From mboxrd@z Thu Jan 1 00:00:00 1970 Message-ID: <511CD812.9040407@control.lth.se> Date: Thu, 14 Feb 2013 13:26:58 +0100 From: Anders Blomdell MIME-Version: 1.0 References: In-Reply-To: Content-Type: text/plain; charset=ISO-8859-1; format=flowed Content-Transfer-Encoding: 7bit Subject: Re: [Xenomai] Analogy DIO execution time and timing behavior List-Id: Discussions about the Xenomai project List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , To: Martin Pongratz Cc: "xenomai@xenomai.org" 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 > > 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