I did, and it's given me some good leads. I'll post updates in a day or two after I'm done a little investigating.
Thanks! Rob On Nov 20, 2013 10:56 AM, "sam sokolik" <[email protected]> wrote: > > Again - thanks for all your work on this! it sure is coming along. > > Did you see my comments on the 3d_chips.ngc running slow yesterday? > > I also took the 3d_Chips.ngc here > http://git.linuxcnc.org/gitweb?p=linuxcnc.git;a=blob;f=nc_files/3D_Chips.ngc;h=1f72707b49632127d71b7eea4a286ba86c861703;hb=HEAD > > changed > #<fscale> = 1000 > And > G64P.1 to G64 > > The feedrate in the active gcode area shows F450000 > This runs very slow for some reason. like there are long strait > sections that are running at <10ipm. I will play with it some more - > but it wasn't making sense... Could it be a metric/english issue > > > > > On 11/19/2013 5:16 PM, Robert Ellenberg wrote: > > Thanks! It took a lot to get it to be smooth during short moves. > > > > On Nov 19, 2013 12:18 PM, "sam sokolik" <[email protected]> wrote: > >> Heh - Ok. I have been playing with it and the motion is a lot > >> smoother. The velocity on the spiral is a strait line (used to be > >> scaloped..) > >> > >> Couple more little issues.. :) > >> On the spiral - if you pause it - then single block it. (try it - I > >> dare you) ;) - it will take off in some random direction - or do a > >> circle over and over. (kinda looks like the maybe the last blend move > >> gets extended... ) Then when you take it out of single block - you get > >> a large step change in acelleration/velocity as it goes to where it > >> supposed to be instantly and continues on. > > Good catch here. I'll tackle this next. I managed to get it not to go nuts > > with a quick fix, but proper single stepping will be tough since we can't > > stop within a specific segment at will. > > > >> I don't know how the feedrate override should act. I had mentioned that > >> it didn't violate the constraints when I want to 120% - (its speed went > >> up also 290ipm vs 350ipm. But then I thought - ok - so then I should be > >> able to set the FO max to 100% in the ini and get 350ipm... but It > >> doesn't - I still get 290ipm. (I was thinking it calculated worse case > >> for the FO) So there must be some headroom in there. > > I did hard-code 120% to prove that it could work. The problem now is that I > > can't find a way to check the max feed override from within the trajectory > > planner. It may have to be added to one of the debug structs. > > > >> Ok - thinking out loud... I just set the FO in the ini to 200%. I was > >> thinking I would break it being able to go over - but you have some sort > >> of checking in there (more like the original planner) where it seems to > >> stop at 350ipm and doesn't go over acceleration constraints. That is > >> cool. Maybe you have 120% hard coded? huh? Do you? ;) > >> > >> Well - one more thing - setting the feed rate override to 200% cause the > >> program not to end like before. (the motion ends but axis still thinks > >> it is running the program - the play button is pushed.) ie.. > >> http://imagebin.org/277887 Notice though - the constraints are > >> obeyed... Yay > > I'm not surprised about that. The major limitation is that the optimizer > > has to anticipate the max feed override, and calculate all the velocity > > limits based on that. This was always going to be an issue with fixed-size > > blend arcs, so the short term answer may be to just live with the tradeoff. > > I have an idea for adjusting the blend arc radius on the fly, but it won't > > be a simple fix. > > > >> still - pretty darn awesome. (running the spiral