HAL setup for MPG Pendant

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16 Oct 2020 05:37 #186249 by Arland
Hi All,

I am having a hell of a time configuring my MPG pendant. The only thing that is working is the Estop.

Here is how I wired it up -



It is this pendant https://www.amazon.com/gp/product/B07CZ7F3Y3/ref=ppx_yo_dt_b_asin_title_o06_s00?ie=UTF8&psc=1

Here is my current config -
# Generated by PNCconf at Thu Oct 15 21:55:59 2020
# Using LinuxCNC version:  2.8
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=00xxxx" 
setp    hm2_7i76e.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s

addf hm2_7i76e.0.read          servo-thread
addf motion-command-handler   servo-thread
addf motion-controller        servo-thread
addf pid.x.do-pid-calcs       servo-thread
addf pid.y.do-pid-calcs       servo-thread
addf pid.z.do-pid-calcs       servo-thread
addf pid.s.do-pid-calcs       servo-thread
addf hm2_7i76e.0.write         servo-thread
setp hm2_7i76e.0.dpll.01.timer-us -50
setp hm2_7i76e.0.stepgen.timer-number 1

# external output signals


# external input signals


# --- JOINT-SELECT-A ---
net joint-select-a     <=  hm2_7i76e.0.7i76.0.0.input-07

# --- JOINT-SELECT-B ---
net joint-select-b     <=  hm2_7i76e.0.7i76.0.0.input-08

# --- JOINT-SELECT-C ---
net joint-select-c     <=  hm2_7i76e.0.7i76.0.0.input-09

# --- JOG-INCR-C ---
net jog-incr-c     <=  hm2_7i76e.0.7i76.0.0.input-10

# --- JOG-INCR-B ---
net jog-incr-b     <=  hm2_7i76e.0.7i76.0.0.input-11

# --- JOG-INCR-A ---
net jog-incr-a     <=  hm2_7i76e.0.7i76.0.0.input-12

# --- ESTOP-EXT ---
net estop-ext     <=  hm2_7i76e.0.7i76.0.0.input-13

# --- PROBE-IN ---
net probe-in     <=  hm2_7i76e.0.7i76.0.0.input-20

#*******************
#  AXIS X JOINT 0
#*******************

setp   pid.x.Pgain     [JOINT_0]P
setp   pid.x.Igain     [JOINT_0]I
setp   pid.x.Dgain     [JOINT_0]D
setp   pid.x.bias      [JOINT_0]BIAS
setp   pid.x.FF0       [JOINT_0]FF0
setp   pid.x.FF1       [JOINT_0]FF1
setp   pid.x.FF2       [JOINT_0]FF2
setp   pid.x.deadband  [JOINT_0]DEADBAND
setp   pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp   pid.x.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp   pid.x.maxerror 0.000500

net x-index-enable  <=> pid.x.index-enable
net x-enable        =>  pid.x.enable
net x-pos-cmd       =>  pid.x.command
net x-pos-fb        =>  pid.x.feedback
net x-output        <=  pid.x.output

# Step Gen signals/setup

setp   hm2_7i76e.0.stepgen.00.dirsetup        [JOINT_0]DIRSETUP
setp   hm2_7i76e.0.stepgen.00.dirhold         [JOINT_0]DIRHOLD
setp   hm2_7i76e.0.stepgen.00.steplen         [JOINT_0]STEPLEN
setp   hm2_7i76e.0.stepgen.00.stepspace       [JOINT_0]STEPSPACE
setp   hm2_7i76e.0.stepgen.00.position-scale  [JOINT_0]STEP_SCALE
setp   hm2_7i76e.0.stepgen.00.step_type        0
setp   hm2_7i76e.0.stepgen.00.control-type     1
setp   hm2_7i76e.0.stepgen.00.maxaccel         [JOINT_0]STEPGEN_MAXACCEL
setp   hm2_7i76e.0.stepgen.00.maxvel           [JOINT_0]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net x-pos-cmd    <= joint.0.motor-pos-cmd
net x-vel-cmd    <= joint.0.vel-cmd
net x-output     <= hm2_7i76e.0.stepgen.00.velocity-cmd
net x-pos-fb     <= hm2_7i76e.0.stepgen.00.position-fb
net x-pos-fb     => joint.0.motor-pos-fb
net x-enable     <= joint.0.amp-enable-out
net x-enable     => hm2_7i76e.0.stepgen.00.enable

