Re: [Emc-users] Poor CV

2014-03-05 Thread Steve Blackmore
On Tue, 04 Mar 2014 16:51:51 -0500, you wrote: Have you looked at Michael's jog during pause demo video? http://www.youtube.com/watch?v=HNuu_D4X_EM http://wiki.linuxcnc.org/cgi-bin/wiki.pl?Jog-While-Paused Not yet. What do you think of the jog-during-pause of the USBCNC hardware. Does it

Re: [Emc-users] Poor CV

2014-03-04 Thread Dave Cole
Cool Sam/Rob, So do I sense that a new message thread is about to be created on the Mach3 email list.. ;-) Steve, I think you may need to swap out the control on your router if you want to get in on this! You have waited a long time for this! Dave On 3/3/2014 3:20 PM, sam sokolik wrote:

Re: [Emc-users] Poor CV

2014-03-04 Thread sam sokolik
nah - I got radio silence with the last couple posts.. Mach4 will fix all these problems. I doubt Steve will switch - jog while pause seems to be a real show stopper for him. sam On 3/4/2014 12:22 PM, Dave Cole wrote: Cool Sam/Rob, So do I sense that a new message thread is about to be

Re: [Emc-users] Poor CV

2014-03-04 Thread Mark Tucker
Just wondering how long before we see this in mainstream Linuxcnc. In particular on the beaglebone.? Everything i do is programs generated from cam systems with lots of little G01's and G03's. And the current TP really does make a meal of it. On 04/03/14 18:27, sam sokolik wrote: nah - I got

Re: [Emc-users] Poor CV

2014-03-04 Thread Dave Cole
Oh well.. no joy. ;-) Its pretty hard to argue with all of the graphs you made. Mach4 will fix all these problems. That was the mantra for a while, but I think that reality has slowly sunk in. I hope that all of the Mach4 work they have put in, pays off eventually. It has taken a long,

Re: [Emc-users] Poor CV

2014-03-04 Thread Steve Blackmore
On Tue, 04 Mar 2014 12:27:02 -0600, you wrote: nah - I got radio silence with the last couple posts.. Mach4 will fix all these problems. I doubt Steve will switch - jog while pause seems to be a real show stopper for him. It is Sam. I last used it on Sunday when a big fur ball of stringy

Re: [Emc-users] Poor CV

2014-03-04 Thread Steve Blackmore
On Tue, 04 Mar 2014 14:18:55 -0500, you wrote: I thought that Steve was using the jog while pause tweak that Les wrote up a while ago. That's only for jog and zero during tool changes into collets with no back stop. Steve Blackmore --

Re: [Emc-users] Poor CV

2014-03-04 Thread Dave Cole
On 3/4/2014 3:45 PM, Steve Blackmore wrote: On Tue, 04 Mar 2014 14:18:55 -0500, you wrote: I thought that Steve was using the jog while pause tweak that Les wrote up a while ago. That's only for jog and zero during tool changes into collets with no back stop. Steve Blackmore -- You are

Re: [Emc-users] Poor CV

2014-03-03 Thread sam sokolik
One thing I have noticed - with the new TP - the path reaches commanded speed. mach gets close but is usually a few percent under. Take this program steve posted a while back. ( http://electronicsam.com/images/KandT/testing/steve.ngc ) New TP http://imagebin.org/296859 If you calculate it

Re: [Emc-users] Poor CV

2014-03-03 Thread TERRY Christophersen
Have you tried the new tp with g41/g42? Im sure it wont matter but just in case... Terry One thing I have noticed - with the new TP - the path reaches commanded speed. mach gets close but is usually a few percent under. Take this program steve posted a while back. (

Re: [Emc-users] Poor CV

2014-03-03 Thread Robert Ellenberg
Terry, that's a good idea. I suspect G41/G42 won't affect much since the offsets are applied before the path is sent to the motion module, but it would be nice to be sure. Do you have a program handy that use G41/42 extensively? If so, I'd be happy to add it to the tests I run. -Rob On Mon,

Re: [Emc-users] Poor CV

2014-03-03 Thread TERRY Christophersen
I can send one but will be tomorrow.I have one that cuts the outside of a 6in gear it has many transitions between G2-G3 so should be a good test. Terry On Mar 3, 2014 8:34 PM, Robert Ellenberg rwe...@gmail.com wrote: Terry, that's a good idea. I suspect G41/G42 won't affect much since the

