milltask - Userspace task controller for LinuxCNC
milltask is an internal process of LinuxCNC. It 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 user component. These pins may be modified while
LinuxCNC is running to alter values that are typically specified 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.
-
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
-
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
- 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
- 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
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.