Hi!, I'm thinking about implementing a Real-Time hardware in the loop simulation of our hexaglide (http://www.imac.unavarra.es/~cnc).
The idea is to implement a HAL module that does a direct dynamical simulation of the robot, that gives as output the system state, in terms of the outputs given by the PID. The module is intended to allow tuning of the simulated machine, new control algorithms and new homing strategies, using the real Hardware (PC+EMC). So the setup will be as close to the reality as possible and then a great number of errors can be avoided. To make this element as interesting as possible, I want also to implement not only the dynamics, but also the encoder interfaces and switch limit interfaces, so that as close to real as possible situations can be dealt with. The approach I intend to follow is to start from the MOTENC-100 HAL interface module as it contains a pretty general interface, and remove from it all interfaces to the real hardware while keeping the rest of the functionality. Then I'll substitute the feedback from the real hardware with calculated one, for the inputs I'm using in my real setup. I'm pretty new to this so any suggestions are welcome, particularly those that can same time to me. Achieving Real Time performance for a complex machine can be difficult, so if I can use the whole setup without running it in Real-Time it wold be still acceptable, at least in a debugging phase. So I'm curious about simulation mode (--enable-simulator). I see that EMC can be compiled so that it can be run as a simulator in Non-Real-Time. Can then standard HAL modules be used?. In other terms: if I develop my project for Real-Time, can I expect to be able to run it in Non-Real-Time simulated EMC without any changes or caveats?. Should I have to consider any special things for this?. Thanks, Javier ------------------------------------------------------------------------------ Gaining the trust of online customers is vital for the success of any company that requires sensitive data to be transmitted over the Web. Learn how to best implement a security strategy that keeps consumers' information secure and instills the confidence they need to proceed with transactions. http://p.sf.net/sfu/oracle-sfdevnl _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users