Re: [Emc-users] Poor CV

2014-03-03 Thread TERRY Christophersen
I had a copy on an old stick. T4 dia is .05 in the tool table This is the 45deg tool to break the edge but still roughly the same code as the end mill code. You will have to change the feedrate to really test the speed as this feedrate works fine with old tp(at least on my VMC it does. I use v

Re: [Emc-users] Poor CV

2014-03-03 Thread TERRY Christophersen
Sorry I changed from the 65ipm to 100 before I sent it I usually run that operation at 65 to get the surface finish I may need more spindle speed with the new tp :) Terry On Mon, Mar 3, 2014 at 10:20 PM, TERRY Christophersen tcninj...@gmail.comwrote: I had a copy on an old stick. T4 dia is

Re: [Emc-users] Poor CV

2014-02-20 Thread sam sokolik
Steve! Here is your sample of gcode running the newest TP Original TP http://imagebin.org/294551 (limit of the 1 segment look-ahead) New TP (which does arc-arc , Line-arc and line-line look-ahead.) http://imagebin.org/294550 Robs hard work is awesome! (and it keeps improving) sam On

Re: [Emc-users] Poor CV

2013-04-16 Thread Tomaz T .
Here is a link to g-code of full 5axis milling a section of impeller blade. I'm publishing it for testing purposes in simulation mode of linuxcnc, if someone is or will work on speed of linuxcnc execution of that kind of heavy code...

Re: [Emc-users] Poor CV

2013-04-12 Thread Viesturs Lācis
2013/4/12 Kenneth Lerman kenneth.ler...@se-ltd.com On 4/10/2013 5:01 PM, andy pugh wrote: On 10 April 2013 21:50, dave dengv...@charter.net wrote: No panacea anywhere in sight. Something I saw somewhere on the Internet (possibly a link from mah) was an article about different

Re: [Emc-users] Poor CV

2013-04-12 Thread Chris Radek
On Fri, Apr 12, 2013 at 06:54:10PM +0300, Viesturs L??cis wrote: Am I missing something or s-curve velocity profile, which means also implemented jerk limits has been developed by Araisrobo and is already in joints_axes branch? IIRC the problem for this not being ready for mainstream is lack

Re: [Emc-users] Poor CV

2013-04-11 Thread Kenneth Lerman
On 4/10/2013 5:01 PM, andy pugh wrote: On 10 April 2013 21:50, dave dengv...@charter.net wrote: No panacea anywhere in sight. Something I saw somewhere on the Internet (possibly a link from mah) was an article about different approaches. One very interesting idea was that every move as well

Re: [Emc-users] Poor CV

2013-04-11 Thread dave
Ah! your timing is impeccable. I just sent some references to Kent with hope they will get added to the wiki. Dave On Thu, 2013-04-11 at 18:56 -0400, Kenneth Lerman wrote: On 4/10/2013 5:01 PM, andy pugh wrote: On 10 April 2013 21:50, dave dengv...@charter.net wrote: No panacea anywhere

Re: [Emc-users] Poor CV

2013-04-11 Thread andy pugh
On 11 April 2013 23:56, Kenneth Lerman kenneth.ler...@se-ltd.com wrote: While we are looking at this, we should be sure to consider adding jerk limits to the system. I don't think this is rocket science. But then, neither is rocket science: http://youtu.be/THNPmhBl-8I I have tried writing a

Re: [Emc-users] Poor CV

2013-04-11 Thread dave
On Thu, 2013-04-11 at 18:56 -0400, Kenneth Lerman wrote: On 4/10/2013 5:01 PM, andy pugh wrote: On 10 April 2013 21:50, dave dengv...@charter.net wrote: No panacea anywhere in sight. Something I saw somewhere on the Internet (possibly a link from mah) was an article about different

Re: [Emc-users] Poor CV

2013-04-11 Thread Kent A. Reed
On 4/11/2013 6:56 PM, Kenneth Lerman wrote: I don't think this is rocket science. (Having worked on the Lunar Module project, I have a chance of recognizing rocket science.) Come on, Ken, the rocket-science part is dead easy. When you say F=ma you've said it all. Rocket engineering, on the

