Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Use fixed period for update call of controller manager #132

Open
wants to merge 4 commits into
base: melodic-devel
Choose a base branch
from

Conversation

hartmanndennis
Copy link
Contributor

@hartmanndennis hartmanndennis commented Jun 5, 2018

PR for my suggestion in #126

Tested on KR5 with KRC4 and RSI 3.3 and it works very well both with IPO and IPO_FAST.

There is a problem with RSI 2.3 on KRC2 though. Here, IPOC gets increased by 1 instead of the cycletime of 12ms. Maybe I could use the check in kuka_hardware_interface.cpp

// Drop empty <rob> frame with RSI <= 2.3
  if (bytes < 100)
  {
    bytes = server_->recv(in_buffer_);
  }

to check for KRC2 and multiply the duration by 12 in this case?

@hartmanndennis
Copy link
Contributor Author

The workaround works for me with RSI 2.3.

@gavanderhoorn
Copy link
Member

We're having some problems with our KR210 here, so I can't really test this.

If someone else from the regulars here would care to test this PR, that would be greatly appreciated.

@simonschmeisser simonschmeisser changed the base branch from indigo-devel to melodic-devel September 23, 2021 15:02
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
None yet
Development

Successfully merging this pull request may close these issues.

3 participants