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\layout Chapter

MPG Pendant
\layout Standard

This example is to explain how to hook up the common MPG pendants found
 on the market place today.
 This example uses a MPG3 pendant and a C22 pendant interface card from
 CNC4PC and a second parallel port plugged into the PCI slot.
 This example gives you 3 axis with 3 step increments of 0.1, 0.01, 0.001.
\layout Section

Second Parallel Port
\layout Standard

In this example we are using a second parallel port connected to the MPG
 Pendant that is plugged into a PCI slot.
 To find the address of your parallel port card open a terminal window and
 type
\layout Standard


\family typewriter 
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lspci -v
\layout Standard

You will see something similar to this
\layout List
\labelwidthstring 00.00.0000

0000:00:10.0 Communication controller: NetMos Technology PCI 1 port parallel
 adapter (rev 01) 
\layout List
\labelwidthstring 00.00.0000

Subsystem: LSI Logic / Symbios Logic: Unknown device 0010 
\layout List
\labelwidthstring 00.00.0000

Flags: medium devsel, IRQ 11 
\layout List
\labelwidthstring 00.00.0000

I/O ports at a800 [size=8] 
\layout List
\labelwidthstring 00.00.0000

I/O ports at ac00 [size=8] 
\layout List
\labelwidthstring 00.00.0000

I/O ports at b000 [size=8] 
\layout List
\labelwidthstring 00.00.0000

I/O ports at b400 [size=8] 
\layout List
\labelwidthstring 00.00.0000

I/O ports at b800 [size=8] 
\layout List
\labelwidthstring 00.00.0000

I/O ports at bc00 [size=16]
\layout Standard

In my case the address was the first one so I changed my .hal file from
\layout Standard


\family typewriter 
\series bold 
loadrt hal_parport cfg=0x378
\layout Standard

to
\layout Standard


\family typewriter 
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loadrt hal_parport cfg="0x378 0xa800 in"
\layout Standard

note the double quotes surrounding the addresses.
\layout Standard

and added
\layout Standard


\family typewriter 
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addf parport.1.read base-thread addf parport.1.write base-thread
\layout Standard

so the parport will get read and written to.
\layout Section

Hook it up in HAL
\layout Standard

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.
\layout Standard


\family typewriter 
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# Jog Pendant
\layout Standard


\family typewriter 
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loadrt encoder num_chan=1
\layout Standard


\family typewriter 
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loadrt mux4 count=1
\layout Standard


\family typewriter 
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addf encoder.capture-position servo-thread
\layout Standard


\family typewriter 
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addf encoder.update-counters base-thread
\layout Standard


\family typewriter 
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addf mux4.0 servo-thread
\layout Standard


\family typewriter 
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setp encoder.0.x4-mode 0
\layout Standard


\family typewriter 
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setp mux4.0.in0 0.1
\layout Standard


\family typewriter 
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setp mux4.0.in1 0.01
\layout Standard


\family typewriter 
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setp mux4.0.in2 0.001
\layout Standard


\family typewriter 
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net scale1 mux4.0.sel0 <= parport.1.pin-09-in
\layout Standard


\family typewriter 
\series bold 
net scale2 mux4.0.sel1 <= parport.1.pin-10-in
\layout Standard


\family typewriter 
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net pend-scale axis.0.jog-scale <= mux4.0.out
\layout Standard


\family typewriter 
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net pend-scale axis.1.jog-scale
\layout Standard


\family typewriter 
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net pend-scale axis.2.jog-scale
\layout Standard


\family typewriter 
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net mpg-a encoder.0.phase-A <= parport.1.pin-02-in
\layout Standard


\family typewriter 
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net mpg-b encoder.0.phase-B <= parport.1.pin-03-in
\layout Standard


\family typewriter 
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net mpg-x axis.0.jog-enable <= parport.1.pin-04-in
\layout Standard


\family typewriter 
\series bold 
net mpg-y axis.1.jog-enable <= parport.1.pin-05-in
\layout Standard


\family typewriter 
\series bold 
net mpg-z axis.2.jog-enable <= parport.1.pin-06-in
\layout Standard


\family typewriter 
\series bold 
net pend-counts axis.0.jog-counts <= encoder.0.counts
\layout Standard


\family typewriter 
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net pend-counts axis.1.jog-counts
\layout Standard


\family typewriter 
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net pend-counts axis.2.jog-counts
\the_end