Re: Orocos and rtnet

On Thu, 8 Mar 2007, Leopold Palomo-Avellaneda wrote:

>>> we would like to use it. Can we create a PeriodicActivity and try to
>>> synchronize both?
>>
>> How...? The clocks will skew anyhow... It's better to take this into
>> account and foresee an activity that can wait on the RTNet package.
>
> Ok, you are right. I need to make some test. I'm beginning !!!!
>
>> Btw, do you have any numbers about delays at the VxWorks side? I mean: how
>> realtime is the ethernet on that side? How long does it take before a value
>> sent to the robot is actually executed in its controller?
>
> Not yet ..... all about the controller is a bit precarious .
>
it is... We have interfaced a Staubli controller also, via ethernet and
serial line, just to find out that the communication in itself is fast
enough but the Staubli controller doesn't take the external update values
into account immediately: there seems to be some motion interpolation delay
built in. :-( Our best results were more than 50ms dead time...

Herman

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