make it easier to profile axis
This commit is contained in:
Jeff Epler
parent
cab34489d4
commit
e3f88a00e3
2 changed files with 215 additions and 0 deletions
4
bin/profile_axis
Executable file
4
bin/profile_axis
Executable file
|
|
@ -0,0 +1,4 @@
|
|||
#!/bin/bash
|
||||
SCRIPT_LOCATION=$(dirname $(readlink -f $0))
|
||||
python -mcProfile -o axis.profile $SCRIPT_LOCATION/axis "$@"
|
||||
(echo sort cumulative; echo stats 20) | python -mpstats axis.profile
|
||||
211
configs/sim/profile_axis.ini
Normal file
211
configs/sim/profile_axis.ini
Normal file
|
|
@ -0,0 +1,211 @@
|
|||
# EMC controller parameters for a simulated machine.
|
||||
|
||||
# General note: Comments can either be preceded with a # or ; - either is
|
||||
# acceptable, although # is in keeping with most linux config files.
|
||||
|
||||
# General section -------------------------------------------------------------
|
||||
[EMC]
|
||||
|
||||
# Version of this INI file
|
||||
VERSION = $Revision$
|
||||
|
||||
# Name of machine, for use with display, etc.
|
||||
MACHINE = EMC-HAL-SIM-AXIS
|
||||
|
||||
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
||||
#DEBUG = 0x7FFFFFFF
|
||||
DEBUG = 0
|
||||
|
||||
# Sections for display options ------------------------------------------------
|
||||
[DISPLAY]
|
||||
|
||||
# Name of display program, e.g., xemc
|
||||
DISPLAY = profile_axis
|
||||
|
||||
# Cycle time, in seconds, that display will sleep between polls
|
||||
CYCLE_TIME = 0.100
|
||||
|
||||
# Path to help file
|
||||
HELP_FILE = doc/help.txt
|
||||
|
||||
# Initial display setting for position, RELATIVE or MACHINE
|
||||
POSITION_OFFSET = RELATIVE
|
||||
|
||||
# Initial display setting for position, COMMANDED or ACTUAL
|
||||
POSITION_FEEDBACK = ACTUAL
|
||||
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.2
|
||||
MAX_SPINDLE_OVERRIDE = 1.0
|
||||
|
||||
MAX_LINEAR_VELOCITY = 1.2
|
||||
DEFAULT_LINEAR_VELOCITY = .25
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = emc2.gif
|
||||
INTRO_TIME = 5
|
||||
|
||||
EDITOR = xterm -e vim
|
||||
TOOL_EDITOR = xterm -e vim
|
||||
|
||||
INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in
|
||||
|
||||
[FILTER]
|
||||
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
||||
PROGRAM_EXTENSION = .py Python Script
|
||||
|
||||
png = image-to-gcode
|
||||
gif = image-to-gcode
|
||||
jpg = image-to-gcode
|
||||
py = python
|
||||
|
||||
# Task controller section -----------------------------------------------------
|
||||
[TASK]
|
||||
|
||||
# Name of task controller program, e.g., milltask
|
||||
TASK = milltask
|
||||
|
||||
# Cycle time, in seconds, that task controller will sleep between polls
|
||||
CYCLE_TIME = 0.001
|
||||
|
||||
# Part program interpreter section --------------------------------------------
|
||||
[RS274NGC]
|
||||
|
||||
# File containing interpreter variables
|
||||
PARAMETER_FILE = sim.var
|
||||
|
||||
# Motion control section ------------------------------------------------------
|
||||
[EMCMOT]
|
||||
|
||||
EMCMOT = motmod
|
||||
|
||||
# Timeout for comm to emcmot, in seconds
|
||||
COMM_TIMEOUT = 1.0
|
||||
|
||||
# Interval between tries to emcmot, in seconds
|
||||
COMM_WAIT = 0.010
|
||||
|
||||
# BASE_PERIOD is unused in this configuration but specified in core_sim.hal
|
||||
BASE_PERIOD = 0
|
||||
# Servo task period, in nano-seconds
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
# Hardware Abstraction Layer section --------------------------------------------------
|
||||
[HAL]
|
||||
|
||||
# The run script first uses halcmd to execute any HALFILE
|
||||
# files, and then to execute any individual HALCMD commands.
|
||||
#
|
||||
|
||||
# list of hal config files to run through halcmd
|
||||
# files are executed in the order in which they appear
|
||||
HALFILE = core_sim.hal
|
||||
HALFILE = axis_manualtoolchange.hal
|
||||
HALFILE = simulated_home.hal
|
||||
#HALFILE = gamepad.hal
|
||||
|
||||
# list of halcmd commands to execute
|
||||
# commands are executed in the order in which they appear
|
||||
#HALCMD = save neta
|
||||
|
||||
# Single file that is executed after the GUI has started. Only supported by
|
||||
# AXIS at this time (only AXIS creates a HAL component of its own)
|
||||
#POSTGUI_HALFILE = test_postgui.hal
|
||||
|
||||
HALUI = halui
|
||||
|
||||
# Trajectory planner section --------------------------------------------------
|
||||
[TRAJ]
|
||||
|
||||
AXES = 3
|
||||
COORDINATES = X Y Z
|
||||
HOME = 0 0 0
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
CYCLE_TIME = 0.010
|
||||
DEFAULT_VELOCITY = 1.2
|
||||
POSITION_FILE = position.txt
|
||||
MAX_LINEAR_VELOCITY = 1.2
|
||||
|
||||
# Axes sections ---------------------------------------------------------------
|
||||
|
||||
# First axis
|
||||
[AXIS_0]
|
||||
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = 4000
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -40.0
|
||||
MAX_LIMIT = 40.0
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.010
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 20.0
|
||||
HOME_LATCH_VEL = 20.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 1
|
||||
HOME_IS_SHARED = 1
|
||||
|
||||
# Second axis
|
||||
[AXIS_1]
|
||||
|
||||
TYPE = LINEAR
|
||||
HOME = 0.000
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = 4000
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -40.0
|
||||
MAX_LIMIT = 40.0
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.010
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 20.0
|
||||
HOME_LATCH_VEL = 20.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# Third axis
|
||||
[AXIS_2]
|
||||
|
||||
TYPE = LINEAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 4
|
||||
MAX_ACCELERATION = 100.0
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = 4000
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -8.0
|
||||
MAX_LIMIT = 0.0001
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.010
|
||||
HOME_OFFSET = 1.0
|
||||
HOME_SEARCH_VEL = 20.0
|
||||
HOME_LATCH_VEL = 20.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 0
|
||||
HOME_IS_SHARED = 1
|
||||
|
||||
# section for main IO controller parameters -----------------------------------
|
||||
[EMCIO]
|
||||
|
||||
# Name of IO controller program, e.g., io
|
||||
EMCIO = io
|
||||
|
||||
# cycle time, in seconds
|
||||
CYCLE_TIME = 0.100
|
||||
|
||||
# tool table file
|
||||
TOOL_TABLE = sim.tbl
|
||||
TOOL_CHANGE_POSITION = 0 0 0
|
||||
TOOL_CHANGE_QUILL_UP = 1
|
||||
Loading…
Reference in a new issue