I performed some additional tests with the EAL library. As a correction of the reporting of Nate, I do use a GB switch between the PC and the drive. And I use the .NET library (just like our customer). I adapted the code for an absolute move to also measure the duration of the motion command: And I made a Move absolute that polls S-0-0342 (Is the same as S-0-0437 bit 0, but this one does not require any bit-masking to check a single bit). The this.TargetPositionAttained is a property of my axis class, it actually reads parameter S-0-0342 and returns a true value when this parameter is equal to 1. The results are: Movements without jerk will result into the MoveAbsolute duration of around 57ms When I poll the target position attained parameter, the time I am polling is very close to the actual motion time (around 1ms higher > It seems that the MoveAbsolute method returns when the axis motion has started > The total overhead on a move is mainly the duration of the MoveAbsolute (98%) -> The preparation of the move… When I use the Movement.Wait mechanism to synchronize, the Wait duration is around 25ms longer as the actual motion time > The total overhead is now increased Movements with jerk will result into a MoveAbsolute duration of around 60ms When I poll the target position attained parameter, the time I am polling is now around 28ms longer as the motion time > When I look into the scope data, I can see the axis profile going into a constant velocity of zero for 28ms before accelerating > The MoveAbsolute method still returns when the axis motion has started (with velocity zero though) > Again, the polling does not add much overhead (1ms) When I use the Movement.Wait mechanism to synchronize, the Wait duration is around 50ms longer as when polling > The overhead is now increased to around 140ms So if there is a way in reducing the overhead, it has to come from: Optimizing the MoveAbsolute -> average time is around 60 ms Optimizing the Movement.Wait -> average time depends on type of move, but at least 25ms (Polling can reduce this to 1ms!) Optimizing the jerk profile generation -> This may be move profile dependent -> 28 ms for the short move I used for testing (dx=2mm, v=100mm/s, a=1000mm/s^2, j=10000mm/s^3)
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I am evaluating the WebIQ software. I have installed the WebIQ designer on my PC and I installed the WebIQ server app on my CtrlX. I started developing an HMI, I setup the the OPC-UA connection to the CtrlX. I can run the HMI on my PC I am able to copy the HMI to the CtrlX (I can connect to the remote runtime environment in the designer) I do not know how to run the HMI on the CtrlX It seems I need to setup the project with the CtrlX as target platform. How do I setup an HMI project with a CtrlX as target? Is there like an easy startup guide? And if so, can this be posted on the forum?
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