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yes!

A very basic bit of hal code for a 7I76E MPG would be:

net mpg-counts  hm2_7i76e.0.7i76.0.0.enc0.count 
net mpg-counts  axis.x.jog-counts
net mpg-counts  axis.y.jog-counts
net mpg-counts  axis.z.jog-counts
net x-jog-enable hm2_7i76e.0.7i76.0.0.input-07 axis.x.jog-enable
net y-jog-enable hm2_7i76e.0.7i76.0.0.input-08 axis.y.jog-enable
net z-jog-enable hm2_7i76e.0.7i76.0.0.input-09 axis.z.jog-enable

loadrt mux4
addf mux4.0 servo thread
net jog-inc0 hm2_7i76e.0.7i76.0.0.input-10  mux4.0.sel0
net jog-inc1 hm2_7i76e.0.7i76.0.0.input-11  mux4.0.sel1
setp mux4.0.in0 0.0001
setp mux4.0.in1 0.0010
setp mux4.0.in2 0.0100
setp mux4.0.in3 0.1000
net jog-scale mux4.0.out
net jog-scale axis.x.jog-scale
net jog-scale axis.y.jog-scale
net jog-scale axis.z.jog-scale

Notes:

This is for axis rather than for joints so will only work after homing
(a minor change is needed to jog before and after homing)

The I/O pins and jog increments are arbitrary

The mux4 select bits are a binary code 00,01,10,11 to select the jog increment.
This can usually be arranged with a wafer switch but can be redone for linear select
or button press to select the increments.

 

There is no PWM involved (at least at the configuration level)

pncconf setup looks like:


 


and: