NAME

       milltask - Non-realtime task controller for LinuxCNC

DESCRIPTION

       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  component.   These  pins  may be modified while LinuxCNC is running to alter values that are
       typically statically 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.

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.

                                               September 30, 2014                                    milltask(1)