On Thu, 23 Jan 2020, Chris Albertson wrote:
Date: Thu, 23 Jan 2020 10:17:44 -0800
From: Chris Albertson <albertson.ch...@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] Real-time OS for machine controllers
The trouble with the Mesa FPGA design is that it depends on a computer with
good real-time performance. It can generate steps but I don't thing you
can run a position or velocity PID control loop on the FPGA.
LinuxCNCs design paradigm requires realtime, this is a design decision that is
supported by our Hostmot2 real time firmware. We have other firmware that
implements motion in the FPGA but this is not suited to LinuxCNCs model.
You might argue that its an old fashioned model but many high performance CNC
systems and Robotics controllers use LinuxCNCs model of a capable real time host
(real OS with file I/O loadable modules, unlimited memory, massive floating
point performance etc etc) Some of these use Linux and others use real time
windows varients often with Ethercat Peripherals. This makes for a powerful
extensible realtime toolkit (like LinuxCNCs HAL) and complex realtime
responsive coordinated motion. Basically for this type of system you still
need a very capable real time controller hub even if the motor controllers
implement torque, velocity, or position loops
Peter Wallace
Mesa Electronics
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