2.9.4 7i96s - pendant doesn't go active until after a MDI move is made

How to get the AXIS into manual mode at start up?

I have the typical cheap pendant (XYZA select, X1, X10, X100 and 100count MPG) wired into the encoder of a new 7i96s and I've got everything working on the test bench (after some help with an axis scale = 1 issue...)
At first the MPG worked fine until I made any MDI move (home all axis or a G0 x1) and then the MPG would stop responding.
I eventually thought the problem was similiar to one posted here concerning joints vs axis so I went in a swapped a bunch of lines from joint and changed them to be given in axis format and that worked... sort of
The pendant now doesn't respond until I make some form of MDI move (home all or a G0 x1 type thing)
Looking through what I can see, the program is starting in MDI and I really want it to start in Manual
Tried a handful of things relating to force halui.teleop.enabled in the custom.hal and then in the custom_postgui.hal thinking that it was getting overwritten before the program actually got going but with not luck
Tried
setp halui.mode.manual 1
and then
setp halui.mode.teleop 1
in either the custom.hal or post_customgui.hal with no change

I've got forced homing off in the ini and would like to keep it that way
I know the logic behind having the machine not in MPG mode until it's homed but since I can do any MDI command (g0 x1) and it works after than the way is should so it's not a safety thing

As always, any help would be appreciated
M
 

hal & ini files ?

added them to the first post, pretty messy but that's where I'm at so far

you need to be in teleop mode to jog so I think selecting MDI mode disable this. Check sate of halui.mode.is-teleop 
and select teleop mode by setting halui.mode.teleop to true

That's what I figured but I can't seem to get it to work.
I've tried
setp halui.mode.in-teleop 1 but that's an output so it errors as not writable
setp halui.mode.is-manual 1 but that's also an output so it errors as not writable

Tried
setp halui.mode.manual 1 doesn't seem to do anything
setp halui.mode.teleop 1 doesn't seem to do anything
setp halui.mode.enabled 1 No such pin error

Looking at the states when the program loads and I can't use the MPG
10  bit   IN          FALSE  halui.mode.auto
    10  bit   OUT         FALSE  halui.mode.is-auto
    10  bit   OUT          TRUE  halui.mode.is-joint
    10  bit   OUT          TRUE  halui.mode.is-manual
    10  bit   OUT         FALSE  halui.mode.is-mdi ==> MDI-mode
    10  bit   OUT         FALSE  halui.mode.is-teleop
    10  bit   IN          FALSE  halui.mode.joint
    10  bit   IN          FALSE  halui.mode.manual
    10  bit   IN          FALSE  halui.mode.mdi
    10  bit   IN           TRUE  halui.mode.teleop
 
and after I make some kind of MDI move

10  bit   IN          FALSE  halui.mode.auto
    10  bit   OUT         FALSE  halui.mode.is-auto
    10  bit   OUT         FALSE  halui.mode.is-joint
    10  bit   OUT          TRUE  halui.mode.is-manual
    10  bit   OUT         FALSE  halui.mode.is-mdi ==> MDI-mode
    10  bit   OUT          TRUE  halui.mode.is-teleop
    10  bit   IN          FALSE  halui.mode.joint
    10  bit   IN           TRUE  halui.mode.manual
    10  bit   IN          FALSE  halui.mode.mdi
    10  bit   IN           TRUE  halui.mode.teleop


I see that the halui.mode.is-joint went from true to false. And probable a coincidence but the last thing I did was to get the MPG to work AFTER a MDI move I also changed the references for the MPG from joints(from a previous setup I did years ago)  to axis references.
Guess I'll try setting that to false as well and see what happens

Thanks for the help.
M
 

Strange
Checking the halui.mode inputs and the settings from the custom_postgui.HAL are showing up but the output states are not matching
Even when setting the halui inputs manually (using the halcmd) to "re-trip" them, the output states (is-teleop and is-joint) don't change looking either at the command line or in the HALshow within the program.
Setting those input values doesn't actually trigger the output change, something else must be happening when an MDI command happens that doesn't happen when I set the mode values.

More digging

Nope, can't get it to work. Thought it did but turns out I busted the last fix and it would work until a MDI command and then it would stop
M

I just feed the mpg counts to both the joint & axis pins and whatever selections for which step and which axis to both the axis and joint pins.
Never had a issue jogging before or after homing a
Or a MDI command. I'm pretty sure the docs mention this

Unless something has changed, I'm still on 2.9.4.

I actually modified a component I found, sorry I can't recall the original author, that takes all the mpg inputs, does all the selection logic then has pins for both axis and joint so it's just a direct connection to each halui pin. All the "messy stuff" happens in the comp and the Hal file is easier to read. Least for my poor logic.