Re: [Xenomai] Analogy DIO execution time and timing behavior

[Anders Blomdell <anders.blomdell@control.lth.se>]

On 2013-02-14 12:33, Martin Pongratz wrote:
> Hello,
>
> I'm planning to use a NI DAQ-card (PCI-622x) with Xenomai and Analogy.
Expensive digital out :-;, wouldn't a parallell-port card do the trick?

>
> The idea is to synchronize a camera setup with a robot. The robot is controlled via UDP-packets that are transmitted periodically with a cycle-time of 1 ms. The initiator of this communication is the robot controller (KUKA FRI setup with LWR 4+ robot). With every 20th datagram a camera setup shall be triggered via the DAQ-card. The delay between the data-transfer and the trigger-activation should be minimal or at least known with a reasonable small jitter (magnitudes smaller than 1 ms).
>
> But before buying the card I'd like to have some information about the timing-performance of this setup:
>
> 1)      What execution time (or magnitude of execution time) for DIO, especially output, from command execution until change of signal on the output can be achieved?
>
> 2)      How much jitter in this execution time can be expected?
10-50 us in my experience (provided you get the Ethernet packets via RTNet)

>
> Thanks and BR
> Martin Pongratz
> --
> DI Martin Pongratz
> University Assistant
>
> Robotics & Automation Group
> Vienna University of Technology
> Institute of Computer Technology
> phn +43 1 58801 38435
> fax +43 1 58801 38499
> http://www.ict.tuwien.ac.at<http://www.ict.tuwien.ac.at/>
>
> DVR:0005886
>
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-- 
Anders Blomdell                  Email: anders.blomdell@control.lth.se
Department of Automatic Control
Lund University                  Phone:    +46 46 222 4625
P.O. Box 118                     Fax:      +46 46 138118
SE-221 00 Lund, Sweden