# ---setup home / limit switch signals---

net x-home-sw     =>  joint.0.home-sw-in
net x-neg-limit     =>  joint.0.neg-lim-sw-in
net x-pos-limit     =>  joint.0.pos-lim-sw-in

#*******************
#  AXIS Y JOINT 1
#*******************

setp   pid.y.Pgain     [JOINT_1]P
setp   pid.y.Igain     [JOINT_1]I
setp   pid.y.Dgain     [JOINT_1]D
setp   pid.y.bias      [JOINT_1]BIAS
setp   pid.y.FF0       [JOINT_1]FF0
setp   pid.y.FF1       [JOINT_1]FF1
setp   pid.y.FF2       [JOINT_1]FF2
setp   pid.y.deadband  [JOINT_1]DEADBAND
setp   pid.y.maxoutput [JOINT_1]MAX_OUTPUT
setp   pid.y.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp   pid.y.maxerror 0.000500

net y-index-enable  <=> pid.y.index-enable
net y-enable        =>  pid.y.enable
net y-pos-cmd       =>  pid.y.command
net y-pos-fb        =>  pid.y.feedback
net y-output        <=  pid.y.output

# Step Gen signals/setup

setp   hm2_7i76e.0.stepgen.01.dirsetup        [JOINT_1]DIRSETUP
setp   hm2_7i76e.0.stepgen.01.dirhold         [JOINT_1]DIRHOLD
setp   hm2_7i76e.0.stepgen.01.steplen         [JOINT_1]STEPLEN
setp   hm2_7i76e.0.stepgen.01.stepspace       [JOINT_1]STEPSPACE
setp   hm2_7i76e.0.stepgen.01.position-scale  [JOINT_1]STEP_SCALE
setp   hm2_7i76e.0.stepgen.01.step_type        0
setp   hm2_7i76e.0.stepgen.01.control-type     1
setp   hm2_7i76e.0.stepgen.01.maxaccel         [JOINT_1]STEPGEN_MAXACCEL
setp   hm2_7i76e.0.stepgen.01.maxvel           [JOINT_1]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net y-pos-cmd    <= joint.1.motor-pos-cmd
net y-vel-cmd    <= joint.1.vel-cmd
net y-output     <= hm2_7i76e.0.stepgen.01.velocity-cmd
net y-pos-fb     <= hm2_7i76e.0.stepgen.01.position-fb
net y-pos-fb     => joint.1.motor-pos-fb
net y-enable     <= joint.1.amp-enable-out
net y-enable     => hm2_7i76e.0.stepgen.01.enable

# ---setup home / limit switch signals---

net y-home-sw     =>  joint.1.home-sw-in
net y-neg-limit     =>  joint.1.neg-lim-sw-in
net y-pos-limit     =>  joint.1.pos-lim-sw-in

#*******************
#  AXIS Z JOINT 2
#*******************

setp   pid.z.Pgain     [JOINT_2]P
setp   pid.z.Igain     [JOINT_2]I
setp   pid.z.Dgain     [JOINT_2]D
setp   pid.z.bias      [JOINT_2]BIAS
setp   pid.z.FF0       [JOINT_2]FF0
setp   pid.z.FF1       [JOINT_2]FF1
setp   pid.z.FF2       [JOINT_2]FF2
setp   pid.z.deadband  [JOINT_2]DEADBAND
setp   pid.z.maxoutput [JOINT_2]MAX_OUTPUT
setp   pid.z.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp   pid.z.maxerror 0.000500

net z-index-enable  <=> pid.z.index-enable
net z-enable        =>  pid.z.enable
net z-pos-cmd       =>  pid.z.command
net z-pos-fb        =>  pid.z.feedback
net z-output        <=  pid.z.output

