PUMA 560 Inverse kine.

The pins you need should all be listed here:

linuxcnc.org/docs/devel/html/man/man9/motion.9.html

You will see that there is an axis.L.jog-enable for world mode (example axis.X.jog-enable) and a joint.N.jog-enable (example, joint.0.jog-enable). Similarly for all the other jog-pins.

You can connect the MPG to both on the same HAL line
example:
net jog-counts encoder.0.counts => axis.X.jog-counts joint.0.jog-counts
If you only have one jog wheel then you could carry on:
net jog-counts axis.Y.jog-counts joint.0.jog-counts

There is nothing "magic" about the signal name jog-counts here, you can choose signal names that make sense to you.

If connecting the same jog-wheel to every axis then an equivalent way of writing the HAL might be clearer (but both work, and the => and <= arrows are only for humans to read, the computer ignores them). "..." just means that there might be other HAL code between the statements shown
net jog-counts <= encoder.0.counts
...
net jog-counts axis.X.jog-counts joint.0.jog-counts
...
net jog-counts axis.Y.jog-counts joint.1.jog-counts
...
net jog-counts axis.Z.jog-counts joint.2.jog-counts
...
net jog-counts axis.C.jog-counts joint.3.jog-counts
...