milltask

NAME
DESCRIPTION
PINS
NOTES

NAME

milltask − Userspace task controller for LinuxCNC

DESCRIPTION

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

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 (Gcode 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 halfile that is specified by an inifile [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 inifile 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.