# Step Gen signals/setup

setp   hm2_7i76e.0.stepgen.02.dirsetup        [JOINT_2]DIRSETUP
setp   hm2_7i76e.0.stepgen.02.dirhold         [JOINT_2]DIRHOLD
setp   hm2_7i76e.0.stepgen.02.steplen         [JOINT_2]STEPLEN
setp   hm2_7i76e.0.stepgen.02.stepspace       [JOINT_2]STEPSPACE
setp   hm2_7i76e.0.stepgen.02.position-scale  [JOINT_2]STEP_SCALE
setp   hm2_7i76e.0.stepgen.02.step_type        0
setp   hm2_7i76e.0.stepgen.02.control-type     1
setp   hm2_7i76e.0.stepgen.02.maxaccel         [JOINT_2]STEPGEN_MAXACCEL
setp   hm2_7i76e.0.stepgen.02.maxvel           [JOINT_2]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net z-pos-cmd    <= joint.2.motor-pos-cmd
net z-vel-cmd    <= joint.2.vel-cmd
net z-output     <= hm2_7i76e.0.stepgen.02.velocity-cmd
net z-pos-fb     <= hm2_7i76e.0.stepgen.02.position-fb
net z-pos-fb     => joint.2.motor-pos-fb
net z-enable     <= joint.2.amp-enable-out
net z-enable     => hm2_7i76e.0.stepgen.02.enable

# ---setup home / limit switch signals---

net z-home-sw     =>  joint.2.home-sw-in
net z-neg-limit     =>  joint.2.neg-lim-sw-in
net z-pos-limit     =>  joint.2.pos-lim-sw-in


#******************************
# connect miscellaneous signals
#******************************

#  ---HALUI signals---

net axis-select-x  halui.axis.x.select
net jog-x-pos      halui.axis.x.plus
net jog-x-neg      halui.axis.x.minus
net jog-x-analog   halui.axis.x.analog
net x-is-homed     halui.joint.0.is-homed
net axis-select-y  halui.axis.y.select
net jog-y-pos      halui.axis.y.plus
net jog-y-neg      halui.axis.y.minus
net jog-y-analog   halui.axis.y.analog
net y-is-homed     halui.joint.1.is-homed
net axis-select-z  halui.axis.z.select
net jog-z-pos      halui.axis.z.plus
net jog-z-neg      halui.axis.z.minus
net jog-z-analog   halui.axis.z.analog
net z-is-homed     halui.joint.2.is-homed
net jog-selected-pos      halui.axis.selected.plus
net jog-selected-neg      halui.axis.selected.minus
net spindle-manual-cw     halui.spindle.0.forward
net spindle-manual-ccw    halui.spindle.0.reverse
net spindle-manual-stop   halui.spindle.0.stop
net machine-is-on         halui.machine.is-on
net jog-speed             halui.axis.jog-speed
net MDI-mode              halui.mode.is-mdi

#  ---coolant signals---

net coolant-mist      <=  iocontrol.0.coolant-mist
net coolant-flood     <=  iocontrol.0.coolant-flood

#  ---probe signal---

net probe-in     =>  motion.probe-input

#  ---motion control signals---

net in-position               <=  motion.in-position
net machine-is-enabled        <=  motion.motion-enabled

#  ---digital in / out signals---

#  ---estop signals---

net estop-out     <=  iocontrol.0.user-enable-out
net estop-ext     =>  iocontrol.0.emc-enable-in

#  ---manual tool change signals---

loadusr -W hal_manualtoolchange
net tool-change-request     iocontrol.0.tool-change       =>  hal_manualtoolchange.change
net tool-change-confirmed   iocontrol.0.tool-changed      <=  hal_manualtoolchange.changed
net tool-number             iocontrol.0.tool-prep-number  =>  hal_manualtoolchange.number
net tool-prepare-loopback   iocontrol.0.tool-prepare      =>  iocontrol.0.tool-prepared


I am a complete noob at this stuff so any advice is welcome! I am sure it is super obvious.

