getting_started:practical_problems:monitor
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It is of general interest to know whether your system fulfills your realtime requirements. As soon as a control system does not run reliably the question is in the room if your control algorithm has a bug or whether your underlying system does not perform as it is intended. \\ | It is of general interest to know whether your system fulfills your realtime requirements. As soon as a control system does not run reliably the question is in the room if your control algorithm has a bug or whether your underlying system does not perform as it is intended. \\ | ||
For this purpose you can use [[tools: | For this purpose you can use [[tools: | ||
- | For a certain type of safety critical robots, it is desirable to change into a safe level in case of the jitter in periodicity of a time domain or the safety system itself to exceed a certain level. This could be achieved by using the monitor functions of the timer, see [[tools: | + | For a certain type of safety critical robots, it is desirable to change into a safe level in case of the jitter in periodicity of a time domain or the safety system itself to exceed a certain level. This could be achieved by using the monitor functions of the timer, see [[tools: |
- | + | ||
- | Assign your timedomain to a periodic with the same sampling time. Then, add a monitor function, which periodically checks for the maximum and triggers a specific safety event. | + | |
<code cpp> | <code cpp> |
getting_started/practical_problems/monitor.txt · Last modified: 2018/05/31 12:02 by graf