<html><head></head><body style="word-wrap: break-word; -webkit-nbsp-mode: space; -webkit-line-break: after-white-space; "><br><div><div>On Sep 5, 2012, at 2:13 AM, Raz Ben Yehuda wrote:</div><br class="Apple-interchange-newline"><blockquote type="cite"><div>On Sun, 2012-09-02 at 11:47 +0200, takeshi ikeya wrote:<br><blockquote type="cite">Hi Tahir!<br></blockquote><blockquote type="cite">I think ENOUGH..<br></blockquote><blockquote type="cite">If you need quick response, you'd beter use it under RTAI (Linux).<br></blockquote><blockquote type="cite"><br></blockquote>I must add that did not find the current design suitable for moving<br>servo drives. For this reason I modified etherlab to support slave DC<br>bus time ( currently etherlab is App time based).<br><br><blockquote type="cite"><br></blockquote><blockquote type="cite"> <a href="mailto:takeshi.ikeya@gmail.com">takeshi.ikeya@gmail.com</a><br></blockquote><br>-- <br><a href="https://sites.google.com/site/ironspeedlinux/">https://sites.google.com/site/ironspeedlinux/</a><br></div></blockquote></div><div><br></div><div>I have to disagree with these blanket assessments. Much is dependent on the hardware/software platform that the Etherlab EtherCAT installation is deployed on, and this must be taken into consideration to realistically assess what the resulting system is capable of.</div><div><br></div><div>In my case, I have a client that is successfully operating two Copley AE2 dual axis servo drives in a high-precision robotics system at a 250 uS cycle time (4 KHz) on an 1.6 GHz Intel Atom N270 with a 82574L Gb master interface under Linux 3.2.28-rt42 (RT_PREEMPT). Jitter is < 10 uS even with the system performing other non-RT tasks, such as the network service for the remote application control/status UI.</div><div><br></div><div>Using RTAI or Xenomai was out of the question because we needed to use off-the-shelf industrial x86 SBCs and only the mainline kernels have the HW support required.</div><br><div>
<span class="Apple-style-span" style="border-collapse: separate; color: rgb(0, 0, 0); font-family: Helvetica; font-style: normal; font-variant: normal; font-weight: normal; letter-spacing: normal; line-height: normal; orphans: 2; text-align: -webkit-auto; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px; -webkit-border-horizontal-spacing: 0px; -webkit-border-vertical-spacing: 0px; -webkit-text-decorations-in-effect: none; -webkit-text-size-adjust: auto; -webkit-text-stroke-width: 0px; font-size: medium; "><span class="Apple-style-span" style="border-collapse: separate; color: rgb(0, 0, 0); font-family: Helvetica; font-size: medium; font-style: normal; font-variant: normal; font-weight: normal; letter-spacing: normal; line-height: normal; orphans: 2; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px; -webkit-border-horizontal-spacing: 0px; -webkit-border-vertical-spacing: 0px; -webkit-text-decorations-in-effect: none; -webkit-text-size-adjust: auto; -webkit-text-stroke-width: 0px; "><div style="word-wrap: break-word; -webkit-nbsp-mode: space; -webkit-line-break: after-white-space; "><span class="Apple-style-span" style="border-collapse: separate; color: rgb(0, 0, 0); font-family: Helvetica; font-size: medium; font-style: normal; font-variant: normal; font-weight: normal; letter-spacing: normal; line-height: normal; orphans: 2; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px; -webkit-border-horizontal-spacing: 0px; -webkit-border-vertical-spacing: 0px; -webkit-text-decorations-in-effect: none; -webkit-text-size-adjust: auto; -webkit-text-stroke-width: 0px; "><div style="word-wrap: break-word; -webkit-nbsp-mode: space; -webkit-line-break: after-white-space; "><span class="Apple-style-span" style="border-collapse: separate; color: rgb(0, 0, 0); font-family: Helvetica; font-size: medium; font-style: normal; font-variant: normal; font-weight: normal; letter-spacing: normal; line-height: normal; orphans: 2; text-indent: 0px; text-transform: none; white-space: normal; widows: 2; word-spacing: 0px; -webkit-border-horizontal-spacing: 0px; -webkit-border-vertical-spacing: 0px; -webkit-text-decorations-in-effect: none; -webkit-text-size-adjust: auto; -webkit-text-stroke-width: 0px; "><div style="word-wrap: break-word; -webkit-nbsp-mode: space; -webkit-line-break: after-white-space; "><div><span class="Apple-style-span" style="font-size: 14px; "><div>Tom Nelson</div><div>Consulting Engineer</div><div>Granite Computer Sciences, LLC</div><div>Milford, NH USA</div></span></div></div></span></div></span></div></span><br></span></div></body></html>