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Use fixed period for update call of controller manager #132

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Use fixed period for update call of controller manager #132

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hartmanndennis
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@hartmanndennis hartmanndennis commented Jun 5, 2018 •
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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?

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The workaround works for me with RSI 2.3.

@gavanderhoorn gavanderhoorn mentioned this pull request Jun 12, 2018
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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
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@hartmanndennis @gavanderhoorn @destogl