Re: [Emc-users] Poor CV

2013-04-10 Thread Steve Blackmore
On Tue, 09 Apr 2013 17:11:00 -0400, you wrote: On Tue, Apr 9, 2013, at 05:04 PM, Steve Blackmore wrote: On Tue, 09 Apr 2013 19:18:13 +0200, you wrote: I tried your value, and it seem you are really close to the max frequency drive for the stepper. Claude - if that were so it would not

Re: [Emc-users] Poor CV

2013-04-10 Thread Steve Blackmore
On Tue, 9 Apr 2013 23:44:23 +0100, you wrote: On 9 April 2013 23:14, Steve Blackmore st...@pilotltd.net wrote: The problem is apparent at the first G2 move. The machine appears to change feedrate between G2 and G1 moves. Moving from one G2 line to another G2 line is smooth, and moving from

Re: [Emc-users] Poor CV

2013-04-10 Thread andy pugh
On 10 April 2013 08:24, Steve Blackmore st...@pilotltd.net wrote: Do a line connected to an arc and vice versa then try. The slowdown is on the transition here. If you run the code you can actually see the slowdown on the feed display in the gui in Axis. I put that down to the arcs and

Re: [Emc-users] Poor CV

2013-04-10 Thread Claude Froidevaux
Agree, for example this line to arc is NOT tangent: N300 G1 X4.121 Y88.649 Z-1.000 N310 G1 X4.891 Y91.654 Z-1.000 N320 G2 X8.045 Y101.818 I125.643 J-33.412 I don't know what mach3 is doing to go full speed trough this, but it is theoretically not possible to go full continuous speed trough this

Re: [Emc-users] Poor CV

2013-04-10 Thread John Thornton
Cutting corners for sure... On 4/10/2013 6:10 AM, Claude Froidevaux wrote: Agree, for example this line to arc is NOT tangent: N300 G1 X4.121 Y88.649 Z-1.000 N310 G1 X4.891 Y91.654 Z-1.000 N320 G2 X8.045 Y101.818 I125.643 J-33.412 I don't know what mach3 is doing to go full speed trough

Re: [Emc-users] Poor CV

2013-04-10 Thread Tomaz T .
What do you think about this guys, and their approach to high speed machining: http://youtu.be/w7B8C9Rv-eo?t=23s Their machines are sure capable of really high accelerations, but there is probably done something also on controllers side (approximations of path)?

Re: [Emc-users] Poor CV

2013-04-10 Thread Daniel Rogge
I'd like to weigh in with the following test: Running LCNC 2.5, copy the sim/axis config to your local configs, then change the max_acceleration for axis 0, 1, and 2 to 1.0 (previously 100): MAX_ACCELERATION = 1.0 Then run both of the following programs: % (1 inch square) G90

Re: [Emc-users] Poor CV

2013-04-10 Thread Gene Heskett
On Wednesday 10 April 2013 11:43:50 Steve Blackmore did opine: On Tue, 09 Apr 2013 17:11:00 -0400, you wrote: On Tue, Apr 9, 2013, at 05:04 PM, Steve Blackmore wrote: On Tue, 09 Apr 2013 19:18:13 +0200, you wrote: I tried your value, and it seem you are really close to the max frequency

Re: [Emc-users] Poor CV

2013-04-10 Thread Gene Heskett
On Wednesday 10 April 2013 11:58:51 andy pugh did opine: On 10 April 2013 08:24, Steve Blackmore st...@pilotltd.net wrote: Do a line connected to an arc and vice versa then try. The slowdown is on the transition here. If you run the code you can actually see the slowdown on the feed

Re: [Emc-users] Poor CV

2013-04-10 Thread Kent A. Reed
On 4/10/2013 10:01 AM, Daniel Rogge wrote: I'd like to weigh in with the following test: Running LCNC 2.5, copy the sim/axis config to your local configs, then change the max_acceleration for axis 0, 1, and 2 to 1.0 (previously 100): MAX_ACCELERATION = 1.0 Then run both of

Re: [Emc-users] Poor CV

2013-04-10 Thread Eric Keller
On Wed, Apr 10, 2013 at 2:33 PM, Kent A. Reed kentallanr...@gmail.comwrote: From my seat in the peanut gallery, it seems there is a divide between those who believe we have a proper set of algorithms properly implemented that have been tested successfully and those who believe this reported

