On Tue, 25 Feb 2014, andy pugh wrote:
> Date: Tue, 25 Feb 2014 11:47:18 +0000
> From: andy pugh <bodge...@gmail.com>
> Reply-To: "Enhanced Machine Controller (EMC)"
> <emc-users@lists.sourceforge.net>
> To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net>
> Subject: Re: [Emc-users] Fun with trajectory planners and Halscope
>
> On 25 February 2014 11:08, Alex Joni <alex.j...@robcon.ro> wrote:
>> Since it's hardware counters on the 7i80, you can trust them pretty much.
>
> Are we absolutely sure that the velocity/accel is being calculated
> from a stable clock unaffected by any ethernet comms latency or
> servo-thread jitter?
>
> --
> atp
> If you can't fix it, you don't own it.
> http://www.ifixit.com/Manifesto
Encoder velocity estimation is independent of sample jitter, its based on
Delta_counts/Delta_time, where Delta_time is the time interval over which the
Delta_counts occured. Delta_time is measured by latching the 1 usec resolution
time stamp reference counter. This counter is clocked by a xtal oscillator
on the 7I80.
Peter Wallace
Mesa Electronics
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