> I thought of one bus per leg, but the Raspberry Pi only supports two CAN > busses and I think this is a common limitation not just on the Pi. But > I think we just figured out that one CAD FD can do 12 motors at 20 Hz.
It is more or less possible to configure mapping of dictionary into PDOs sent in real so I expect values for more than one servo motor could be sent in each message, maybe a few. If driver use internal position control loop you could send back feedback at a lower rate, looking into standard for CANopen lower numbered PDO have higher priority and for each PDO number TPDO have higher priority than RPDO while it may make sense to do the opposite if possible to send back feedback at a lower rate. Nicklas Karlsson _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
