Real-time issues of transputers in high performance motion control systems (machine control)

The design and implementation of a real-time kernel consisting of a multiple event handler and an efficient scheduler which improve the transputer´s real-time performance is discussed. In addition to supporting high performance controller tasks, the real-time kernel implements features such as parameter sampling and user interaction is intended to be a platform to support a highly programmable and configurable controller suitable for a wide range of motion control applications. Test results are presented to show the performance of the kernel features.<>