Thanks for giving it a spin! I am still getting the error about the spindle going too fast.. You can see the threading is happening at 19.12 ipm and the axis max vel is 30ipm. I tried a similar config and got the same result (could be both configs have some odd issue we have not figured out.) http://electronicsam.com/images/KandT/testing/robthreading/latest/newthreadingfix2Error.png
There's definitely an edge case there I didn't account for. I'll keep working on it and see if I can isolate a test case to reproduce. Current 2.7 behavior with the blip at the beginning (again - didn't see this with your latest push) http://electronicsam.com/images/KandT/testing/robthreading/latest/current2.png Another thing I'm noticing is that my modified position-error calculation seems to perform worse with the stock-like velocity estimate (in terms of steady-state error). I'll play with a few approaches and see if I can get something better than stock. Sam, do you do any kind of filtering / averaging in your spindle-speed input? It would be interesting to see the effect if so. I suspect that the velocity signal could be filtered significantly without impacting the position tracking performance. Best, Rob ------------------------------------------------------------------------------ Developer Access Program for Intel Xeon Phi Processors Access to Intel Xeon Phi processor-based developer platforms. With one year of Intel Parallel Studio XE. Training and support from Colfax. Order your platform today.http://sdm.link/xeonphi _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
