= MPG Pendant //// ATTENTION TRANSLATORS before translating this document copy the base document into this copy to get the latest version. Untranslated documents are not kept up to date with the English documents. Do not translate anchors or links, translate only the text of a link after the comma. Anchor [[anchor-name]] Link <> Make sure the documents build after translating. //// This example is to explain how to hook up the common MPG pendants found on the market today. This example uses an MPG3 pendant and a C22 pendant interface card from CNC4PC connected to a second parallel port plugged into the PCI slot. This example gives you 3 axes with 3 step increments of 0.1, 0.01, 0.001 In your custom.hal file or other.hal file add the following, making sure you don't have mux4 or an encoder already in use. If you do just increase the counts and change the reference number. More information about mux4 and encoder can be found in the HAL manual. ---- # Jog Pendant loadrt encoder num_chan=1 loadrt mux4 count=1 addf encoder.capture-position servo-thread addf encoder.update-counters base-thread addf mux4.0 servo-thread # If your MPG outputs a quadrature signal per click set x4 to 1 # If your MPG puts out 1 pulse per click set x4 to 0 setp encoder.0.x4-mode 0 # For velocity mode, set n to 1 # In velocity mode the axis stops when the dial is stopped # even if that means the commanded motion is not completed, # For position mode (the default), set n to 0 # In position mode the axis will move exactly jog-scale # units for each count, regardless of how long that might take, # This must be set for each axis you want in velocity mode setp axis.N.jog-vel-mode n setp mux4.0.in0 0.1 setp mux4.0.in1 0.01 setp mux4.0.in2 0.001 net scale1 mux4.0.sel0 <= parport.1.pin-09-in net scale2 mux4.0.sel1 <= parport.1.pin-10-in net pend-scale axis.0.jog-scale <= mux4.0.out net pend-scale axis.1.jog-scale net pend-scale axis.2.jog-scale net mpg-a encoder.0.phase-A <= parport.1.pin-02-in net mpg-b encoder.0.phase-B <= parport.1.pin-03-in net mpg-x axis.0.jog-enable <= parport.1.pin-04-in net mpg-y axis.1.jog-enable <= parport.1.pin-05-in net mpg-z axis.2.jog-enable <= parport.1.pin-06-in net pend-counts axis.0.jog-counts <= encoder.0.counts net pend-counts axis.1.jog-counts net pend-counts axis.2.jog-counts ----