How can I measure latency in a CAN bus? [closed]

asked 2018-05-23 04:17:43 -0600

mohsen gravatar image

updated 2018-05-23 04:24:52 -0600

This is not directly related to ROS.
Given a CAN bus with one master and any number of motor drivers, is there a way to measure the time between sending a command from the master (e.g. a PC running ROS) and the execution of the said command (e.g. the motor starting to move)?
This matters since it affects the maximum update rate of the robot's control loop.

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Closed for the following reason question is off-topic or not relevant. Please see http://wiki.ros.org/Support for more details. by gvdhoorn
close date 2018-05-23 04:42:41.962451

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I'm sorry, but with 40000+ question already, I don't think we can accomodate off-topic questions.

You already wrote it yourself: "this is not [directly] related to ROS".

Other board members can still comment on your question though. Perhaps some have some insight to share.

gvdhoorn gravatar image gvdhoorn  ( 2018-05-23 04:43:45 -0600 )edit

Also: latency on the bus is something entirely different from "time before motor starts to move". The former definitely influences the latter, but how the motion controller is implemented will affect results significantly. I'm not sure a generic statement can be made about this.

gvdhoorn gravatar image gvdhoorn  ( 2018-05-23 04:45:06 -0600 )edit

Thanks. I asked here since it is the only "serious" robotics Q&A website that I know of on the Internet. I should also note that by CAN bus I mean the whole system, including the motor drivers (i.e. the motion control solution)

mohsen gravatar image mohsen  ( 2018-05-23 04:57:57 -0600 )edit

I asked here since it is the only "serious" robotics Q&A website that I know of on the Internet

What about robotics.stackexchange.com?

gvdhoorn gravatar image gvdhoorn  ( 2018-05-23 06:54:01 -0600 )edit
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