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hsinkoyu / fs100

Python implementation for YASKAWA FS100 High Speed Ethernet Server Functions
MIT License
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read_position in a higher sampling rate #4

Closed chungshan closed 2 years ago

chungshan commented 2 years ago

I'm using read_position to read robot's pose https://github.com/hsinkoyu/fs100/blob/master/fs100.py#L1258-L1264 I find that its sampling rate is around 50Hz. Is it possible to increase this sampling rate of robot's pose?

hsinkoyu commented 2 years ago

Hi,

As you said the duration of read_position() is about 20ms, but you will find the response from controller almost takes the all time. Maybe you can ask Yaskawa for advise.

read_position(): len(data)=1000, min=0.01480412483215332, max=0.021013975143432617, mean=0.019992566108703612 Receive from controller(recvfrom()): len(data)=1000, min=0.01466059684753418, max=0.020888328552246094, mean=0.019819601535797118

Thanks.