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questions about read the Present Position in every 20 milisecond

조회 수 2276 추천 수 0 2012.04.05 21:15:46
 I am using the Dynamixels motors. Now, I have some questions in using RX-64 motors.  I need to read the data of the motor everytime I give the motor a motion command to see if the motor runs just like my expectation. When a command is sent to the motor via 485 bus, there will be 20 milisecond before another command sent to the motor. Is it possible to read the  Present Postion of the motor in 20 milisecond? If there will be some problem when I read the Present Postion everytime I give the motor a command.

Yannis

2012.04.05 23:45:42
*.118.131.17

I used a 400Hz (2.5ms) control loop (read angle - write angle) for 4 servos (2x EX-106+, 2xRX28)  (using syncWrite, 1MBps, 2us return delay) in order to have path tracking. Note, that is with an external uC (STM32), not from a PC. The communication takes aprox. 1.1ms for this setup. 

However the Present Load, even if you read fast enough it seems to be updated <20Hz..


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