almost 3 times as fast > >> as the current tp > >> > >> sam > > It's exciting to see it get a little better with each change. As always, > > thanks for your help! > > > > Rob > > > >> On 11/19/2013 7:57 AM, sam sokolik wrote: > >>> Awesome!! > >>> I will hammer it today - inital test. > >>> -spiral. I ran it a few times with no isses with constraints. Yay > >>> Feedrate override also seems to obey (mine is set to max of 120% max) > >>> The program also seems to end Yay! > >>> couple oddities. > >>> -If you pause the program - it seems to stop. but the Vel on the screen > >>> is non zero. (it may say anything like 43ipm.) you get the same thing > >>> if you stop a program while it is running. (non zero velocity) > >>> -If you stop a program mid run - the cone jumps ahead (probaby the > >>> amount of the read ahead?) No following errors - just a little odd. > >>> > >>> The splash screen doesn't obey constraints.. but I assume it is because > >>> of the arc-arc issues. > >>> > >>> I also took the 3d_Chips.ngc here > >>> > > http://git.linuxcnc.org/gitweb?p=linuxcnc.git;a=blob;f=nc_files/3D_Chips.ngc;h=1f72707b49632127d71b7eea4a286ba86c861703;hb=HEAD > >>> changed > >>> #<fscale> = 1000 > >>> And > >>> G64P.1 to G64 > >>> > >>> The feedrate in the active gcode area shows F450000 > >>> This runs very slow for some reason. like there are long strait > >>> sections that are running at <10ipm. I will play with it some more - > >>> but it wasn't making sense... Could it be a metric/english issue? > >>> > >>> Getting closer - I can taste it :) > >>> Great work! > >>> > >>> sam > >>> > >>> On 11/19/2013 2:08 AM, Robert Ellenberg wrote: > >>>> Hi Sam, > >>>> > >>>> I've made a bunch of improvements here: > >>>> > >>>> https://github.com/robEllenberg/linuxcnc-mirror/ > >>>> tree/circular-blend-arc-alpha > >>>> > >>>> Thanks to your feedback and some extensive fiddling, this version is a > > bit > >>>> more robust in terms of smoothness and constraints. All of the tests > > in my > >>>> dropbox folder with the exception of arc-arc.ngc don't violate > > acceleration > >>>> constraints in my test runs. Your GUI extension was useful for that! > > The > >>>> monitor makes it not necessary to watch the screen every second, which > >>>> saved a lot of time. > >>>> > >>>> The test cases and configurations (based off of your configs, with > > some of > >>>> my own changes) are here: > >>>> > >>>> https://www.dropbox.com/sh/jojh7sw24gf9kzd/V64_EGD7aH > >>>> > >>>> If you get the chance, try out a few examples on this version and see > > if > >>>> you can break it. > >>>> > >>>> Thanks! > >>>> Rob > >>>> > >>>> > >>>> On Mon, Nov 18, 2013 at 7:10 AM, sam sokolik <[email protected]> > > wrote: > >>>>> any updates? :) > >>>>> > >>>>> thanks > >>>>> sam > >>>>> On 11/13/2013 2:48 PM, Robert Ellenberg wrote: > >>>>>> That's really handy! It would be really helpful to know if a > > particular > >>>>>> test failed, so I don't have to dig through a whole log file if > > nothing's > >>>>>> wrong. How did you implement it? > >>>>>> > >>>>>> > >>>>>> On Wed, Nov 13, 2013 at 3:41 PM, sam sokolik < [email protected]> > >>>>> wrote: > >>>>>>> Maybe something like this might help for initial testing? > >>>>>>> > >>>>>>> http://imagebin.org/276898 > >>>>>>> (notice the z) > >>>>>>> > >>>>>>> http://imagebin.org/276900 > >>>>>>> > >>>>>>> Not pretty.... > >>>>>>> > >>>>>>> sam > >>>>>>> > >>>>>>> On 11/13/2013 6:31 AM, sam sokolik wrote: > >>>>>>>> I cannot contribute programmatically... So I test.. And all > > things > >>>>>>>> trajectory planner/motion excite me for some reason. :) > >>>>>>>> > >>>>>>>> The basic