DK2 Latency Explained

Total loop system latency is how we at Sigma accurately and honestly measure system latency. Many times latency is stated as single digit number such as 3ms or 7ms but true latency is actually much harder to measure accurately and is dependent on various factors.

See our article on Latency the Half Truth.

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