Hi All.
Our RX3i communicates with 4 devices (robots) using Modbus/TCP via ETM001.
I'm trying to maximize comm speed.
Current CPU sweep is around 3.7ms. No limitations on the backplane comm window.
I have tried 2 approaches:
1.
A maximum of 4 commreqs are executed during 1 scan - one per channel. Provided there's no pending commreq on that channel, of course.
=> This approach required 16 (!) scans before it was possible to send another set of commreqs. In other words, update rate of 60ms per channel, which I consider very, very slow.
2.
Only one pending commreq at a time. Start with channel 1; when status word is "1" proceed with commreq for channel 2; etc.
=> Here I got 5 scans between commreqs, which is slightly worse, as it totals ~20 scans or 75ms update rate per channel.
This is with 4 devices only... and we need to add more.
Is this all you can expect with the ETM001 or am I missing something here?:confused:
Eran
Our RX3i communicates with 4 devices (robots) using Modbus/TCP via ETM001.
I'm trying to maximize comm speed.
Current CPU sweep is around 3.7ms. No limitations on the backplane comm window.
I have tried 2 approaches:
1.
A maximum of 4 commreqs are executed during 1 scan - one per channel. Provided there's no pending commreq on that channel, of course.
=> This approach required 16 (!) scans before it was possible to send another set of commreqs. In other words, update rate of 60ms per channel, which I consider very, very slow.
2.
Only one pending commreq at a time. Start with channel 1; when status word is "1" proceed with commreq for channel 2; etc.
=> Here I got 5 scans between commreqs, which is slightly worse, as it totals ~20 scans or 75ms update rate per channel.
This is with 4 devices only... and we need to add more.
Is this all you can expect with the ETM001 or am I missing something here?:confused:
Eran