-----BEGIN PGP SIGNED MESSAGE----- Hash: SHA1 Peter C. Wallace wrote: > On Mon, 21 Apr 2008, Anders Wallin wrote: >>> 3. What sample frequency are you using? with torque mode and straight PWM >>> amps >>> you will need a high sample rate than used with velocity mode servos. A >>> a higher sample rate will allow higher P gains with these amps, >>> improving >>> performance. >> This is the standard 1 ms servo-thread. I could try decreasing that a >> bit. Will EMC2 report about real-time delays if I reduce the servo >> period too much? > > Not sure, may just slow down userland stuff until the system is unuseable if > set too fast. > > Since EMC2 is ok with 20+ KHz for step motors, 4 KHz or so should be no > problem for the servo thread
You can tell how much time your realtime threads (like the servo thread) are using and how much is left for Linux. While running emc, run "halcmd -kf" from the shell, and say "show thread". It will report the time and period of all threads. "time" is how many ns the thread took last time it ran; "period" is sort of misnamed, it is how long after the thread finishes executing before it's started again. At least I think that's what those mean. - -- Sebastian Kuzminsky The whole of science is nothing more than a refinement of everyday thinking. - -- Albert Einstein -----BEGIN PGP SIGNATURE----- Version: GnuPG v1.4.6 (GNU/Linux) Comment: Using GnuPG with Mozilla - http://enigmail.mozdev.org iD8DBQFIDKyyRxgLDhu2PVMRAiMDAJ4wSIx7biJX0BSeG2zYQ1Oj/3QhDgCcCRSP y+V/21HrfkFT6fpj4KZXLiY= =ct0i -----END PGP SIGNATURE----- ------------------------------------------------------------------------- This SF.net email is sponsored by the 2008 JavaOne(SM) Conference Don't miss this year's exciting event. There's still time to save $100. Use priority code J8TL2D2. http://ad.doubleclick.net/clk;198757673;13503038;p?http://java.sun.com/javaone _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
