Sorry I misunderstood. I think I get what you mean now. I assume that would look something like the velocity or encoder position of the roller controlling delay setting?....which actually sounds like it could work fairly reasonably as a simple way of doing it. That might actually work well for that test scenario but the real use is a bit more complicated. I wouldn't use that since I have a more flexible way of doing it with a hal component. Merging that hal logic into a firmware module would be the best way to do it but it works well enough even with the stackup of software and ethernet IO read/write variations.
I've been using that for several years, this guy actually tried something similar with LinuxCNC and a 7i76e then switched to using his own firmware on a DExx Nano (altera FPGA).
Fundamentally a similar thing to what I'm doing but you can see the difference between when he used a software implimentation vs full FPGA. I spoke to this guy a couple times, was curious why he didn't just try to write a hm2 module to do everything....he seemed to have the skill.
