Jog buttons + Rapid button

This came with the separation of 'joints' and 'axes'. On a regular cartesian machine this simply means: Before homing you have only joints and after homing you have 'axes'.

So if we take these two hal lines:

net jog-z-pos halui.axis.z.plus
net jog-z-neg halui.axis.z.minus

If you have your external jog signal connected to the signals 'jog-z-pos' and 'jog-z-neg' then you should be able to jog your z axis _after_ homing the machine.

If you want to be able to also jog the Zaxis _before_ homing then you would also need these lines (presuming that joint2 is mapped to axisZ):

net jog-z-pos halui.joint.2.plus
net jog-z-neg halui.joint.2.minus

Same goes for selecting joints/axes.

This will select the z axis (ie after homing):

net axis-select-z halui.axis.z.select

while this will select joint 2 (ie before homing):

net axis-select-z halui.joint.2.select

[edit]
As for 'teleop mode', this means coordinated movement vs 'joint mode'. This was/is relevant mostly for non-trivial machines (eg robots, hexapods, etc) where you can use the '$' key to switch between the two modes to be able to jog in cartesian mode or individual joints. With this you could also jog individual motors on a gantry with tandem joints.