Also - in this situation - it looks like you are only over shooting acceleration by a little bit... (not count the initial move)
It seems like it is almost 'there' :) sam On 11/5/2013 1:28 PM, sam sokolik wrote: > ok - scratch that... The spike is at the initial moves - which I think > you know there is an issue with. > > I was able to capture some better (I think) comparisons between 1 and 10khz > > there doesn't seem to be too much of a difference. > > 1khz > http://imagebin.org/275886 > > 10khz > http://imagebin.org/275885 > > they are about the same with the peak acceleration of 36ish in/sec^2 > (should be 30) on X > > sam > > > > On 11/5/2013 12:58 PM, sam sokolik wrote: >> well - I may be not understanding... But If I up the servo thread to >> 5khz - I get this... >> >> http://imagebin.org/275882 >> >> that is way worse - not better. (acelleration peak of >> 20517919in/sec^2) If I set the servo thread to 10khz it is much much >> worse... >> >> I told you I was good a breaking things... >> >> sam >> >> >> On 11/5/2013 12:12 PM, sam sokolik wrote: >>> Aww - that is unfortunate. I thought that was the whole point. Could >>> the naive cam detector fit larger arcs and combine segments? >>> >>> btw program pause seems to work well. >>> >>> sam >>> >>> >>> On 11/5/2013 11:09 AM, Robert Ellenberg wrote: >>>> 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 >>>> >>>> >>>> On Tue, Nov 5, 2013 at 11:55 AM, sam sokolik <sa...@empirescreen.com> >>>> wrote: >>>> >>>>> some more graphs.. I think there is an issue with constraints... >>>>> >>>>> I am using this 'check_constraints.hal' file >>>>> http://pastebin.com/V6ZfJAx4 >>>>> >>>>> The original is here.. >>>>> >>>>> http://git.linuxcnc.org/gitweb?p=linuxcnc.git;a=blob;f=configs/sim/axis/check_constraints.hal;h=c2a432078ec776484c82c16a269e776f0e1263f0;hb=HEAD >>>>> >>>>> This is running spiral - but I do get triggers on the spash screen also >>>>> >>>>> http://imagebin.org/275867 >>>>> >>>>> you can see the 'constraints ok' goes false for quite a while during the >>>>> run. At the peak acelleration is over 450in/sec/sec (should be less >>>>> than 30) >>>>> >>>>> Just some FYI >>>>> thanks again >>>>> sam >>>>> >>>>> >>>>> On 11/5/2013 8:44 AM, EBo wrote: >>>>>> Take a look at the old bi-arc approximation code. That basically does >>>>>> it. There may be easier ways to do it, but I would have to dig. I >>>>>> think I have some old code that calls a Fortran library to do arbitrary >>>>>> input to B-splines. If you want to take a look at it I will dig >>>>>> around... >>>>>> >>>>>> EBo -- >>>>>> >>>>>> On Nov 5 2013 7:40 AM, Robert Ellenberg wrote: >>>>>>> That's good to know. I'm happy taking the easy way out if it's not an >>>>>>> huge >>>>>>> difference, but it's nice to know that we could go there if need be. >>>>>>> >>>>>>> On Nov 5, 2013 9:37 AM, "EBo" <e...@sandien.com> wrote: >>>>>>>> It has been a very long time since I have needed to do curve fitting >>>>>>>> to >>>>>>>> generic input date -- actually image2gcode processing + offset >>>>>>>> surfaces. >>>>>>>> >>>>>>>> If you extend the idea past pairs to replacing n-positions with >>>>>>>> either >>>>>>>> a straight segment or arc, then a lot of these issues will either go >>>>>>>> away or will be genuine problems. If they are in fact issues with >>>>>>>> the >>>>>>>> geometry, then we should/could analyze the acceleration profile and >>>>>>>> adjust the max velocity accordingly. >>>>>>>> >>>>>>>> EBo -- >>>>>>>> >>>>>>>> >>>>>>>> On Nov 5 2013 7:23 AM, Robert Ellenberg wrote: >>>>>>>>> Right now it will replace a pair of lines with a single arc if the >>>>>>>>> blend >>>>>>>>> tolerance allows it. >>>>>>>>> >>>>>>>>> I think the simplest answer is to slow the max velocity down so >>>>>>>> that >>>>>>>>> it >>>>>>>>> always hits every segment at least once. This will still be better >>>>>>>>> than the >>>>>>>>> current method unless the segment length is very small. >>>>>>>>> >>>>>>>>> One possibility is to increase the effective segment length by >>>>>>>>> treating >>>>>>>>> multiple tangent segments as one long segment, at least as far as >>>>>>>> the >>>>>>>>> velocity profile is concerned. We would essentially be resampling >>>>>>>> the >>>>>>>>> trajectory on the fly. >>>>>>>>> >>>>>>>>> -Rob >>>>>>>>> >>>>>>>>> On Nov 5, 2013 8:04 AM, "EBo" <e...@sandien.com> wrote: >>>>>>>>>> On Nov 5 2013 5:38 AM, Gene Heskett wrote: >>>>>>>>>>> On Tuesday 05 November 2013 07:37:15 andy pugh did opine: >>>>>>>>>>> >>>>>>>>>>>> On 5 November 2013 08:18, Robert Ellenberg <rwe...