Original EMC (circa 1995) ran the trajectory planner and kinematics every 10mS and the servo cycle (PID, etc), every 1mS, because the kinematics math was too much for pre-2000 computers.
EMC2 (from around 2004) runs the trajectory planner and kinematics at the same rate as the servo loop by default. I don't remember enough details to know if it is still possible to run them at separate rates or not. On Mon, Nov 9, 2015, at 03:53 AM, Jullian wrote: > Hi, all, > > The "tp->cycleTime" is equal to '1ms' that i catched in the function of > tpRunCycle() in tp.c. > > My doubt is that why the "tp->cycleTime" is not equivalent with the > 'CYCLE_TIME=0.010s' setted in the [TRAJ] of the .ini file? but is > equivalent with the servo period 1ms? > > Is it not true that we do the tpRunCycle() every 10ms so that we can get 10 > cubic_interpolated points which are calculated every 1ms of servo period? > > Best regards! > > Julian. > ------------------------------------------------------------------------------ > Presto, an open source distributed SQL query engine for big data, initially > developed by Facebook, enables you to easily query your data on Hadoop in a > more interactive manner. Teradata is also now providing full enterprise > support for Presto. Download a free open source copy now. > http://pubads.g.doubleclick.net/gampad/clk?id=250295911&iu=/4140 > _______________________________________________ > Emc-developers mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-developers -- John Kasunich [email protected] ------------------------------------------------------------------------------ Presto, an open source distributed SQL query engine for big data, initially developed by Facebook, enables you to easily query your data on Hadoop in a more interactive manner. Teradata is also now providing full enterprise support for Presto. Download a free open source copy now. http://pubads.g.doubleclick.net/gampad/clk?id=250295911&iu=/4140 _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