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17 Oct 2020 23:55 #186424 by Arland
Replied by Arland on topic HAL setup for MPG Pendant
Update to my code here - made some big changes - Estop now works.
# Generated by PNCconf at Thu Oct 15 21:55:59 2020
# Using LinuxCNC version:  2.8
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=2xxxx" 
setp    hm2_7i76e.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s
loadrt estop_latch
loadrt or2

loadrt encoder num_chan=1
loadrt mux4 count=1
addf encoder.capture-position servo-thread
addf mux4.0 servo-thread

addf hm2_7i76e.0.read          servo-thread
addf motion-command-handler   servo-thread
addf motion-controller        servo-thread
addf pid.x.do-pid-calcs       servo-thread
addf pid.y.do-pid-calcs       servo-thread
addf pid.z.do-pid-calcs       servo-thread
addf pid.s.do-pid-calcs       servo-thread
addf hm2_7i76e.0.write         servo-thread
setp hm2_7i76e.0.dpll.01.timer-us -50
setp hm2_7i76e.0.stepgen.timer-number 1

# external output signals


# external input signals

# --- ESTOP-EXT ---
net estop-ext     <=  hm2_7i76e.0.7i76.0.0.input-13

# --- PROBE-IN ---
net probe-in     <=  hm2_7i76e.0.7i76.0.0.input-20

#*******************
#  AXIS X JOINT 0
#*******************

setp   pid.x.Pgain     [JOINT_0]P
setp   pid.x.Igain     [JOINT_0]I
setp   pid.x.Dgain     [JOINT_0]D
setp   pid.x.bias      [JOINT_0]BIAS
setp   pid.x.FF0       [JOINT_0]FF0
setp   pid.x.FF1       [JOINT_0]FF1
setp   pid.x.FF2       [JOINT_0]FF2
setp   pid.x.deadband  [JOINT_0]DEADBAND
setp   pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp   pid.x.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp   pid.x.maxerror 0.000500

net x-index-enable  <=> pid.x.index-enable
net x-enable        =>  pid.x.enable
net x-pos-cmd       =>  pid.x.command
net x-pos-fb        =>  pid.x.feedback
net x-output        <=  pid.x.output

# Step Gen signals/setup

setp   hm2_7i76e.0.stepgen.00.dirsetup        [JOINT_0]DIRSETUP
setp   hm2_7i76e.0.stepgen.00.dirhold         [JOINT_0]DIRHOLD
setp   hm2_7i76e.0.stepgen.00.steplen         [JOINT_0]STEPLEN
setp   hm2_7i76e.0.stepgen.00.stepspace       [JOINT_0]STEPSPACE
setp   hm2_7i76e.0.stepgen.00.position-scale  [JOINT_0]STEP_SCALE
setp   hm2_7i76e.0.stepgen.00.step_type        0
setp   hm2_7i76e.0.stepgen.00.control-type     1
setp   hm2_7i76e.0.stepgen.00.maxaccel         [JOINT_0]STEPGEN_MAXACCEL
setp   hm2_7i76e.0.stepgen.00.maxvel           [JOINT_0]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net x-pos-cmd    <= joint.0.motor-pos-cmd
net x-vel-cmd    <= joint.0.vel-cmd
net x-output     <= hm2_7i76e.0.stepgen.00.velocity-cmd
net x-pos-fb     <= hm2_7i76e.0.stepgen.00.position-fb
net x-pos-fb     => joint.0.motor-pos-fb
net x-enable     <= joint.0.amp-enable-out
net x-enable     => hm2_7i76e.0.stepgen.00.enable

# ---setup home / limit switch signals---

net x-home-sw     =>  joint.0.home-sw-in
net x-neg-limit     =>  joint.0.neg-lim-sw-in
net x-pos-limit     =>  joint.0.pos-lim-sw-in

#*******************
#  AXIS Y JOINT 1
#*******************

setp   pid.y.Pgain     [JOINT_1]P
setp   pid.y.Igain     [JOINT_1]I
setp   pid.y.Dgain     [JOINT_1]D
setp   pid.y.bias      [JOINT_1]BIAS
setp   pid.y.FF0       [JOINT_1]FF0
setp   pid.y.FF1       [JOINT_1]FF1
setp   pid.y.FF2       [JOINT_1]FF2
setp   pid.y.deadband  [JOINT_1]DEADBAND
setp   pid.y.maxoutput [JOINT_1]MAX_OUTPUT
setp   pid.y.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp   pid.y.maxerror 0.000500

net y-index-enable  <=> pid.y.index-enable
net y-enable        =>  pid.y.enable
net y-pos-cmd       =>  pid.y.command
net y-pos-fb        =>  pid.y.feedback
net y-output        <=  pid.y.output

