STEP2, STEP3 Analog I/O sampling rate 관련 문의

  • 뉴로메카 로봇 제어기는 4kHz의 analog input sampling rate를 갖고 있다고 하는걸로 알고있습니다.

    bus cycle이 4kHz인 것입니까?  아니면 일례로 bus cycle은 1kHz이지만 4배의 oversampling을 하는 형태인가요?

  • @김성남 안녕하세요. 

    analog input sampling rate 가 4kHz 인 것은 아닙니다.

    정확히는 로봇 제어 주기가 4kHz hard real-time 을 보장하며, 이는 Indy7의 inverse kinematics, dynamics 등 제어 및 경로생성에 필요한 연산시간을 고려한 제어주기 입니다. 

    로봇과 함께 이더켓 버스를 통해 통신되는 I/O 보드 또한 이에 맞춰 4kHz 로 통신을 하고 있으며 oversampling 하지 않습니다.


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