Ahh, that would have been smart to include before:
- sim_spindle_encoder's position signal is now quantized based on
encoder resolution.
- Use motion.spindle-speed-in as the velocity reference for spindle
position tracking (falls back to old velocity calculation if this pin is
unconnected)
- Tweak position error correction math to reduce acceleration jitter
- Add a HAL pin, motion.spindle-tracking-gain (range 0.0 to 1.0) to
control how aggressive position tracking is. 1.0 is stock behavior, 0.0 is
no position tracking.
- Fix "sync_accel" phase of position tracking for low-count encoders.
- Experimental fix for issue 167
<https://github.com/LinuxCNC/linuxcnc/issues/167> by popping an error
message to the user and reducing spindle speed (if possible)
- Fix for issue 68 <https://github.com/LinuxCNC/linuxcnc/issues/68> by
disabling blending at start of G33 (to be consistent w/ 2.6.x)
Backend changes:
- Group some spindle status variables into struct:
- Motion spindle command outputs are in a struct called "spindle_cmd"
in emcStatus
- motion spindle inputs are now in a struct called "spindle_fb"
- Math tweaks to rigid tapping / position tracking to prevent
discontinuities due to sign changes.
-Rob
On Sun, Dec 11, 2016 at 8:20 AM andy pugh <[email protected]> wrote:
On 11 December 2016 at 06:30, Robert Ellenberg <[email protected]> wrote:
> For anyone interested in testing, my latest branch based on Peter's
> suggestion, and a bunch of other spindle tracking fixes is here:
Can you explain what is changed and improved?
--
atp
"A motorcycle is a bicycle with a pandemonium attachment and is
designed for the especial use of mechanical geniuses, daredevils and
lunatics."
— George Fitch, Atlanta Constitution Newspaper, 1916
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