# Step Gen signals/setup

setp   hm2_7i76e.0.stepgen.01.dirsetup        [JOINT_1]DIRSETUP
setp   hm2_7i76e.0.stepgen.01.dirhold         [JOINT_1]DIRHOLD
setp   hm2_7i76e.0.stepgen.01.steplen         [JOINT_1]STEPLEN
setp   hm2_7i76e.0.stepgen.01.stepspace       [JOINT_1]STEPSPACE
setp   hm2_7i76e.0.stepgen.01.position-scale  [JOINT_1]STEP_SCALE
setp   hm2_7i76e.0.stepgen.01.step_type        0
setp   hm2_7i76e.0.stepgen.01.control-type     1
setp   hm2_7i76e.0.stepgen.01.maxaccel         [JOINT_1]STEPGEN_MAXACCEL
setp   hm2_7i76e.0.stepgen.01.maxvel           [JOINT_1]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net y-pos-cmd    <= joint.1.motor-pos-cmd
net y-vel-cmd    <= joint.1.vel-cmd
net y-output     <= hm2_7i76e.0.stepgen.01.velocity-cmd
net y-pos-fb     <= hm2_7i76e.0.stepgen.01.position-fb
net y-pos-fb     => joint.1.motor-pos-fb
net y-enable     <= joint.1.amp-enable-out
net y-enable     => hm2_7i76e.0.stepgen.01.enable

# ---setup home / limit switch signals---

net y-home-sw     =>  joint.1.home-sw-in
net y-neg-limit     =>  joint.1.neg-lim-sw-in
net y-pos-limit     =>  joint.1.pos-lim-sw-in

#*******************
#  AXIS Z JOINT 2
#*******************

setp   pid.z.Pgain     [JOINT_2]P
setp   pid.z.Igain     [JOINT_2]I
setp   pid.z.Dgain     [JOINT_2]D
setp   pid.z.bias      [JOINT_2]BIAS
setp   pid.z.FF0       [JOINT_2]FF0
setp   pid.z.FF1       [JOINT_2]FF1
setp   pid.z.FF2       [JOINT_2]FF2
setp   pid.z.deadband  [JOINT_2]DEADBAND
setp   pid.z.maxoutput [JOINT_2]MAX_OUTPUT
setp   pid.z.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp   pid.z.maxerror 0.000500

net z-index-enable  <=> pid.z.index-enable
net z-enable        =>  pid.z.enable
net z-pos-cmd       =>  pid.z.command
net z-pos-fb        =>  pid.z.feedback
net z-output        <=  pid.z.output

# Step Gen signals/setup

setp   hm2_7i76e.0.stepgen.02.dirsetup        [JOINT_2]DIRSETUP
setp   hm2_7i76e.0.stepgen.02.dirhold         [JOINT_2]DIRHOLD
setp   hm2_7i76e.0.stepgen.02.steplen         [JOINT_2]STEPLEN
setp   hm2_7i76e.0.stepgen.02.stepspace       [JOINT_2]STEPSPACE
setp   hm2_7i76e.0.stepgen.02.position-scale  [JOINT_2]STEP_SCALE
setp   hm2_7i76e.0.stepgen.02.step_type        0
setp   hm2_7i76e.0.stepgen.02.control-type     1
setp   hm2_7i76e.0.stepgen.02.maxaccel         [JOINT_2]STEPGEN_MAXACCEL
setp   hm2_7i76e.0.stepgen.02.maxvel           [JOINT_2]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net z-pos-cmd    <= joint.2.motor-pos-cmd
net z-vel-cmd    <= joint.2.vel-cmd
net z-output     <= hm2_7i76e.0.stepgen.02.velocity-cmd
net z-pos-fb     <= hm2_7i76e.0.stepgen.02.position-fb
net z-pos-fb     => joint.2.motor-pos-fb
net z-enable     <= joint.2.amp-enable-out
net z-enable     => hm2_7i76e.0.stepgen.02.enable

