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[08:51:32] <psha> sorry for offline search/bot...
[08:51:45] <psha> i'll grab missing logs from mah
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[10:39:41] <jthornton> cradek: did you ban his/her/its profile?
[10:42:13] <micges_work> logger[mah]: hello
[10:42:13] <logger[mah]> micges_work: Log stored at
http://emc.mah.priv.at/irc/%23emc-devel/2011-03-21.html
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[11:20:55] <jthornton> hmmm, I guess you did reading back
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[11:40:52] <logger[mah]> mhaberler: Log stored at
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[13:05:34] <cradek> jthornton: yes
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[21:06:45] <alex_joni> mhaberler: hi
[21:06:54] <mhaberler> hi Alex!
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[21:41:03] <jv4779> anyone around that can answer some questions on emc2 motmod ?
[21:44:12] <alex_joni> sure, lots around
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[21:46:28] <jv4779> when the motion control gets waypoints from the g-code, how does it tell stepgen to move. I see motor-cmd and -fb, but don't see any velocity or time
[21:47:04] <andypugh> It sends a new position every servo-period (typically every mS)
[21:47:28] <jv4779> so stepgen is always just chasing the moving motor-cmd value ?
[21:47:35] <andypugh> Yes.
[21:47:57] <jv4779> what hapens if stepgen can't keep up
[21:48:19] <jv4779> and does the -fb value influance motion control logic ?
[21:48:25] <andypugh> Then the pos-fb from stepgen lags too far and you get a f0eror
[21:49:14] <andypugh> The -fb is only used to check that stepgen has kept up, no rate adaption.
[21:49:20] <jv4779> in the servo-period, how many steps usually happen ? I know it depends on the feed rate, but is there a ballpark
[21:50:38] <jv4779> just looking for 1, 10,100 ballpark
[21:50:40] <andypugh> At full speed, it is the ratio of base-thread to servo-thread
[21:51:20] <andypugh> so about 50, absolute top limit.
[21:51:48] <jv4779> does stepgen do anything to keep the pulse train smooth when it gets the new pos value ?
[21:51:50] <andypugh> Typically 10, I would say.
[21:52:26] <andypugh> (steps back, having exhausted all knowledge)
[21:52:37] <jv4779> having a hard time understanding how stepgen can do its best work without knowing how fast it needs to go from current pos to the new motor-cmd
[21:54:10] <andypugh> Here's the code:
http://git.linuxcnc.org/gitweb?p=emc2.git;a=blob;f=src/hal/components/stepgen.c;h=c091146404d5867c0f1e4483f75b2538d10618b3;hb=HEAD
[21:55:35] <alex_joni> jv4779: the positions fed to stepgen already have acceleration/velocity applied
[21:56:22] <alex_joni> stepgen still has an internal maxvel, which will make surethat it doesn't rxceed machin limits
[21:56:38] <alex_joni> sorry.. signing off for today, my link sucks
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[22:11:12] <jv4779> looks like stepgen determines it velocity by knowing how often it gets new positions
[22:11:44] <jv4779> and given that tries to reach that step rate in the bounds of step acceleration limits
[22:15:03] <andypugh> The motion controller does the speed and accelleration limiting.
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[22:15:50] <jv4779> I should say limiting of the step frequency
[22:17:52] <jv4779> motion controller figures out the big servo-thread pos jumps, then stepgen knows it current step frequency and sees the new pos and figures that freq and if it can't jump to the new freq it ramps to it
[22:18:00] <jv4779> the 2 play off each other
[22:18:32] <jv4779> and step freq might be optional
[22:18:47] <jv4779> step freq ramping
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[22:21:44] <jv4779> I have seen many posts on how it is hard to get emc2 to work with non-realtime output. the way these 2 parts interact sure does make it challanging
[22:23:41] <jv4779> I was hoping there was a way to get output that mapped out a step rate for X time, etc. so an axis would have 3 parts for each waypoint, a ramp up, at feed rate, and then ramp down
[22:24:06] <jv4779> but the interations is actually at a much more granual level, i.e. 1ms
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[22:25:07] <andypugh> You could always write a function to do what you want. You can even use stepgen as a basis.
[22:27:26] <jv4779> my general idea is to be able to execute some g-code and end up with a list of commands that say X steps at Y freq which can be played back outside of emc2's realtime env
[22:27:54] <jv4779> accepting that stuff like limit switches and emergancy stops wouldn't work
[22:28:13] <andypugh> Why?
[22:28:47] <andypugh> Just accept that you need a dedicated, cheap, PC to run the machine?
[22:31:04] <jv4779> I am exploring the intersection of embedded g-code interpreters (like reprap) and the full pc model. I see limits on both sides, using an AVR to run gcode had many challanges, motion control being a major one
[22:31:43] <jv4779> being able to use emc2 mothing control and saving to a format that can be run off a SD card on a AVR is a path to better reprap
[22:33:00] <jv4779> I understand what you are saying about the cheap pc, my mini mill has its own emc2 mathcine, but my reprap has its AVR
[22:35:34] <andypugh> Jon is working on EMC2 for Beagleboard...
[22:35:45] <jv4779> how can data be exported from stepgen ? like a log file
[22:36:57] <andypugh> I doubt that many things are quick enough to follow stepgen output.
[22:37:05] <jv4779> without changing too much I might be able to take the position updates every 1 ms and combine them into larger times if they are at the same freq
[22:37:47] <jv4779> not at make_pulses rates, but at update_freq
[22:37:48] <andypugh> You can log the position commands, I think. Look for halstreamer on the website.
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[22:42:34] <jv4779> thank you for the help
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[23:18:39] <andypugh> Is there a way to "Pull" a EXPORT_SYMBOL_GPL() rather than "Push" it?
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