DESCRIPTION
The internal process milltask of LinuxCNC 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 specified statically 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.