Some results from testing the DeviceNet speed into a KRC1 controller in the attached image.
This is what was done:
- from a DeviceNet slave device IO-packages (I-only to be precise) were generated
- values were 8-bit, and incremented every generating loop
- a delay was introduced in the generating loop to slow down the generating speed
Main observations:
- with a delay of 12ms the controller can keep up the input speed
- there is a glitch in the 12ms where after a "207" value, a "200" value was recorded in the KRC, and next value was "208" again. Not sure if this was caused by the generating device
- the period where identical values are registered by the KRC varies. As above:not sure if this was caused by the generating device
Next steps will be:
- measure round trip time
- measure round trip time with robot movement
- timestamp the outgoing IO packages on the slave device