Re: Firewire

[Ray Henry <rehenry-at-up.net>]

Hi Bert

Just shows how much I know about firewire ... and time!  

Ray


On Monday 13 January 2003 03:31 pm, Bert wrote:
> Hi List,
<s>
> Ray talks about a sampletime resolution of 0.125 us, probably my fault,
> it should be 0.125 ms or 8 Khz, still perfect for servo systems.
> Inportand is that there is little delay between sampling of the servo
> position
> and controller output. Therefore the controller software has this loop
> order:
> 1) Latch measuring system input
> 2) Calculate new controller output from new setpoint that is
> precaculated. 3) Perform the output.
> 4) Calculate new setpoint position for next cycle.
> Most of You will probably expect 4) just after 1), this would reduce
> the phase margin which can be avoided by this reordering.