Re: [Emc-users] Poor CV

2013-04-10 Thread dave
snip-snap All: I am a total ignoramus when it comes to the trajectory planning and motion control aspects of LinuxCNC. From my seat in the peanut gallery, it seems there is a divide between those who believe we have a proper set of algorithms properly implemented that have been tested

Re: [Emc-users] Poor CV

2013-04-10 Thread Gregg Eshelman
--- On Wed, 4/10/13, Tomaz T. tomaz_...@hotmail.com wrote: What do you think about this guys, and their approach to high speed machining: http://youtu.be/w7B8C9Rv-eo?t=23s Their machines are sure capable of really high accelerations, but there is probably done something also on

Re: [Emc-users] Poor CV

2013-04-10 Thread andy pugh
On 10 April 2013 15:01, Daniel Rogge dro...@tormach.com wrote: Running LCNC 2.5, copy the sim/axis config to your local configs, then change the max_acceleration for axis 0, 1, and 2 to 1.0 (previously 100): MAX_ACCELERATION = 1.0 (1 square with rounded corners) G90 G54 G20

Re: [Emc-users] Poor CV

2013-04-10 Thread andy pugh
On 10 April 2013 21:50, dave dengv...@charter.net wrote: No panacea anywhere in sight. Something I saw somewhere on the Internet (possibly a link from mah) was an article about different approaches. One very interesting idea was that every move as well as being an end-point also includes an end

Re: [Emc-users] Poor CV

2013-04-10 Thread Steve Blackmore
On Wed, 10 Apr 2013 06:16:59 -0500, you wrote: Cutting corners for sure... Yes it's deviating by up to by 0.1mm as set in it's config. For LinuxCNC to do a similar feed the deviation has to be 0.5mm? Steve Blackmore --

Re: [Emc-users] Poor CV

2013-04-10 Thread Steve Blackmore
On Wed, 10 Apr 2013 22:01:32 +0100, you wrote: On 10 April 2013 21:50, dave dengv...@charter.net wrote: No panacea anywhere in sight. Something I saw somewhere on the Internet (possibly a link from mah) was an article about different approaches. One very interesting idea was that every move as

Re: [Emc-users] Poor CV

2013-04-10 Thread Steve Blackmore
On Wed, 10 Apr 2013 13:56:16 -0700 (PDT), you wrote: --- On Wed, 4/10/13, Tomaz T. tomaz_...@hotmail.com wrote: What do you think about this guys, and their approach to high speed machining: http://youtu.be/w7B8C9Rv-eo?t=23s Their machines are sure capable of really high accelerations,

Re: [Emc-users] Poor CV

2013-04-10 Thread jeremy youngs
so how far does lcnc actually look ahead? On Wed, Apr 10, 2013 at 6:21 PM, Steve Blackmore st...@pilotltd.net wrote: On Wed, 10 Apr 2013 13:56:16 -0700 (PDT), you wrote: --- On Wed, 4/10/13, Tomaz T. tomaz_...@hotmail.com wrote: What do you think about this guys, and their

Re: [Emc-users] Poor CV

2013-04-10 Thread Steve Blackmore
On Wed, 10 Apr 2013 11:57:32 -0400, you wrote: FWIW, I noted that despite a g64.1 P.001 at the top of the file, my carving of that brass handle yesterday on a 2.6.0-pre install, was also coming to a complete stop at those straight line to arc transitions, 4 times per loop, not all of which

Re: [Emc-users] Poor CV

2013-04-10 Thread Gregg Eshelman
On the water jet site (I want to think it was CMC, but memory is hazy) the comparison between their full path pre scanning and short distance lookahead was that the full pre scan could adjust to things like a long straight followed by a series of curves and short straights by slowing down to a

Re: [Emc-users] Poor CV

2013-04-10 Thread Claude Zervas
I have also found problems with curve-line and line-curve transitions. My machine is used to paint lines and uses a fourth tangential axis to keep the brush tangent to the tool path. I get significant decelerations/accelerations on these transitions and it shows up as aberrations in the paint

Re: [Emc-users] Poor CV

2013-04-10 Thread Jon Elson
andy pugh wrote: On 10 April 2013 21:50, dave dengv...@charter.net wrote: No panacea anywhere in sight. Something I saw somewhere on the Internet (possibly a link from mah) was an article about different approaches. One very interesting idea was that every move as well as being an

