Hi,
On 06/10/2011 04:16 PM, Lars Segerlund wrote:
It sounds like Michaels patches from sercos is the way to go, since they are current, enhanced and he plans a code drop.
Well, we are still at the version 2.4.4 but we plan to port the patches to a newer version. We also like to keep the EMC adoptions hardware independent. That would also make other adoptions easier.
Also that code have been exercised with real gardware :) , what kind of latencies ?
The machine with the sercos drives is located at a company. A student is doing the adoptions to the sercos stack. But he told me, he had the drives already moving (bringing the drives to operation is a quite complex task).
Nevertheless I attached a kernel latency plot which was measured a few weeks ago on another computer. It was created on a Core i7 2600 with 3.4Ghz and 8 cores, while a few real-time tasks were running for about 12 days with 2ms cycle time. The kernel it's just a RT_Preempt patched vanilla kernel without other tuning. That's why it performs not really good. It shows latencys of about 150us (a few in one billion samples) and an average of 3us. For our application it was far enough and I had no time to tune the system, anyway.
But it could be far better: The OSADL testfarm shows 39us on this an comparable system. I think I have to review their configuration soon :)
https://www.osadl.org/?id=864 https://www.osadl.org/Latency-plot-of-system-in-rack-4-slot.qa-latencyplot-r4s6.0.html
IMHO , Lars Segerlund
Greetings Michael
On Jun 10, 2011 3:51 p.m., "Michael Abel" <michael.a...@isw.uni-stuttgart.de <mailto:michael.a...@isw.uni-stuttgart.de>> wrote: Hi Lars, We also intend to port the patch to a recent EMC version. It would be nice if we find a way to cooperate on this topic. We are currently trying to use EMC in combination sercos III (www.sercos.org <http://www.sercos.org>) (I asked about that a few weeks ago). We are using a proprietary sercos III communication stack which runs already on RT_Preempt. The stack is based on cosema (http://cosema.sourceforge.net/). To couple EMC with the stack I applied the patches from Michael Büsch and made some other enhancements. I also added a simple shared memory interface component to HAL and semaphore support to linux_rtapi. Which seems to run quite well. A lot of further changes are also planned. I'm planning to put the patches together with a bit of documentation and a few test results on a website within the next week. Greetings Michael On 06/10/2011 02:01 PM, Lars Segerlund wrote: > > I got the original patches from the mail below, I will clean them up > so that they apply to the... > ------------------------------------------------------------------------------ > EditLive Enterpri... -- ---------------------------------------------------------------- Dipl.-Ing. Michael Abel Graduate School advanced Manufacturing Engineering GSaME - Universität Stuttgart Institut für Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen ISW - Universität Stuttgart Seidenstr. 36 70174 Stuttgart Tel.: ++49 (0) 711 685-82532 Fax : ++49 (0) 711 685-82808 michael.a...@isw.uni-stuttgart.de <mailto:michael.a...@isw.uni-stuttgart.de> michael.a...@gsame.uni-stuttgart.de <mailto:michael.a...@gsame.uni-stuttgart.de> www.isw.uni-stuttgart.de <http://www.isw.uni-stuttgart.de> www.gsame.uni-stuttgart.de <http://www.gsame.uni-stuttgart.de> ------------------------------------------------------------------------------ EditLive Enterprise is the world's most technically advanced content authoring tool. Experience the power of Track Changes, Inline Image Editing and ensure content is compliant with Accessibility Checking. http://p.sf.net/sfu/ephox-dev2dev _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net <mailto:Emc-developers@lists.sourceforge.net> https://lists.sourceforge.net/lists/listinfo/emc-developers
-- ---------------------------------------------------------------- Dipl.-Ing. Michael Abel Graduate School advanced Manufacturing Engineering GSaME - Universität Stuttgart Institut für Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen ISW - Universität Stuttgart Seidenstr. 36 70174 Stuttgart Tel.: ++49 (0) 711 685-82532 Fax : ++49 (0) 711 685-82808 michael.a...@isw.uni-stuttgart.de michael.a...@gsame.uni-stuttgart.de www.isw.uni-stuttgart.de www.gsame.uni-stuttgart.de
hist_i7_2600_3.4Ghz.txt.tar.gz
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