MILLTASK(1)

NAME
milltask - Non-realtime task controller for LinuxCNC

DESCRIPTION

The internal process milltask of LinuxCNC is generally not invoked directly but by an INI file setting: [TASK]TASK=milltask`. The milltask process creates the ini.* HAL pins listed below and owned by the inihal component. These pins may be modified while LinuxCNC is running to alter values that are typically specified statically in an INI file.

The inihal pins are sampled in every task cycle, however, commands affected by their values typically use the value present at the time when the command is processed. Such commands include all codes handled by the interpreter (G-code programs and MDI commands) and NML jogging commands issued by a GUI (including halui). Wheel jogging is implemented in the realtime motion module so inihal pin changes (e.g., ini.*.max_velocity, ini.*.max_acceleration) may be honored as soon as altered values are propagated to the motion module.

PINS

  Per-joint pins (N == joint number)

ini.N.backlash
    Allows adjustment of [JOINT_N]BACKLASH

ini.N.ferror
    Allows adjustment of [JOINT_N]FERROR

ini.N.min_ferror
    Allows adjustment of [JOINT_N]MIN_FERROR

ini.N.min_limit
    Allows adjustment of [JOINT_N]MIN_LIMIT

ini.N.max_limit
    Allows adjustment of [JOINT_N]MAX_LIMIT

ini.N.max_velocity
    Allows adjustment of [JOINT_N]MAX_VELOCITY

ini.N.max_acceleration
    Allows adjustment of [JOINT_N]MAX_ACCELERATION

ini.N.home
    Allows adjustment of [JOINT_N]HOME

ini.N.home_offset
    Allows adjustment of [JOINT_N]HOME_OFFSET

ini.N.home_offset
    Allows adjustment of [JOINT_N]HOME_SEQUENCE

  Per-axis pins (L == axis letter)

ini.L.min_limit
    Allows adjustment of [AXIS_L]MIN_LIMIT

ini.L.max_limit
    Allows adjustment of [AXIS_L]MAX_LIMIT

ini.L.max_velocity
    Allows adjustment of [AXIS_L]MAX_VELOCITY

ini.L.max_acceleration
    Allows adjustment of [AXIS_L]MAX_ACCELERATION

  Global pins

ini.traj_default_acceleration
    Allows adjustment of [TRAJ]DEFAULT_ACCELERATION

ini.traj_default_velocity
    Allows adjustment of [TRAJ]DEFAULT_VELOCITY

ini.traj_max_acceleration
    Allows adjustment of [TRAJ]MAX_ACCELERATION

ini.traj_max_velocity
    Allows adjustment of [TRAJ]MAX_VELOCITY

  Global pins (arc_blend trajectory planner)

ini.traj_arc_blend_enable
    Allows adjustment of [TRAJ]ARC_BLEND_ENABLE

ini.traj_arc_blend_fallback_enable
    Allows adjustment of [TRAJ]ARC_BLEND_FALLBACK_ENABLE

ini.traj_arc_blend_gap_cycles
    Allows adjustment of [TRAJ]ARC_OPTIMIZATION_DEPTH

ini.traj_arc_blend_optimization_depth
    Allows adjustment of [TRAJ]ARC_BLEND_GAP_CYCLES

ini.traj_arc_blend_ramp_freq
    Allows adjustment of [TRAJ]ARC_BLEND_RAMP_FREQ

NOTES

The inihal pins cannot be linked or set in a HAL file that is specified by an INI file [HAL]HALFILE item because they are not created until milltask is started. The inihal pin values can be altered by independent halcmd programs specified by [APPLICATION]APP items or by GUIs that support a [HAL]POSTGUI_HALFILE.

The INI file is not automatically updated with values altered by inihal pin settings but can be updated using the calibration program (emccalib.tcl) when using a [HAL]POSTGUI_HALFILE.