! [16733.908741] EtherCAT WARNING 0: 19 datagrams UNMATCHED! [16733.914019] EtherCAT 0: 0 slave(s) responding on main device. [16741.137057] ravb e6800000.ethernet eth0: Link is Up - 100Mbps/Full - flow control off [16741.137876] EtherCAT 0: Link state of ecm0 changed to UP. [16741.147419] EtherCAT WARNING 0: 1 datagram TIMED OUT! [16741.362502] EtherCAT 0: 1 slave(s) responding on main device. [16741.368298] EtherCAT 0: Slave states on main device: INIT. [16741.374126] EtherCAT 0: Scanning bus. [16741.577344] EtherCAT 0: Bus scanning completed in 200 ms. [16741.582790] EtherCAT 0: Using slave 0 as DC reference clock. [16741.592662] EtherCAT 0: Slave states on main device: PREOP. [16774.389669] EtherCAT 0: Master thread exited. [16774.394799] EtherCAT 0: Releasing main device 00:03:82:FE:20:98. [16774.417715] ec_generic: Unloading. [16774.444273] EtherCAT: Master module cleaned up. [16776.520944] EtherCAT: Master driver 1.5.2 unknown [16776.527372] EtherCAT: 1 master waiting for devices. [16776.546774] ec_generic: EtherCAT master generic Ethernet device module 1.5.2 unknown [16776.554641] EtherCAT: Accepting 00:03:82:FE:20:98 as main device for master 0. [16776.561984] ec_generic: Binding socket to interface 4 (eth0). [16776.581612] EtherCAT 0: Starting EtherCAT-IDLE thread. [16776.586977] EtherCAT 0: Link state of ecm0 changed to UP. [16776.591249] EtherCAT 0: 1 slave(s) responding on main device. [16776.591259] EtherCAT 0: Slave states on main device: PREOP. [16776.591672] EtherCAT 0: Scanning bus. [16776.787515] EtherCAT 0: Bus scanning completed in 196 ms. [16776.792955] EtherCAT 0: Using slave 0 as DC reference clock. [16802.516971] EtherCAT: Requesting master 0... [16802.521311] EtherCAT: Successfully requested master 0. [16802.528703] EtherCAT 0: Domain0: Logical address 0x00000000, 32 byte, expected working counter 3. [16802.538527] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 32 byte, type LRW. [16802.551591] EtherCAT 0: Master thread exited. [16802.556011] EtherCAT 0: Starting EtherCAT-OP thread. [16808.125764] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms. [16808.143958] EtherCAT 0: Domain 0: Working counter changed to 3/3 [16808.143965] . [16808.272611] EtherCAT 0: Slave states on main device: OP. [16808.558010] EtherCAT WARNING 0: 14 datagrams UNMATCHED! [16808.785913] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 7 times. [16809.145873] EtherCAT 0: Domain 0: 4 working counter changes - now 3/3 [16809.145879] . [16809.559962] EtherCAT WARNING 0: 34 datagrams UNMATCHED! [16809.789905] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 17 times. [16810.149899] EtherCAT 0: Domain 0: 4 working counter changes - now 3/3 [16810.149906] . [16810.561092] EtherCAT WARNING 0: 34 datagrams UNMATCHED! [16810.793900] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 17 times. [16811.153888] EtherCAT 0: Domain 0: 4 working counter changes - now 3/3 [16811.153893] . [16811.558529] EtherCAT WARNING 0: 32 datagrams UNMATCHED! [16811.797899] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 16 times. [16812.157898] EtherCAT 0: Domain 0: 6 working counter changes - now 3/3 [16812.157904] . [16812.560430] EtherCAT WARNING 0: 34 datagrams UNMATCHED! [16812.801898] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 17 times. [16813.161897] EtherCAT 0: Domain 0: 4 working counter changes - now 3/3 [16813.161903] . [16813.559364] EtherCAT WARNING 0: 34 datagrams UNMATCHED! [16813.805913] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 17 times. [16814.165893] EtherCAT 0: Domain 0: 4 working counter changes - now 3/3 [16814.165899] . [16814.558506] EtherCAT WARNING 0: 32 datagrams UNMATCHED! [16814.809893] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 16 times. [16815.169896] EtherCAT 0: Domain 0: 6 working counter changes - now 3/3 [16815.169902] . [16815.559329] EtherCAT WARNING 0: 32 datagrams UNMATCHED! [16815.813904] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 16 times. [16816.173897] EtherCAT 0: Domain 0: 8 working counter changes - now 3/3 [16816.173903] . [16816.558702] EtherCAT WARNING 0: 32 datagrams UNMATCHED! [16816.817906] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 16 times. [16817.177900] EtherCAT 0: Domain 0: 6 working counter changes - now 3/3 [16817.177906] . [16817.559332] EtherCAT WARNING 0: 32 datagrams UNMATCHED! [16817.821892] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 16 times. [16818.181869] EtherCAT 0: