On Sat, Feb 2, 2013 at 7:32 PM, Michael Haberler <mai...@mah.priv.at> wrote:
Hi Gregory, Am 01.02.2013 um 22:45 schrieb Gregory Perry: > > > > > Can LinuxCNC run as a simple userland process which talks to a hardware > servo controller (such as the Mesa card you mention)? > > If one were to improve motion timing, there are approaches to do it - > Yishin might want to comment here - but it might require an FPGA with FP or > at least fixed point arithmetic, or a DSP; the latter approach is taken by > some commercial motion controller manufacturers like Delta Tau (see note > below). Doable: yes, but at a cost - extra dependencies on hardware and > supporting software, plus likely less configuration flexibility. There is > also some structural work to be done on motion to actually make that > possible. > It is doable to move the PID loop into FPGA and have LinuxCNC send trajectory planning commands for it. We are verifying this concept. The protocol changes occasionally; and, we don't have document for the API yet. system block diagram: http://en.araisrobo.com/linuxcnc interface to convert tp command to FPGA: https://github.com/araisrobo/linuxcnc/blob/master/src/hal/drivers/ar-usb/wou_stepgen.c It still needs a lot of effort to review and revise. -Yishin ------------------------------------------------------------------------------ Free Next-Gen Firewall Hardware Offer Buy your Sophos next-gen firewall before the end March 2013 and get the hardware for free! Learn more. http://p.sf.net/sfu/sophos-d2d-feb _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
