DK2 Latency Tab
-
PC side (Windows 10/11)
- Game physics engine @ 333 Hz: 3 ms
- Windows OS response: 1 ms average
- Sigma 10-layers algorithm: 1 ms
- Send target positions via Ethernet: 0.3 ms
-
Controller side (Real-time OS in ARM)
- Response to new position targets: < 1 microseconds
- Motion Algorithm for smooth motion: Average: 25 ms, Range: 0 to 50 ms
- Send motion data to 1st micro-controller at 1000 Hz: 1 ms
-
Controller side (2 low-latency micro-controllers)
- Send motion data from 1st micro-controller to 2nd: 0.1 ms
- Digital pulse generation: 0.002 ms
-
Electrical connection from 2nd micro-controller to ClearPath motor
- 3V to 5V conversion: 2 ms
-
ClearPath servo motor
- Digital pulse signal to actual motion: 1 ms