[Xenomai] Analogy DIO execution time and timing behavior

[Xenomai] Analogy DIO execution time and timing behavior

[Martin Pongratz]

Hello,

I'm planning to use a NI DAQ-card (PCI-622x) with Xenomai and Analogy.

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?

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

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

[Anders Blomdell]

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
>
> _______________________________________________
> Xenomai mailing list
> Xenomai@xenomai.org
> http://www.xenomai.org/mailman/listinfo/xenomai
>


-- 
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