On Tuesday 05 November 2013 14:14:37 Robert Ellenberg did opine:
> Good work, Sam. I think this illustrates what can go wrong if the
> segments are too short and the trajectory planner overshoots too much.
> I have a fix in progress that limits the velocity based on segment
> length. Unfortunately this means that for very short segments like in
> your code, the performance won't be much better. Unfortunately this is
> a limitation of the sample rate of the trajectory planner (1kHz). To go
> faster, we need to run the motion loop faster, or resample the input
> trajectory (see the other email thread).
>
> -Rob
>
FWIW, I run the servo-thread on my lathe at 2khz as that has a very
noticeable quieting effect on the spindle encoders output, making the X4
mode work usably well.
Cheers, Gene
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