Re: [Emc-users] Poor CV

2013-04-10 Thread Gene Heskett
On Wednesday 10 April 2013 21:56:36 Steve Blackmore did opine: On Wed, 10 Apr 2013 11:57:32 -0400, you wrote: FWIW, I noted that despite a g64.1 P.001 at the top of the file, my carving of that brass handle yesterday on a 2.6.0-pre install, was also coming to a complete stop at those straight

Re: [Emc-users] Poor CV

2013-04-10 Thread Jon Elson
jeremy youngs wrote: so how far does lcnc actually look ahead? One block! It always operates at a speed such that it can come to a full stop on the next G-code block. Some users who do high-speed contouring need more lookahead, and then it becomes arbitrary how far ahead you have to

Re: [Emc-users] Poor CV

2013-04-10 Thread jeremy youngs
wow i have not used any high speed paths on my mill as its top is only 60 ipm . so i havent noticed this , but being that mastercam does exactly as you staed above i do not know if it will be an issue unless contouring . although all the programming i do at work tends to be high speed paths on

Re: [Emc-users] Poor CV

2013-04-09 Thread Viesturs Lācis
2013/4/9 Steve Blackmore st...@pilotltd.net On Sun, 7 Apr 2013 10:21:11 -0500, you wrote: On Sun, Apr 07, 2013 at 10:13:11AM +0100, Steve Blackmore wrote: CV in LinuxCNC still does not work well. Have a look at this http://youtu.be/ph_IVXg1C9Y Please share your gcode and your full

Re: [Emc-users] Poor CV

2013-04-09 Thread andy pugh
On 9 April 2013 09:07, Viesturs Lācis viesturs.la...@gmail.com wrote: Am I really missing something or are You complaining about really old version of LinuxCNC? Possibly, but I don't think that the motion system has changed. -- atp If you can't fix it, you don't own it.

Re: [Emc-users] Poor CV

2013-04-09 Thread Viesturs Lācis
2013/4/9 andy pugh bodge...@gmail.com On 9 April 2013 09:07, Viesturs Lācis viesturs.la...@gmail.com wrote: Am I really missing something or are You complaining about really old version of LinuxCNC? Possibly, but I don't think that the motion system has changed. That is what I also

Re: [Emc-users] Poor CV

2013-04-09 Thread andy pugh
On 8 April 2013 22:57, Steve Blackmore st...@pilotltd.net wrote: ini file http://pastebin.com/keXTHWyn I don't really have the tools here to analyse this, but a few observations. At 800mm/sec2 accel and 1200mm/min traverse speed the minimum arc radius is 0.5mm. The circular moves do not

Re: [Emc-users] Poor CV

2013-04-09 Thread Claude Froidevaux
I tried your value, and it seem you are really close to the max frequency drive for the stepper. Can you try to change scale on all 3 axis (divide bay 10) and check that the total time is still the same or not ? this will help to understand if this a trajectory interpolation limitation or a

Re: [Emc-users] Poor CV

2013-04-09 Thread Steve Blackmore
On Tue, 09 Apr 2013 19:18:13 +0200, you wrote: I tried your value, and it seem you are really close to the max frequency drive for the stepper. Claude - if that were so it would not work with identical settings under Mach3. Same step frequency, same drivers same PC same everything. Steve

Re: [Emc-users] Poor CV

2013-04-09 Thread John Kasunich
On Tue, Apr 9, 2013, at 05:04 PM, Steve Blackmore wrote: On Tue, 09 Apr 2013 19:18:13 +0200, you wrote: I tried your value, and it seem you are really close to the max frequency drive for the stepper. Claude - if that were so it would not work with identical settings under Mach3. Same

Re: [Emc-users] Poor CV

2013-04-09 Thread Steve Blackmore
On Tue, 9 Apr 2013 09:48:33 +0100, you wrote: On 9 April 2013 09:07, Viesturs L?cis viesturs.la...@gmail.com wrote: Am I really missing something or are You complaining about really old version of LinuxCNC? Possibly, but I don't think that the motion system has changed. I am using the latest

