64 lines
2.1 KiB
Groff
64 lines
2.1 KiB
Groff
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.TH milltask 1 "September 30, 2014" "" "The Enhanced Machine Controller"
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.SH NAME
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milltask \- Userspace task controller for LinuxCNC
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.SH DESCRIPTION
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milltask is an internal process of LinuxCNC. It is generally not invoked directly.
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It creates the pins shown as owned by the "inihal" component, which allow
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runtime modification of certain values from the inifile.
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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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These pins cannot be linked or set in a halfile specified by \fB[HAL]HALFILE\fR. They can be altered by independent halcmd programs or by GUIs that support \fB[HAL]POSTGUI_HALFILE\fR. The inifile is not automatically updated with these values but can be updated using the calibration program (emccalib.tcl) when using a \fB[HAL]POSTGUI_HALFILE\fR.
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