Is the filament going through the nozzle while doing this? If so then 6% (188 versus 200) underextrusion is fine and won't be visible in the print. What happens is the splined (or knurled) wheel that pushes on the filament digs tiny holes into the filament. The filament gives a bit such that you loose a little bit of forward momentum. The more you are losing the longer the holes get until they connect and you get slippage.
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IRobertI 516
I'm not familiar with the Printrbot family of printers (and this being an Ultimaker forum there might not be a whole lot of people that are) but I'm guessing the usual applies. Check the nozzle, is it clean? Check the feeder bolt. Does the feeder tension need adjusting? If you feed material into the air (not sure if that's what you were doing), does it still come up short?
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