Re: Orocos and rtnet

A Dijous 08 Mar=E7 2007 12:02, Herman Bruyninckx va escriure:
> 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 del=
ay
> built in. :-( Our best results were more than 50ms dead time...

Really,

Herman do you have a CS8C controller with VxWorks?=20
Otherwise, how you can measure 50ms from the controller receive a value and=
 it=20
applies it?  You need to calculate the invkind?=20

Regards,

Leo

=20
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