Communicate with a delta motion controller in real-time

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I have been tasked with creating an interface between a delta motion controller which is attached to a servo valve.

I want to read back the position in real-time.
I started coding in C# and even though the loop is running continually with no delay, I am missing values.

My question is, what techniques can I use to speed up the communication and are there any articles?

I am new to Windows programming but have over 30 years of programming experience.

What I have tried:

This is my main code which is run as a thread


<pre>           Comms_Thread = new Thread(new ThreadStart(Delta_Comms.ProcessWork));
            Comms_Thread.Priority = ThreadPriority.Highest;

public  void ProcessWork()

{

    while (Static_Delta_Data.Connected)
    {
            Static_Delta_Data.rmc.ReadLFile((int)FileNumber70.fn70StatusAxis0 + axis, 0, Local_Controller_Data.Status_Register, 0, 1);

            Static_Delta_Data.rmc.ReadFFile((int)FileNumber70.fn70StatusAxis0 + axis, Command_Position, RMC_Floats, 0, 1);
            Static_Delta_Data.rmc.ReadFFile((int)FileNumber70.fn70StatusAxis0 + axis, Target_Position, RMC_Floats, 1, 1);
            Static_Delta_Data.rmc.ReadFFile((int)FileNumber70.fn70StatusAxis0 + axis, Actual_Position, RMC_Floats, 2, 1);
            Static_Delta_Data.rmc.ReadFFile((int)FileNumber70.fn70StatusAxis0 + axis, Command_Velocity, RMC_Floats, 3, 1);
            Static_Delta_Data.rmc.ReadFFile((int)FileNumber70.fn70StatusAxis0 + axis, Target_Velocity, RMC_Floats, 4, 1);
            Static_Delta_Data.rmc.ReadFFile((int)FileNumber70.fn70StatusAxis0 + axis, Actual_Velocity, RMC_Floats, 5, 1);
            Static_Delta_Data.rmc.ReadFFile((int)FileNumber70.fn70StatusAxis0 + axis, Control_Output, RMC_Floats, 6, 1);

    }

}

Posted 6-Mar-22 23:54pm

Member 15535708

Updated 7-Mar-22 4:52am

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CHill60 7-Mar-22 8:56am

Does this help? An Asynchronous Socket Server and Client[^]

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Gerry Schmitz · Answer 1 · 2022-03-07T04:52:00

You can't realistically sample "continuously and without delay". You need to determine the frequency / cycle time of the device, and establish a comparable "frame rate" / cycle time for your app.

Even if the source is "continuous", your app isn't; it needs to "tick over" at a certain rate; so use a timer with a suitable interval - once you determine the "minimum amount of cycle time you need to get a valid set of numbers".

Any numbers "missing" can be extrapolated / interpolated based on the sample rate and intermediate samples.