Dear Ossi,
I don't have any specific data, but I can tell you that we are controlling 3
to 6 motors with a PC104 (AMD5x86 @ 133Mhz) board and RT (of course), and
the timing of the whole loop is 0.3 ms (including reading, data exchange and
so on).
I am sure that with a P166 you can easily achieve better performances.
Jitters was another issue we analized, expecially we were suspecting DMA to
increase them, but with the experience I could tell you we have never find
them (that is, they are neglegible).
If you are looking back into this mail-list there is a lot of material on
jitters and latencies.
Ciao
Giovanni
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