Re: AW: CANOpen and EMC

[jmkasunich-at-ra.rockwell.com]

Jon Elson wrote:

> Till Franitza wrote:
>>
>> Hi!
>> This should be possible. A student of mine has done something
>> similar. Our Drive controller sends interrupts to the emc to
>> tell it needs new values. So the emc is not sceduled by time
>> but interupt driven.
>
> Hey, I'd like to get the details on how you (he) did this!
> It might save me a huge amount of time figuring out the same
> thing.  Both of my sets of external hardware have a precision
> timer that can update the DAC/rate generator and latch the
> encoder counts, and send an interrupt through the parallel
> port.  This should reduce servo interval timing jitter to
> the nS level.
>
> Jon

Me too.  The G2002 based system I have in mind also wants the EMC
1KHz heartbeat to be generated by the external hardware, not the
PC's timer chip.

John Kasunich