System Latency

End-to-end latency budget across sensing, compute and actuation.

System Latency Analyzer

Analyze end-to-end latency from sensor to actuator for control system design

Application Preset

Preset

Sensor Configuration

Sensor Type

Sensor Interface

Data Packet Size (bytes)

Processing Configuration

Primary Processor

Secondary Processor (Optional)

Control Loop Rate (Hz)

Algorithm Complexity (1-100)

Filter Order

Actuator Configuration

Actuator Type

Driver Type

Actuator Bus

Target Specification

Target Total Latency (ms)

Total Latency

3.66ms

Worst Case

3.78ms

Effective Bandwidth

43.54Hz

Est. Phase Margin

0.00°

Latency Breakdown

SENSOR STAGE

Sensor Internal0.010 ms

Communication0.004 ms

Jitter (±)0.002 ms

Subtotal0.014 ms

PROCESSING STAGE

Control Period1.000 ms

Primary Algorithm1.000 ms

Filter Delay1.000 ms

OS Overhead0.000 ms

Subtotal3.000 ms

ACTUATOR STAGE

Communication0.292 ms

Driver Latency0.125 ms

Driver Period0.125 ms

Dead Time0.100 ms

Subtotal0.642 ms

Latency Waterfall

Step Response (with Delay)

Frequency Response (Phase Lag due to Latency)

Analysis & Recommendations

Performance Metrics

Latency / Control Period:3.66x

Actuator Bandwidth Usage:8.7%

Max Stable Gain:0.00

Phase Delay @ Control Rate:1316.0°

Recommendations

→ Processing stage is the bottleneck. Increase control rate or use faster platform.

⚠ Low phase margin may cause instability. Reduce control bandwidth or latency.

⚠ Latency exceeds control period. This will limit achievable bandwidth.

Signal Flow Diagram

Optical Encoder

0.01 ms

→

Quadrature

0.00 ms

→

32-bit MCU (STM32)

3.00 ms

→

CAN Bus

0.29 ms

→

Servo Drive

0.13 ms

→

Industrial Servo

0.10 ms

Total End-to-End Latency

3.66 ms

(Worst case with jitter: 3.78 ms)

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