Domain 0: 4 working counter changes - now 3/3 [16818.181875] . [16818.560764] EtherCAT WARNING 0: 32 datagrams UNMATCHED! [16818.825894] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 16 times. [16819.185895] EtherCAT 0: Domain 0: 6 working counter changes - now 3/3 [16819.185901] . [16819.561389] EtherCAT WARNING 0: 32 datagrams UNMATCHED! [16819.829911] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 16 times. [16820.189905] EtherCAT 0: Domain 0: 6 working counter changes - now 3/3 [16820.189912] . [16820.561512] EtherCAT WARNING 0: 34 datagrams UNMATCHED! [16820.833898] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 17 times. [16821.193904] EtherCAT 0: Domain 0: 4 working counter changes - now 3/3 [16821.193910] . [16821.558742] EtherCAT WARNING 0: 34 datagrams UNMATCHED! [16821.837914] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 17 times. [16822.197910] EtherCAT 0: Domain 0: 4 working counter changes - now 3/3 [16822.197916] . [16822.559733] EtherCAT WARNING 0: 34 datagrams UNMATCHED! [16822.841897] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 17 times. [16823.201889] EtherCAT 0: Domain 0: 4 working counter changes - now 3/3 [16823.201895] . [16823.560775] EtherCAT WARNING 0: 36 datagrams UNMATCHED! [16823.845859] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 18 times. [16824.205894] EtherCAT 0: Domain 0: 4 working counter changes - now 3/3 [16824.205900] . [16824.558505] EtherCAT WARNING 0: 34 datagrams UNMATCHED! [16824.849895] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 17 times. [16825.209879] EtherCAT 0: Domain 0: 4 working counter changes - now 3/3 [16825.209884] . [16825.557758] EtherCAT WARNING 0: 34 datagrams UNMATCHED! [16825.853896] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 17 times. [16826.213898] EtherCAT 0: Domain 0: 4 working counter changes - now 3/3 [16826.213903] . [16826.558925] EtherCAT WARNING 0: 34 datagrams UNMATCHED! [16826.857870] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 17 times. [16827.217884] EtherCAT 0: Domain 0: 4 working counter changes - now 3/3 [16827.217890] . [16827.560576] EtherCAT WARNING 0: 34 datagrams UNMATCHED! [16827.861900] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 17 times. [16828.221908] EtherCAT 0: Domain 0: 4 working counter changes - now 3/3 [16828.221914] . [16828.559327] EtherCAT WARNING 0: 36 datagrams UNMATCHED! [16828.865919] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 18 times. [16829.225855] EtherCAT 0: Domain 0: 4 working counter changes - now 3/3 [16829.225861] . [16829.559312] EtherCAT WARNING 0: 34 datagrams UNMATCHED! [16829.869906] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 17 times. [16830.229843] EtherCAT 0: Domain 0: 4 working counter changes - now 3/3 [16830.229854] . [16830.559334] EtherCAT WARNING 0: 34 datagrams UNMATCHED! [16830.873920] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 17 times. [16831.233892] EtherCAT 0: Domain 0: 4 working counter changes - now 3/3 [16831.233898] . [16831.560359] EtherCAT WARNING 0: 32 datagrams UNMATCHED! [16831.877892] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 16 times. [16832.237901] EtherCAT 0: Domain 0: 8 working counter changes - now 3/3 [16832.237908] . [16832.557727] EtherCAT WARNING 0: 32 datagrams UNMATCHED! [16832.881852] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 16 times. [16833.241904] EtherCAT 0: Domain 0: 4 working counter changes - now 3/3 [16833.241911] . [16833.558874] EtherCAT WARNING 0: 34 datagrams UNMATCHED! [16833.885917] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 17 times. [16834.245883] EtherCAT 0: Domain 0: 4 working counter changes - now 3/3 [16834.245889] . [16834.557694] EtherCAT WARNING 0: 34 datagrams UNMATCHED! [16834.889858] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 17 times. [16835.249932] EtherCAT 0: Domain 0: 4 working counter changes - now 3/3 [16835.249940] . [16835.560869] EtherCAT WARNING 0: 34 datagrams UNMATCHED! [16835.893898] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 17 times. [16836.253853] EtherCAT 0: Domain 0: 6 working counter changes - now 3/3 [16836.253859] . [16836.561528] EtherCAT WARNING 0: 32 datagrams UNMATCHED! [16836.897904] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 16 times. [16837.257917] EtherCAT 0: Domain 0: 4 working counter changes - now 3/3 [16837.257924] . [16837.558614] EtherCAT WARNING 0: 32 datagrams UNMATCHED! [16837.901904] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 