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[01:29:41] <fenugrec> I'm trying to understand what happens after the trajectory planner stats a circle (tpAddCircle); how this gets to the motion-controller function running in the servo thread. Does emcmot calculate, every servo period, the next point in the trajectory, making this in effect a linear approximation to a circle ?
[01:30:54] <fenugrec> Or is there some kind of velocity black magic at work ? (although it seems the axes are always used with position commanding, at least for the few sample stepper configs I've checked)
[01:34:56] <pcw_home> With a velocity mode drive you effectively get linear interpolation between servo thread rate position waypoints
[01:34:57] <pcw_home> if the TP handed the external interpolator acceleration numbers, you would a get parabolic approximation
[01:35:23] <pcw_home> would get
[01:39:59] <fenugrec> hmm... so in the case of software stepping, stepgen gets (every servo period) a new position-cmd which is the next point along the requested circle, correct ?
[01:41:18] <pcw_home> and basically the stepgen run a a constant step rate between servo threads (so behaves like a velocity mode servo)
[01:41:30] <pcw_home> at a
[01:42:10] <pcw_home> so you have linear interpolation between position waypoints
[01:43:14] <fenugrec> right, ok. And when using an external step generator (Mesa IO cards, etc) we get the same thing; a STEP pulse train having a constant frequency between each waypoint.
[01:45:12] <pcw_home> Yes,
[01:45:13] <pcw_home> but note that the path deviation at a given acceleration given by this scheme is inversely
[01:45:15] <pcw_home> proportional to the square of the servo thread rate so gets tiny really quickly unless you have very high accelerations
[01:46:39] <pcw_home> I have been meaning to add Accel to our stepgen
[01:46:41] <pcw_home> and see how well it does with slow servo thread rates
[01:47:56] <fenugrec> what do you mean, an accel command input ?
[01:48:52] <pcw_home> yes
[01:49:20] <pcw_home> then it does parabolic interpolation
[01:50:50] <fenugrec> Right
[01:52:54] <fenugrec> Other related topic : the motion controller HAL component has both axis.N.joint-vel-cmd and axis.N.joint-pos-cmd ; how does that work - does it output a desired velocity + target position and hope that whoever is below (like a pos-cmd stepgen) takes care of both ?
[02:10:39] <micges-dev> yes
[02:12:23] <fenugrec> hmm
[02:12:39] <fenugrec> oh crap gotta run; thanks for the info pcw_home and micges-dev
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[11:06:42] <KGB-linuxcnc> 03Norbert Schechner 05master abee1be 06linuxcnc 10configs/sim/gmoccapy/gmoccapy_tool_sensor.para 10configs/sim/gmoccapy/tool.tbl 10src/emc/usr_intf/gmoccapy/gmoccapy.py 10src/emc/usr_intf/gmoccapy/release_notes.txt gmoccapy_1_1_5_5 - solved tool change with remap and tooledit widget * 14http://git.linuxcnc.org/?p=linuxcnc.git;a=commitdiff;h=abee1be
[11:15:15] <KGB-linuxcnc> 03Norbert Schechner 052.6 9d32690 06linuxcnc 10src/emc/usr_intf/gmoccapy/gmoccapy.py 10src/emc/usr_intf/gmoccapy/release_notes.txt gmoccapy_1_1_5_5 - solved bug using change remap and tool edit widget * 14http://git.linuxcnc.org/?p=linuxcnc.git;a=commitdiff;h=9d32690
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[16:18:27] <cradek> I don't understand why those two changes are different but have similar log messages
[16:18:36] <cradek> it merges ok, though
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[17:14:01] <KGB-linuxcnc> 03Norbert Schechner 05master d6a554d 06linuxcnc 10(5 files in 2 dirs) gmoccapy_1_1_5_6 - new hal pin for program progress * 14http://git.linuxcnc.org/?p=linuxcnc.git;a=commitdiff;h=d6a554d
[17:17:34] <KGB-linuxcnc> 03Norbert Schechner 052.6 b8f1987 06linuxcnc 10src/emc/usr_intf/gmoccapy/gmoccapy.py 10src/emc/usr_intf/gmoccapy/release_notes.txt gmoccapy_1_1_5_6 - new hal pin for program progress * 14http://git.linuxcnc.org/?p=linuxcnc.git;a=commitdiff;h=b8f1987
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