> > Once implemented in > hal (hardware extraction layer) via your hal file with loadrt and addf > commands, your custom component has access to that infinite memory and CPU > capability AND it is treated as if it is part of the Linuxcnc core viar the > controlling servo thread. >
That is indeed very cool. > Whether it is possible to use a serial modbus encoder in the real time > environment might be problematic though. You might be able to use external > hardware with a UART (perhaps from Mesa) that accumulated the encoder count > for linuxcnc to read every millisecond. I am not even sure the encoder count is actually available. What is available is a way to poll the following error in steps. The question is how to give that feedback to the motion planner. Given the UART connection it would certainly need some kind of buffering (eek!). I guess the next best thing would be if the servos was able to give the "following error" alarm to the host, but have them not go into "stop the world" error mode. So the host could slow down and the servo would recover. I need to check if that is possible. That would make that just be a single bit per motor. Could that information be used in the planning? > If you wanted an alternative to Mesa there are always solutions from Jon or > you could use ethercat. Linuxcnc will not care at the tc level. > I am falling short on finding those. Do you have a link? It's not really that I "want" an alternative to Mesa ;) I just don't think I'll see a 7i76E available any time soon. _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