16 times. [16838.261903] EtherCAT 0: Domain 0: 6 working counter changes - now 3/3 [16838.261909] . [16838.557817] EtherCAT WARNING 0: 32 datagrams UNMATCHED! [16838.905898] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 16 times. [16839.265884] EtherCAT 0: Domain 0: 6 working counter changes - now 3/3 [16839.265890] . [16839.559634] EtherCAT WARNING 0: 32 datagrams UNMATCHED! [16839.909919] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 16 times. [16840.269881] EtherCAT 0: Domain 0: 6 working counter changes - now 3/3 [16840.269886] . [16840.558048] EtherCAT WARNING 0: 34 datagrams UNMATCHED! [16840.913853] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 17 times. [16841.273899] EtherCAT 0: Domain 0: 4 working counter changes - now 3/3 [16841.273905] . [16841.559161] EtherCAT WARNING 0: 32 datagrams UNMATCHED! [16841.917874] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 16 times. [16842.035093] EtherCAT 0: 0 slave(s) responding on main device. [16842.046817] EtherCAT 0: 1 slave(s) responding on main device. [16842.052637] EtherCAT 0: Slave states on main device: OP. [16842.067570] EtherCAT 0: Scanning bus. [16842.277878] EtherCAT 0: Domain 0: 6 working counter changes - now 3/3 [16842.277883] . [16842.560969] EtherCAT WARNING 0: 25 datagrams UNMATCHED! [16842.863365] EtherCAT WARNING: Datagram 000000009709d9b5 (master-fsm) was SKIPPED 1 time. [16842.921913] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 16 times. [16843.281897] EtherCAT 0: Domain 0: 6 working counter changes - now 3/3 [16843.281904] . [16843.560394] EtherCAT WARNING 0: 16 datagrams UNMATCHED! [16843.925884] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 16 times. [16844.285894] EtherCAT 0: Domain 0: 8 working counter changes - now 3/3 [16844.285901] . [16844.558353] EtherCAT WARNING 0: 16 datagrams UNMATCHED! [16844.929911] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 16 times. [16845.279272] EtherCAT 0: Bus scanning completed in 3220 ms. [16845.285100] EtherCAT 0: Using slave 0 as DC reference clock. [16845.289855] EtherCAT 0: Domain 0: 4 working counter changes - now 3/3 [16845.289861] . [16845.559029] EtherCAT WARNING 0: 10 datagrams UNMATCHED! [16845.933893] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 9 times. [16846.293902] EtherCAT 0: Domain 0: 2 working counter changes - now 3/3 [16846.293909] . [16846.560366] EtherCAT WARNING 0: 32 datagrams UNMATCHED! [16846.937895] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 16 times. [16847.297881] EtherCAT 0: Domain 0: 6 working counter changes - now 3/3 [16847.297887] . [16847.560378] EtherCAT WARNING 0: 34 datagrams UNMATCHED! [16847.941881] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 17 times. [16848.301898] EtherCAT 0: Domain 0: 6 working counter changes - now 3/3 [16848.301904] . [16848.560487] EtherCAT WARNING 0: 34 datagrams UNMATCHED! [16848.945876] EtherCAT WARNING: Datagram 0000000034347194 (domain0-0-main) was SKIPPED 17 times. [16849.078481] EtherCAT 0: Master thread exited. [16849.082914] EtherCAT 0: Starting EtherCAT-IDLE thread. [16849.088856] EtherCAT 0: Releasing master... [16849.093155] EtherCAT 0: Released. [16849.097545] EtherCAT WARNING 0-0: Changed to SAFEOP + ERROR in the meantime. [16849.215460] EtherCAT 0: Slave states on main device: PREOP. [16849.892503] EtherCAT WARNING: Datagram 000000009709d9b5 (master-fsm) was SKIPPED 1 time.

[sirop]

First try to understand if this issue is EtherCAT specific or if it comes up with any other LinuxCNC script.

If it is EtherCAT specific, try to understand this https://etherlab-users.etherlab.narkive.com/W9esJT3e/unmatched-and-skipped-datagrams#post2 .

Possible reasons:

1. Mismatch between LinuxCNC thread and EtherCAT cycle times.
2. Latency too high because you use a generic EtherCAT driver.
3. Something else...

[ibXCM]

Hi，Boris Thanks for your reply，I‘ll check it now Thanks & Best Regards wade

Boris Skegin [email protected] 于2020年9月17日周四 下午2:30写道：

First try to undersrtand if this issue is EtherCAT specific or if it comes up with any other LinuxCNC script.

If it is EtherCAT specific, try to understand this https://etherlab-users.etherlab.narkive.com/W9esJT3e/unmatched-and-skipped-datagrams#post2 .

Possible reasons:

1. Mismatch between LinuxCNC thread and EtherCAT cycle times.
2. Latency too high because you use a generic EtherCAT driver.
3. Something else...

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