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<http://www.ict.tuwien.ac.at/>
DVR:0005886
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Anders Blomdell Email: [email protected]
Department of Automatic Control
Lund University Phone: +46 46 222 4625
P.O. Box 118 Fax: +46 46 138118
SE-221 00 Lund, Sweden
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