Preben Mikael Bohn wrote: > > 1) I don't really need the real-time part of EMC as this is taken care > of by the electronics (obviously with a latency of ~200 ms but I can > live with that). Can EMC be run without a real-time kernel? > Yes, but why? All the hard work has already been done. You can STILL use your 200 ms buffer, the RT version of EMC will guarantee the buffer will NEVER, EVER go empty. But, if you MUST run in user-mode, the sim version of EMC will allow you to do that. > 2) The easiest interface for me would be to have EMC generate the > positions and axis directions and provide them to a "driver" I already > have implemented. Currently it seems like EMC is generating all the > low-level stuff but is it possible to make such a high-level > driver-interface instead? > The HAL pins out of the EMC "front end" just send position as floating-point coordinates in "user units", ie. mm or inches.
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