88 lines
3 KiB
Groff
88 lines
3 KiB
Groff
.TH milltask 1 "September 30, 2014" "" "The Enhanced Machine Controller"
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.SH NAME
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\fBmilltask\fR \- Userspace task controller for LinuxCNC
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.SH DESCRIPTION
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\fBmilltask\fR is an internal process of LinuxCNC. It is generally not
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invoked directly but by an inifile setting: \fB[TASK]TASK=milltask\fR.
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The \fBmilltask\fR process creates the \fBini.*\fR hal pins listed below
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and owned by the \fBinihal\fR user component. These pins may be modified
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while LinuxCnC is running to alter values that are typically specified
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in an inifile.
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The \fBinihal\fR pins are sampled in every task cycle, however, commands
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affected by their values typically use the value present at the time
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when the command is processed. Such commands include all codes handled
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by the interpreter (\fBGcode\fR programs and \fBMDI\fR commands) and NML
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\fBjogging\fR commands issued by a GUI (including \fBhalui\fR).
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\fBWheel jogging\fR is implemented in the realtime motion module so
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\fBinihal\fR pin changes (e.g., ini.*.max_velocity,
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ini.*.max_acceleration) may be honored as soon as altered values are
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propagated to the motion module.
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.SH PINS
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.SS Per-axis pins
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.TP
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\fBini.\fI#\fB.backlash
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Allows adjustment of \fB[AXIS_\fI#\fB]BACKLASH
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.TP
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\fBini.\fI#\fB.max_acceleration
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Allows adjustment of \fB[AXIS_\fI#\fB]MAX_ACCELERATION
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.TP
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\fBini.\fI#\fB.max_velocity
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Allows adjustment of \fB[AXIS_\fI#\fB]MAX_VELOCITY
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.TP
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\fBini.\fI#\fB.max_limit
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Allows adjustment of \fB[AXIS_\fI#\fB]MAX_LIMIT
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.TP
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\fBini.\fI#\fB.min_limit
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Allows adjustment of \fB[AXIS_\fI#\fB]MIN_LIMIT
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.TP
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\fBini.\fI#\fB.ferror
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Allows adjustment of \fB[AXIS_\fI#\fB]FERROR
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.TP
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\fBini.\fI#\fB.min_ferror
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Allows adjustment of \fB[AXIS_\fI#\fB]MIN_FERROR
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.SS Global pins
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.TP
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\fBini.traj_default_acceleration
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Allows adjustment of \fB[TRAJ]DEFAULT_ACCELERATION
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.TP
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\fBini.traj_default_velocity
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Allows adjustment of \fB[TRAJ]DEFAULT_VELOCITY
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.TP
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\fBini.traj_max_acceleration
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Allows adjustment of \fB[TRAJ]MAX_ACCELERATION
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.TP
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\fBini.traj_max_velocity
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Allows adjustment of \fB[TRAJ]MAX_VELOCITY
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.SS Global pins (arc_blend trajectory planner)
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.TP
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\fBini.traj_arc_blend_enable
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Allows adjustment of \fB[TRAJ]ARC_BLEND_ENABLE
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.TP
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\fBini.traj_arc_blend_fallback_enable
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Allows adjustment of \fB[TRAJ]ARC_BLEND_FALLBACK_ENABLE
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.TP
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\fBini.traj_arc_blend_gap_cycles
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Allows adjustment of \fB[TRAJ]ARC_OPTIMIZATION_DEPTH
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.TP
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\fBini.traj_arc_blend_optimization_depth
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Allows adjustment of \fB[TRAJ]ARC_BLEND_GAP_CYCLES
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.TP
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\fBini.traj_arc_blend_ramp_freq
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Allows adjustment of \fB[TRAJ]ARC_BLEND_RAMP_FREQ
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.SH NOTES
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The \fBinihal\fR pins cannot be linked or set in a halfile that is
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specified by an inifile \fB[HAL]HALFILE\fR item because they are not created
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until \fBmilltask\fR is started. The \fBinihal\fR pin values can be
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altered by independent halcmd programs specified by
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\fB[APPLICATION]APP\fR items or by GUIs that support a
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\fB[HAL]POSTGUI_HALFILE\fR.
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The inifile is not automatically updated with values altered by
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\fBinihal\fR pin settings but can be updated using the calibration
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program (emccalib.tcl) when using a \fB[HAL]POSTGUI_HALFILE\fR.
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