# ---setup home / limit switch signals---

net z-home-sw     =>  joint.2.home-sw-in
net z-neg-limit     =>  joint.2.neg-lim-sw-in
net z-pos-limit     =>  joint.2.pos-lim-sw-in


#******************************
# connect miscellaneous signals
#******************************

#  ---HALUI signals---

net axis-select-x  halui.axis.x.select
net jog-x-pos      halui.axis.x.plus
net jog-x-neg      halui.axis.x.minus
net jog-x-analog   halui.axis.x.analog
net x-is-homed     halui.joint.0.is-homed
net axis-select-y  halui.axis.y.select
net jog-y-pos      halui.axis.y.plus
net jog-y-neg      halui.axis.y.minus
net jog-y-analog   halui.axis.y.analog
net y-is-homed     halui.joint.1.is-homed
net axis-select-z  halui.axis.z.select
net jog-z-pos      halui.axis.z.plus
net jog-z-neg      halui.axis.z.minus
net jog-z-analog   halui.axis.z.analog
net z-is-homed     halui.joint.2.is-homed
net jog-selected-pos      halui.axis.selected.plus
net jog-selected-neg      halui.axis.selected.minus
net spindle-manual-cw     halui.spindle.0.forward
net spindle-manual-ccw    halui.spindle.0.reverse
net spindle-manual-stop   halui.spindle.0.stop
net machine-is-on         halui.machine.is-on
net jog-speed             halui.axis.jog-speed
net MDI-mode              halui.mode.is-mdi

#  ---coolant signals---

net coolant-mist      <=  iocontrol.0.coolant-mist
net coolant-flood     <=  iocontrol.0.coolant-flood

#  ---probe signal---

net probe-in     =>  motion.probe-input

#  ---motion control signals---

net in-position               <=  motion.in-position
net machine-is-enabled        <=  motion.motion-enabled

#  ---digital in / out signals---

#  ---estop signals---

net estop-out     <=  iocontrol.0.user-enable-out
net estop-ext     =>  iocontrol.0.emc-enable-in

#  ---manual tool change signals---

loadusr -W hal_manualtoolchange
net tool-change-request     iocontrol.0.tool-change       =>  hal_manualtoolchange.change
net tool-change-confirmed   iocontrol.0.tool-changed      <=  hal_manualtoolchange.changed
net tool-number             iocontrol.0.tool-prep-number  =>  hal_manualtoolchange.number
net tool-prepare-loopback   iocontrol.0.tool-prepare      =>  iocontrol.0.tool-prepared

# 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 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 to 0
# In position mode the axis will move exactly jog-scale
# units for each count, regardless of how long that might take,
setp axis.x.jog-vel-mode 0
setp axis.y.jog-vel-mode 0
setp axis.z.jog-vel-mode 0

# This sets the scale that will be used based on the input to the mux4
setp mux4.0.in0 0.1
setp mux4.0.in1 0.01
setp mux4.0.in2 0.001

# The inputs to the mux4 component
net scale1 mux4.0.sel0 <= hm2_7i76e.0.7i76.0.0.input-10
net scale2 mux4.0.sel1 <= hm2_7i76e.0.7i76.0.0.input-11

# The output from the mux4 is sent to each axis jog scale
net mpg-scale <= mux4.0.out
net mpg-scale => axis.x.jog-scale
net mpg-scale => axis.y.jog-scale
net mpg-scale => axis.z.jog-scale

# The MPG inputs
net mpg-a encoder.0.phase-A <= hm2_7i76e.0.7i76.0.0.input-16
net mpg-b encoder.0.phase-B <= hm2_7i76e.0.7i76.0.0.input-17

# The Axis select inputs
net mpg-x axis.x.jog-enable <= hm2_7i76e.0.7i76.0.0.input-07
net mpg-y axis.y.jog-enable <= hm2_7i76e.0.7i76.0.0.input-08
net mpg-z axis.z.jog-enable <= hm2_7i76e.0.7i76.0.0.input-09

# The encoder output counts to the axis. Only the selected axis will move.
net encoder-counts  <= encoder.0.counts
net encoder-counts => axis.x.jog-counts
net encoder-counts => axis.y.jog-counts
net encoder-counts => axis.z.jog-counts

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