When AI reports info from a post of mine on the forum, you know it at best is only superficial.
There is an example in the docs on a mpg using an encoder. It is easy to convert to a Mesa MPG encoder input but I think on the 7i96s you need extra firmware from mesa web site and forgo some I/O pins.
On the 7I96S there are 4 MPG channels built in with any standard firmware
These use the isolated inputs 0..7 but do not interfere with normal input use.
As a first step, get the encoder counting so that you can see a "counts" pin incrementing when you turn the encoder.
There are a few ways to do this mentioned above, and there is always the possibility of using the software encoder counter too, connected to GPIO pins,
Once you have the counts HAL pin working, that then needs connecting to all the axis (and joint) jog-counts pins. You then wire the switches to set the jog-enable pins of the axes/joints as required,
