I don't have my drivers yet but i made some tests. I have some FTDI chips and i made a simple program to drive six chips through simplemotion. The ideia was exposed before.
Of course the simplemotion generated a bad CRC error, but the idea can be tested.
The good news is that it can be done, all six axes received de commands but the time is a problem.
I realized that simplemotion writes and read the answear from drive. It took 15 miliseconds in average to execute smcommand 1000 times. See graph:
If i have to send six commands for positioning and six for speed limit:
12*15ms=180ms in average for each point. That is too long for robot controlling.
I tried to put each smCommand in a thread but this generate bad communication errors. I don't know if it is a simplemotion limitation or ftdi limitation. The fact is that communications doesn't work paralleling.
Xerxes, is there a rawcommand that only write references and don't read the answear from drive?
Do you know what is the problem with the thread approach?