milltask − Userspace task controller for LinuxCNC
milltask is an internal process of LinuxCNC. It is generally not invoked directly. It creates the pins shown as owned by the "inihal" component, which allow runtime modification of certain values from the inifile.
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
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
These pins cannot be linked or set in a halfile specified by [HAL]HALFILE. They can be altered by independent halcmd programs or by GUIs that support [HAL]POSTGUI_HALFILE. The inifile is not automatically updated with these values but can be updated using the calibration program (emccalib.tcl) when using a [HAL]POSTGUI_HALFILE.