@gmail.com> >>>>>>>>>> wrote: >>>>>>>>>>>>> 2. Sam's example has very short line segments (line lengths >>>>>>>> are >>>>>>>>>>>> about >>>>>>>>>>>>> 0.0001"). We're hitting the limits of the sampling rate >>>>>>>> when >>>>>>>>>>>>> running this code. At 1kHz, to move faster than 0.1 in / >>>>>>>> sec >>>>>>>>>>>> means >>>>>>>>>>>>> we start skipping segments. >>>>>>>>>>>> That seems like pretty pathological G-code. If you can't even >>>>>>>>>>>> "touch" >>>>>>>>>>>> every segment at 1kHz at the requested speed then I don't >>>>>>>> think >>>>>>>>>> you >>>>>>>>>>>> should try to hold the speed. >>>>>>>>>>> What Andy said. I am not in favor of throwing away accuracy. >>>>>>>>>> Are your approximating the little segments with arc's/splines and >>>>>>>>>> reducing the complexity, or are you skipping over some of them. >>>>>>>> If >>>>>>>>>> it >>>>>>>>>> is the former, then you can set the approximation >>>>>>>> parameterization >>>>>>>>>> and >>>>>>>>>> know a priori exactly the behaviour. With line segments of only >>>>>>>>>> 0.0001" >>>>>>>>>> it is basically the equivalent of recording single/two steps on >>>>>>>> just >>>>>>>>>> about any industrial machine tool. I mean, how many machine >>>>>>>> tools >>>>>>>>>> to >>>>>>>>>> you work with that resolve anything below 0.00005"? >>>>>>>>>> >>>>>>>>>> What I will say is that this is a great stress/regression test >>>>>>>> and >>>>>>>>>> should be kept. We can continue to debate the appropriateness >>>>>>>> and >>>>>>>>>> meaning of this pathological case. I for one say thank you for >>>>>>>>>> taking >>>>>>>>>> the test to the extreme. >>>>>>>>>> >>>>>>>>>> EBo -- >>>>>>>>>> >>>>>>>>>> >>>>> ------------------------------------------------------------------------------ >>>>>>>>>> November Webinars for C, C++, Fortran Developers >>>>>>>>>> Accelerate application performance with scalable programming >>>>>>>> models. >>>>>>>>> Explore >>>>>>>>>> techniques for threading, error checking, porting, and tuning. >>>>>>>> Get >>>>>>>>>> the >>>>>>>>> most >>>>>>>>>> from the latest Intel processors and coprocessors. See abstracts >>>>>>>> and >>>>>>>>> register >>>>>>>>> >>>>> http://pubads.g.doubleclick.net/gampad/clk?id=60136231&iu=/4140/ostg.clktrk >>>>>>>>>> _______________________________________________ >>>>>>>>>> Emc-developers mailing list >>>>>>>>>> Emc-developers@lists.sourceforge.net >>>>>>>>>> https://lists.sourceforge.net/lists/listinfo/emc-developers >>>>> ------------------------------------------------------------------------------ >>>>>>>>> November Webinars for C, C++, Fortran Developers >>>>>>>>> Accelerate application performance with scalable programming >>>>>>>> models. >>>>>>>>> Explore >>>>>>>>> techniques for threading, error checking, porting, and tuning. Get >>>>>>>>> the most >>>>>>>>> from the latest Intel processors and coprocessors. See abstracts >>>>>>>> and >>>>>>>>> register >>>>>>>>> >>>>>>>>> >>>>> http://pubads.g.doubleclick.net/gampad/clk?id=60136231&iu=/4140/ostg.clktrk >>>>>>>>> _______________________________________________ >>>>>>>>> Emc-developers mailing list >>>>>>>>> Emc-developers@lists.sourceforge.net >>>>>>>>> https://lists.sourceforge.net/lists/listinfo/emc-developers >>>>> ------------------------------------------------------------------------------ >>>>>>>> November Webinars for C, C++, Fortran Developers >>>>>>>> Accelerate application performance with scalable programming models. >>>>>>> Explore >>>>>>>> techniques for threading, error checking, porting, and tuning. Get >>>>>>>> the >>>>>>> most >>>>>>>> from the latest Intel processors and coprocessors. See abstracts and >>>>>>> register >>>>>>> >>>>> http://pubads.g.doubleclick.net/gampad/clk?id=60136231&iu=/4140/ostg.clktrk >>>>>>>> _______________________________________________ >>>>>>>> Emc-developers mailing list >>>>>>>> Emc-developers@lists.sourceforge.net >>>>>>>> https://lists.sourceforge.net/lists/listinfo/emc-developers >>>>> ------------------------------------------------------------------------------ >>>>>>> November Webinars for C, C++, Fortran Developers >>>>>>> Accelerate application performance with scalable programming models. >>>>>>> Explore >>>>>>> techniques for threading, error checking, porting, and tuning. Get >>>>>>> the most >>>>>>> from the latest Intel processors and coprocessors. See abstracts and >>>>>>> register >>>>>>> >>>>>>> >>>>> http://pubads.g.doubleclick.net/gampad/clk?id=60136231&iu=/4140/ostg.clktrk >>>>>>> _______________________________________________ >>>>>>> Emc-developers mailing list >>>>>>> Emc-developers@lists.sourceforge.net >>>>>>> https://lists.sourceforge.net/lists/listinfo/emc-developers >>>>> ------------------------------------------------------------------------------ >>>>>> November Webinars for C, C++, Fortran Developers >>>>>> Accelerate application performance with scalable programming models. >>>>> Explore >>>>>> techniques for threading, error checking, porting, and tuning. Get the >>>>> most >>>>>> from the latest Intel processors and coprocessors. See abstracts and >>>>> register >>>>> http://pubads.g.doubleclick.net/gampad/clk?id=60136231&iu=/4140/ostg.clktrk >>>>>> _______________________________________________ >>>>>> Emc-developers mailing list >>>>>> Emc-developers@lists.sourceforge.net >>>>>> https://lists.sourceforge.net/lists/listinfo/emc-developers >>>>>> >>>>>> >>>>> ------------------------------------------------------------------------------ >>>>> November Webinars for C, C++, Fortran Developers >>>>> Accelerate application performance with scalable programming models. >>>>> Explore >>>>> techniques for threading, error checking, porting, and tuning. Get the >>>>> most >>>>> from the latest Intel processors and coprocessors. See abstracts and >>>>> register >>>>> http://pubads.g.doubleclick.net/gampad/clk?id=60136231&iu=/4140/ostg.clktrk >>>>> _______________________________________________ >>>>> Emc-developers mailing list >>>>> Emc-developers@lists.sourceforge.net >>>>> https://lists.sourceforge.net/lists/listinfo/emc-developers >>>>> >>>> ------------------------------------------------------------------------------ >>>> November Webinars for C, C++, Fortran Developers >>>> Accelerate application performance with scalable programming models. >>>> Explore >>>> techniques for threading, error checking, porting, and tuning. Get the most >>>> from the latest Intel processors and coprocessors. See abstracts and >>>> register >>>> http://pubads.g.doubleclick.net/gampad/clk?id=60136231&iu=/4140/ostg.clktrk >>>> _______________________________________________ >>>> Emc-developers mailing list >>>> Emc-developers@lists.sourceforge.net >>>> https://lists.sourceforge.net/lists/listinfo/emc-developers >>>> >>>> >>> ------------------------------------------------------------------------------ >>> November Webinars for C, C++, Fortran Developers >>> Accelerate application performance with scalable programming models. Explore >>> techniques for threading, error checking, porting, and tuning. Get the most >>> from the latest Intel processors and coprocessors. See abstracts and >>> register >>> http://pubads.g.doubleclick.net/gampad/clk?id=60136231&iu=/4140/ostg.clktrk >>> _______________________________________________ >>> Emc-developers mailing list >>> Emc-developers@lists.sourceforge.net >>> https://lists.sourceforge.net/lists/listinfo/emc-developers >>> >>> >> ------------------------------------------------------------------------------ >> November Webinars for C, C++, Fortran Developers >> Accelerate application performance with scalable programming models. Explore >> techniques for threading, error checking, porting, and tuning. Get the most >> from the latest Intel processors and coprocessors. See abstracts and register >> http://pubads.g.doubleclick.net/gampad/clk?id=60136231&iu=/4140/ostg.clktrk >> _______________________________________________ >> Emc-developers mailing list >> Emc-developers@lists.sourceforge.net >> https://lists.sourceforge.net/lists/listinfo/emc-developers >> >> > > ------------------------------------------------------------------------------ > November Webinars for C, C++, Fortran Developers > Accelerate application performance with scalable programming models. Explore > techniques for threading, error checking, porting, and tuning. Get the most > from the latest Intel processors and coprocessors. See abstracts and register > http://pubads.g.doubleclick.net/gampad/clk?id=60136231&iu=/4140/ostg.clktrk > _______________________________________________ > Emc-developers mailing list > Emc-developers@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-developers > > ------------------------------------------------------------------------------ November Webinars for C, C++, Fortran Developers Accelerate application performance with scalable programming models. Explore techniques for threading, error checking, porting, and tuning. Get the most from the latest Intel processors and coprocessors. See abstracts and register http://pubads.g.doubleclick.net/gampad/clk?id=60136231&iu=/4140/ostg.clktrk _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
