NAME

       milltask - Userspace 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 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.

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)