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Hi. If you want to work with 1 ms ticks, setting 1000 Hz in the (non real-time) kernel config is the way to go. If you want to use lower resolutions, you must patch your kernel so it
can hadle high resolution timers. Also, you have to add linux.org's real time patch. Alternatively, you should use RTAI. Hope this
helps. From: nevisgroup <> To: Sent: Monday, February 27, 2012 11:59 AM Subject: [ts-7000] TS-7300 Motion Controller Hello All:
I hope that I am not covering old ground here. (I did to at least some searching :-) I am putting to gather what amounts to a proof of concept system to do some motion control. I want to replace some single axis controllers (8051 based) with a single ts-7300 that might run as many as 8 axis. For my prototype it looks like a stock TS-7300 will run two axis. If I read the docs correctly, there are two XDIO ports that will do Quad encoder in and a pwm out (as well as direction and some misc). I envision that I will need some realtime extensions to handle a 1msec tick that will close all the servo loops and some user space stuff to chat with the realtime stuff to give it something to do. I am looking for any pointers or links as to how to go about setting this up. If anyone has gone down this road before and might point out some hidden gotchas. As I stated earlier, I have done the motion side of this before. The current design uses individual 8051's to run the pid loops every 500usec. They chat with each other to do coordinated motion. So that part will be easy. I have not worked with linux realtime / drivers and such. While each of these system will be custom for the end user,I am hoping to create a much more flexible platform on my end. In the end I also hope to bring in eQT for some fancy graphs and such but if 8 XDIO's don't leave room for the VGA in the FPGA I can live with that...one step at a time. Thanks __._,_.___
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