On Tuesday 01 May 2012 22:21:50 Alexey Starikovskiy wrote: > It is all good looking in theory, but how do you transfer this > information to the servo drive? > As I understand, now we have all calculations of trajectory done in > servo thread with repeat > rate equal to ~1kHz. This means that we calculate new data points for > drive (either acceleration > or velocity) only once per 1ms. It stays constant for this time > period, and at best we have some > ladder approximation of the A or V. How do you feet gauss or sine > function for jerk into this setup?
From http://www.aspe.net/publications/Spring_2001/01Sp%20Extended%20Abstracts/Arevalo.PDF page 4, uppe left: "In a i486–DX4 type processor at 66 Mhz (with FPU integrated), running an ISR (interrupt service routine) that feeds a servo controller at a rate of 250 Hz, under a multitasking OS (Linux), there is not an appreciable difference for the computational load of calculating any of the profiles reviewed. " If this works 2001 I assume it is possible to get it working now. Or we have to switch to i486 processors. At this time I am not familiar enough with the existing code to make usefull recommendations. Joachim ------------------------------------------------------------------------------ Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