config is here > >>>>>>>> http://electronicsam.com/images/KandT/testing/circblend/ > >>>>>>>> > >>>>>>>> the hal file check_constraints.hal is a modified to the 500ipm - > >>>>>>>> 30in/sec^2 with a little headroom. I also added a min/max hal > >>>>> component > >>>>>>>> so I could see the peak violations.. There probably should be a > > pyvcp > >>>>>>>> panel with this info plus a reset peak reading button... but for > > now I > >>>>>>>> was doing it manually. > >>>>>>>> > >>>>>>>> Keep up the great work! > >>>>>>>> > >>>>>>>> sam > >>>>>>>> > >>>>>>>> > >>>>>>>> > >>>>>>>> > >>>>>>>> On 11/13/2013 1:07 AM, Robert Ellenberg wrote: > >>>>>>>>> On Tue, Nov 12, 2013 at 1:28 PM, sam sokolik < > > [email protected]> > >>>>>>> wrote: > >>>>>>>>>> this is the splash screen running.. Z is the only axis that > >>>>> doesn't > >>>>>>>>>> obey the 30in/sec^2 limit > >>>>>>>>>> http://imagebin.org/276777 > >>>>>>>>> This is good news, and similar to what I saw. > >>>>>>>>> > >>>>>>>>> > >>>>>>>>>> The spiral - goes over the limit. > >>>>>>>>>> http://imagebin.org/276778 > >>>>>>>>>> Here is a halscope of one of the overshoots - it is a ways into > > the > >>>>>>>>>> spiral.. > >>>>>>>>>> http://imagebin.org/276780 > >>>>>>>>> Cool, this is good data. A few things come to mind based on this: > >>>>>>>>> > >>>>>>>>> - It looks like the little spikes in acceleration are > > similar > >>>>> to my > >>>>>>>>> results. The pattern (spike up then down) suggests a jump > > in > >>>>>>> position, > >>>>>>>>> which means a trajectory discontinuity. I'm working on > > some > >>>>> debug > >>>>>>> output to > >>>>>>>>> inspect this more closely. > >>>>>>>>> - There are some overshoots on X acc. that don't seem to > > be > >>>>> from a > >>>>>>>>> position jump alone. I think this may be to improper > > fall-back > >>>>> to > >>>>>>> parabolic > >>>>>>>>> blends. I'll run this example myself and check the logs. > >>>>>>>>> > >>>>>>>>> Out of curiosity, which config are you using to run these? Is this > >>>>> your > >>>>>>>>> original config with max acceleration of 30 on all axes? Also, > > what > >>>>> are > >>>>>>> you > >>>>>>>>> using to calculate the "acc-ok" signal? I'd like to add that to my > >>>>>>> hardware > >>>>>>>>> config. > >>>>>>>>> > >>>>>>>>> > >>>>>>>>>> This is at 1khz.. 10khz - you seem to get about the same > > overshoot - > >>>>>>>>>> about 43 - 44 in/sec^2 on the spiral > >>>>>>>>>> > >>>>>>>>>> and now - setting the feedrate override to 120%... :) (it had > > to be > >>>>>>> done) > >>>>>>>>>> http://imagebin.org/276779 > >>>>>>>>>> > >>>>>>>>>> > >>>>>>>>>> sam > >>>>>>>>> The feed override is a bit disappointing, but I'm not really > >>>>> surprised. > >>>>>>> I > >>>>>>>>> haven't spent much time yet getting feed overrides > 120% to > > work. I > >>>>>>> need > >>>>>>>>> to read the max feed override from the user config from within TP, > >>>>> which > >>>>>>>>> means a bit of hunting in the code. > >>>>>>>>> > >>>>>>>>> Thanks again for the testing. A second set of eyes on this really > >>>>> helps > >>>>>>>>> catch the little stuff! > >>>>>>>>> > >>>>>>>>> Rob > >>>>>>>>> > >>>>>>>>> > >>>>>>>>>> On 11/12/2013 7:50 AM, sam sokolik wrote: > >>>>>>>>>>> Very cool!! > >>>>>>>>>>> > >>>>>>>>>>> This motion is much better than the previous release. > >>>>>>>>>>> > >>>>>>>>>>> I am not seen the odd start motion that I was seeing before - > > Nice > >>>>>>>>>>> work! (starting a ways into the spiral instead of the start) > >>>>>>>>>>> > >>>>>>>>>>> couple of things. (initial runs) > >>>>>>>>>>> > >>>>>>>>>>> The Gcode program doesn't finish. > >>>>>>>>>>> http://imagebin.org/276743 > >>>>>>>>>>> the motion stops - but the vel shows 116ipm and the linuxcnc > > still > >>>>>>>>>>> thinks it is running the program. (the play button is pushed > > in) > >>>>>>>>>>> You can hit the stop button and re-run the program and is seems > > ok. > >>>>>>> but > >>>>>>>>>>> it still pauses at the end. > >>>>>>>>>>> > >>>>>>>>>>> Acceleration constraints. This seems better to me also. It > > gets > >>>>>>> better > >>>>>>>>>>> with a higher servo thread also (but the peak velocity doesn't > > seem > >>>>>>> to > >>>>>>>>>>> increase - I had though you had said that would happen...) > >>>>>>>>>>> 1khz > >>>>>>>>>>> http://imagebin.org/276740 - almost 40in/sec^2 (should not > > exceed > >>>>>>> 30) > >>>>>>>>>>> 5khz > >>>>>>>>>>> http://imagebin.org/276741 - 32in/sec^2 > >>>>>>>>>>> 10khz > >>>>>>>>>>> http://imagebin.org/276742 - didn't actually look - but it looks > >>>>> like > >>>>>>>>>>> the spikes are less > >>>>>>>>>>> > >>>>>>>>>>> Now - I don't know if it gets worse (as you can see I don't > > have as > >>>>>>> much > >>>>>>>>>>> sample length at the higher base periods. ) I can also check > > for > >>>>> peak > >>>>>>>>>>> constraint violation also.. > >>>>>>>>>>> > >>>>>>>>>>> I think though that you are headed in the right direction! > > (that > >>>>>>> peaks > >>>>>>>>>>> at about 330ipm vs around 120ipm with current blending) > >>>>>>>>>>> > >>>>>>>>>>> Awesome work! > >>>>>>>>>>> sam > >>>>>>>>>>> > >>>>>>>>>>> > >>>>>>>>>>> > >>>>>>>>>>> > >>>>>>>>>>> On 11/12/2013 1:32 AM, Robert Ellenberg wrote: > >>>>>>>>>>>> The public folders aren't shared unfortunately, but I can > > create a > >>>>>>>>>> private > >>>>>>>>>>>> folder shared between testers, with a public link if need be. > >>>>>>>>>>>> > >>>>>>>>>>>> The first batch of test logs and screenshots is uploaded as > > well, > >>>>>>> which > >>>>>>>>>>>> uncovered a few hints to the remaining acceleration issues. The > >>>>>>>>>>>> "blend_tests" subfolder of nc_files has the rest of the test > > code. > >>>>> I > >>>>>>>>>> also > >>>>>>>>>>>> did a hardware run on my spectralite: > >>>>>>>>>>>> > >>>>>>>>>>>> https://www.youtube.com/watch?v=PAVuByKH_Fw > >>>>>>>>>>>> > >>>>>>>>>>>> This was slightly slower than the initial demo at about 40 > > seconds, > >>>>>>>>>>>> probably due to better adherence to the acceleration > > constraints. > >>>>>>>>>>>> -Rob > >>>>>>>>>>>> > >>>>>>>>>>>> > >>>>>>>>>>>> On Mon, Nov 11, 2013 at 4:46 PM, TJoseph Powderly < > >>>>> [email protected]> > >>>>>>>>>> wrote: > >>>>>>>>>>>>> On 11/11/2013 02:41 PM, Robert Ellenberg wrote: > >>>>>>>>>>>>>> I've been doing some rework to fix the issues we found. > >>>>>>>>>>>>> ...snippety snip snip snip > >>>>>>>>>>>>> > I'm going to run all of my test > >>>>>>>>>>>>>> code again tonight and save logs / scope screenshots to my > > public > >>>>>>>>>> folder > >>>>>>>>>>>>>> here: > >>>>>>>>>>>>>> > >>>>>>>>>>>>>> https://www.dropbox.com/sh/m801unl2kh7if6x/f59HALU8nh > >>>>>>>>>>>>>> > >>>>>>>>>>>>> works for me :) > >>>>>>>>>>>>> > >>>>>>>>>>>>> i couldnt upload a 'works4me.txt' > >>>>>>>>>>>>> but no surprises > >>>>>>>>>>>>> > >>>>>>>>>>>>> thx for all the work! > >>>>>>>>>>>>> TomP tjtr33 > >>>>>>>>>>>>> > >>>>>>>>>>>>> > >>>>>>>>>>>>> > > ------------------------------------------------------------------------------ > >>>>>>>>>>>>> November Webinars for C, C++, Fortran Developers > >>>>>>>>>>>>> Accelerate application performance with scalable programming > >>>>> models. > >>>>>>>>>>>>> Explore > >>>>>>>>>>>>> techniques for threading, error checking, porting, and > > tuning. 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