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¶

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.