Initialize circle problem
first I'd like to say thank you for this excellent piece of software. I've used LinuxCNC for my home-build gantry router since version 2.5.0 and it done lots of jobs absolute perfectly.
Since upgrading to version 2.7.0 (and recently to 2.7.2) I've got a strange problem executing a bigger G code file (unfortunately in the middle of a job). I isolated the problem into a simple ngc-file (please see the attached file f_bad.ngc). After loading the file, the figure looks quite good in the preview window, but when executing the G code, the program statically stops showing the following error messages:
Failed to initialize Circle9, err codes 0, 0, 0, -1
can't add circular move at line 257, error code -1
At first I thought of a rounding problem but even changing the values in the mentioned line a little bit couldn't solve the problem. Only when I decreased the J parameter about 0.1 from 2.0168 to 1.9168 (see f_OK.ngc) the program could be fully executed (of course this also slightly changes the shape).
All files are generated by a slightly modified truetype-tracer (to mirror the direction) but the problem also occurs with the standard version (attached as f.ngc). Here are the calling parameters:
truetype-tracer -u -c 0.0035 -l 50 "f" > f.ngc
Also I haven't seen this problems for other letters, so I don't think that the truetype-tracer is the problem.
Then I checked this issue with an old 2.5.0 live image CD and the "bad" file will be executed like a charm. So it looks like a problem in the new version.
Can anybody confirm this behavior and can tell me how to avoid this problem?
At the moment I completely simulate every job in order to prevent that this problem occurs just while executing a real job.
If necessary, I can also provide a simulation configuration of my machine which allows a reproduction.
Many thanks for your advice
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JT
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thank your for your quick response. That sounds strange. Maybe the problem is caused by my configuration but I haven't seen this kind of error before and I can reproduce it statically. Well I've added the configuration files (the expanded ini because of my includes and the hal-file) of my simulation environment. I hope this will help to reproduce the problem.
Also I will do additional tests in order to get more informations (and maybe a solution). My only suggestion is, that I made a mistake when applying the config changes for the new LinuxCNC version.
Thanks
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JT
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Failed to initialize Circle9, err codes 0, 0, 0, -1
occurs in emc/src/tc.c part of the new trajectory planner
included first in 2.7
I modified your config so it would run without the items
which were reference files or directories that are local
to your system:
1) comment out [DISPLAY]PROGRAM_PREFIX
2) add instead [DISPLAY]PROGRAM_PREFIX = .
3) comment out [DISPLAY]NGCGUI lines
4) comment out [DISPLAY]EMBED*
5) comment out [DISPLAY]PYVCP*
6) comment out [APPLICATIONS]APPS=
7) comment out HALFILE=LIB:xhc-hbo4.tcl
I tested f_bad.ngc on:
Debian Jessie 66bit uspace --- no error
Debian Jessie 32bit uspace --- no error
Lucid Ubuntu 2.6.32-122-rtai --- ERROR same as posted by TurboTux
So i edited src/emc/tp/tp_debug.h to enable TP_DEBUG
Addtional details in /var/log/kern.log:
Finalizing tc id 257, type 2
blend_prev = 0, term_cond = 3
min_radius = 0x1.5633AE916EEEBP+9, effective_min_radius = 0x1.5633AE916EEEBP+9
acc_ratio_tan = 0x1.FFA8869916F58P-1
v_max 0x1.9P+6 is within limit of v_max_acc 0x1.E6E9C467F72AP+8
sample_maxvel = 0x1.4CDF1785D6C97P+7
Adding TC id 257 of type 2, total length 0x1.4A9955C934C47P-3
Segment 257, type 2 not finalized, continuing
optimization initial vel for segment 257 is 0x1.010B635ED6B67P+2
found peak due to v_limit
found peak due to v_limit
found peak due to v_limit
found peak due to v_limit
found peak due to v_limit
found peak due to v_limit
ini_maxvel = 0x1.9P+6
setting term condition 2 on tc id -1, type 2
radius = 0x1.2DB44231ED494P+9, angle = 0x1.188484BB21DA7P-12
spiral_coef = 0x1.D3401DE0E57E2P-31
Spiral fit: b0 = 0x1.C08ACCAEA44DDP-32, b1 = 0x1.2DB44231ED494P+9, length = 0x1.4A9955C639FA5P-3, spiral_in = 1
Spiral fit check: fit_err = 0x1.D649B9484FAC3P-16
Failed to initialize Circle9, err codes 0, 0, 0, -1
split time for id 238 is 0x1.9C6DBA972C577P-11
tc id 238 splitting
Doing tangent split
Finished tc id 238
Activate tc id = 238 target_vel = 0x1.0AAAAAAAAAAABP+2 req_vel = 0x1.0AAAAAAAAAAABP+2 final_vel = 0x1.62E525A8B4BEAP+4 length = 0x1.167E808ABAD78P-3
so this looks like a bug in the new trajectory planner that only shows up
for some kernels, for instance:
$ uname -a
Linux shop-lucid 2.6.32-122-rtai #rtai SMP Tue Jul 27 12:44:07 CDT 2010 i686 GNU/Linux
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- rellenberg
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@rellenberg: I will try your solution as soon as possible.
Very impressed greetings
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If I had known that the problem also depends on the operation system version (of course I use the old kernel 2.6.32-122-rtai on my CNC computer) I should better told you so in my initial post - sorry. Thanks to dgarrett for finding out this important information.
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- Segitarius
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In my opinion there might be an other way to solve this issue. G64 P0.1 is a function that blends your path and eliminates tight radius and corners. Maby fixing system is not so very neceserry.
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