Re: [Emc-users] Poor CV

2013-04-09 Thread Steve Blackmore
On Tue, 9 Apr 2013 11:07:22 +0300, you wrote: Both of these files are generated by stepconf wizard back in 2009. And there are some things, like PROGRAM_PREFIX = /home/steve/emc2/nc_files and INTRO_GRAPHIC = emc2.gif, which clearly show that You are not using 2.5.x version; Clearly it shows no

Re: [Emc-users] Poor CV

2013-04-09 Thread Steve Blackmore
On Tue, 9 Apr 2013 13:55:30 +0100, you wrote: On 8 April 2013 22:57, Steve Blackmore st...@pilotltd.net wrote: ini file http://pastebin.com/keXTHWyn I don't really have the tools here to analyse this, but a few observations. At 800mm/sec2 accel and 1200mm/min traverse speed the minimum arc

Re: [Emc-users] Poor CV

2013-04-09 Thread jeremy youngs
The drawing is the outline of a Fender Telecaster, the file was optimised using Rhino V4 before producing the code using FeatureCam V15. The lines are contiguous to +/- 0.0001mm. If there were errors with the drawing both would complain and not accept it as one continuous outline. i see no

Re: [Emc-users] Poor CV

2013-04-09 Thread andy pugh
On 9 April 2013 23:14, Steve Blackmore st...@pilotltd.net wrote: The problem is apparent at the first G2 move. The machine appears to change feedrate between G2 and G1 moves. Moving from one G2 line to another G2 line is smooth, and moving from one G1 line to another G1 line is smooth. G1

Re: [Emc-users] Poor CV

2013-04-09 Thread jeremy youngs
andy That does seem to be what you are seeing. However I just tried a test 200mm move and a 32.8mm radius circle and they both took the same length of time Do you get the same result? (I was running in a sim, so it might not be a valid test) steve 100 G0 G21 G17 G90 G40 G49 G80 N110 G91.1 N120

Re: [Emc-users] Poor CV

2013-04-08 Thread Steve Blackmore
On Sun, 7 Apr 2013 10:21:11 -0500, you wrote: On Sun, Apr 07, 2013 at 10:13:11AM +0100, Steve Blackmore wrote: CV in LinuxCNC still does not work well. Have a look at this http://youtu.be/ph_IVXg1C9Y Please share your gcode and your full config directory. Chris Hal file

[Emc-users] Poor CV

2013-04-07 Thread Steve Blackmore
CV in LinuxCNC still does not work well. Have a look at this http://youtu.be/ph_IVXg1C9Y Identical gcode and machine settings. First clip is LinuxCNC second Mach3. Steve Blackmore -- -- Minimize network downtime and

Re: [Emc-users] Poor CV

2013-04-07 Thread Anders Wallin
Can you post the G-code for this somewhere? Do you know if the G-code has strictly continuous direction(tangent) or better yet: continuous curvature (acceleration)? Did you try different G64 tolerances? What tolerance does Mach3 use? Can you log the actual position of the machine and compare

Re: [Emc-users] Poor CV

2013-04-07 Thread John Thornton
I watched the whole video and never saw a lathe. CV works fine for me on my lathe. I never could get Mack to work. John On 4/7/2013 4:13 AM, Steve Blackmore wrote: CV in LinuxCNC still does not work well. Have a look at this http://youtu.be/ph_IVXg1C9Y Identical gcode and machine settings.

Re: [Emc-users] Poor CV

2013-04-07 Thread John Stewart
Probably a dumb question, but, what acceleration values are you using on the LinuxCNC setup? My little mill was transformed when I added a 5i25, and really looked at what some of the values are. It now runs up to 10x faster than before. Two values were tweaked; acceleration, and max velocity.

Re: [Emc-users] Poor CV

2013-04-07 Thread Chris Radek
On Sun, Apr 07, 2013 at 10:13:11AM +0100, Steve Blackmore wrote: CV in LinuxCNC still does not work well. Have a look at this http://youtu.be/ph_IVXg1C9Y Please share your gcode and your full config directory. --

Re: [Emc-users] Poor CV

2013-04-07 Thread Steve Blackmore
On Sun, 7 Apr 2013 10:21:11 -0500, you wrote: On Sun, Apr 07, 2013 at 10:13:11AM +0100, Steve Blackmore wrote: CV in LinuxCNC still does not work well. Have a look at this http://youtu.be/ph_IVXg1C9Y Please share your gcode and your full config directory. Hi Chris - Here's part of the