---
name: "milltask"
section: "1"
platform: "linux"
package: "linuxcnc-uspace"
version: "1:2.9.4-2+deb13u1"
release: "Debian 13 (Trixie)"
platforms: ["linux"]
url: "https://new.carta.tech/milltask"
---

# milltask(1)

Non-realtime task controller for LinuxCNC

## 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

### 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**.