20KHz Phase and 10 KHz Servo clock
The problem occurs also, when no motion program or RTICPLC is running
Yes, they are still running. I checked this with the Linux console "top" command.
But the gppmac processes have been terminated. They are not listed anymore, when i type at the Linux console the "more stat" command at folder /proc/xenomai. Four month ago, i tested a firmware from DTCA with debug infos. The gppmac exits with an error message.
The C-programs are doing some TCPIP socket communications with other controllers for reading/writing some IO data over ethernet.
They are still communicating with the other controllers after the fault has occurred.
And they still increment global P variables, which I can see at watch window of the PowerPMac IDE.
One of the c-programs can definitely excluded, because I removed it from the project and the problem still occurs.
Only the modbus tcp client must running.
I attach the modbus source and a part of the background plc, which copies the data from and to the modbus buffers. modbus.zip