My Grizzly G0619 mill

net axis-select-4 <= select8.0.out6 net axis-select-5 <= select8.0.out7 net axis-select-6 <= select8.0.out5

component mpg_pendant "3 Axis Generic MPG"; description "For use with a generic 4 axis chinese ebay pendant inspired by the mpg component of Kurt Jacobson."; //license "GPL"; author "Rob Murphy"; //function _; //Input from non-multiplexed axis selector pin in bit axis0; pin in bit axis1; pin in bit axis2; pin in bit axis3; //Input from non-multplexed scale selector pin in bit scale0; pin in bit scale1; pin in bit scale2; //Input from encoder pin in s32 encoder_counts; //Selectable jog scale values param rw float mpg_scale0=1.00; param rw float mpg_scale1=0.10; param rw float mpg_scale2=0.01; //Axis selection pin out bit enable_axis_x; pin out bit enable_axis_y; pin out bit enable_axis_z; pin out bit enable_axis_a; //Joint selection pin out bit enable_joint_0; pin out bit enable_joint_1; pin out bit enable_joint_2; pin out bit enable_joint_3; //MPG Scale pin out float axis_mpg_scale; pin out float joint_mpg_scale; //Encoder Counts; pin out s32 axis_encoder_counts; pin out s32 joint_encoder_counts; //Error Pins pin out bit error_select_axis; pin out bit error_select_scale; function _; license "GPL"; // indicates GPL v2 or later ;; FUNCTION(_){ // Axis & Joint Selection if (axis0 && !axis1 && !axis2 && !axis3) { enable_axis_x = 1; enable_axis_y = 0; enable_axis_z = 0; enable_axis_a = 0; error_select_axis = 0; } else if (!axis0 && axis1 && !axis2 && !axis3) { enable_axis_x = 0; enable_axis_y = 1; enable_axis_z = 0; enable_axis_a = 0; error_select_axis = 0; } else if (!axis0 && !axis1 && axis2 && !axis3) { enable_axis_x = 0; enable_axis_y = 0; enable_axis_z = 1; enable_axis_a = 0; error_select_axis = 0; } else if (!axis0 && !axis1 && !axis2 && axis3) { enable_axis_x = 0; enable_axis_y = 0; enable_axis_z = 0; enable_axis_a = 1; error_select_axis = 0; } // Only error if all axis select = 1 else if (axis0 && axis1 && axis2 && axis3) { enable_axis_x = 0; enable_axis_y = 0; enable_axis_z = 0; enable_axis_a = 0; error_select_axis = 1; } // None selected else if (!axis0 && !axis1 && !axis2 && !axis3) { enable_axis_x = 0; enable_axis_y = 0; enable_axis_z = 0; enable_axis_a = 0; error_select_axis = 0; } enable_joint_0 = enable_axis_x; enable_joint_1 = enable_axis_y; enable_joint_2 = enable_axis_z; enable_joint_3 = enable_axis_a; // MPG Scale selection if ( scale0 && !scale1 && !scale2 ) { axis_mpg_scale = mpg_scale0; error_select_scale = 0; } else if ( !scale0 && scale1 && !scale2 ) { axis_mpg_scale = mpg_scale1; error_select_scale = 0; } else if ( !scale0 && !scale1 && scale2 ) { axis_mpg_scale = mpg_scale2; error_select_scale = 0; } else if ( scale0 && scale1 && scale2 ) { axis_mpg_scale = 0; error_select_scale = 1; } else if ( !scale0 && !scale1 && !scale2 ) { axis_mpg_scale = 0; error_select_scale = 1; } joint_mpg_scale = axis_mpg_scale; axis_encoder_counts = encoder_counts; joint_encoder_counts = encoder_counts; }

Include your custom HAL commands here # This file will not be overwritten when you run stepconf again # This file was modified by R Murphy on Dec 24 2019 12:24:00 # This file was modified by R Murphy on Dec 28 2019 20:38:00 loadrt mpg_pendant addf mpg-pendant.0 servo-thread loadrt ilowpass addf ilowpass.0 servo-thread setp ilowpass.0.scale 1000 setp ilowpass.0.gain 0.01 setp mpg-pendant.0.mpg-scale0 .001 setp mpg-pendant.0.mpg-scale1 .0001 setp mpg-pendant.0.mpg-scale2 .00001 #net encoder-counts <= ilowpass.0.out # Encoder count inputs net jog_counts_in ilowpass.0.in <= hm2_7i92.0.7i73.0.1.enc0.count net jog_counts_out mpg-pendant.0.encoder-counts <= ilowpass.0.out # Axis/Joint select inputs net jora_x_0_select_in mpg-pendant.0.axis0 <= hm2_7i92.0.7i73.0.1.input-10-not net jora_y_1_select_in mpg-pendant.0.axis1 <= hm2_7i92.0.7i73.0.1.input-12-not net jora_z_2_select_in mpg-pendant.0.axis2 <= hm2_7i92.0.7i73.0.1.input-14-not # Scale inputs net scale_select_0_in mpg-pendant.0.scale0 <= hm2_7i92.0.7i73.0.1.input-11-not net scale_select_1_in mpg-pendant.0.scale1 <= hm2_7i92.0.7i73.0.1.input-13-not net scale_select_2_in mpg-pendant.0.scale2 <= hm2_7i92.0.7i73.0.1.input-15-not # Axis Jogging # Axis encoder outputs net axis_counts_out <= mpg-pendant.0.axis-encoder-counts net axis_counts_out => axis.x.jog-counts net axis_counts_out => axis.y.jog-counts net axis_counts_out => axis.z.jog-counts # Axis x-y-z select net axis_x_enable_out axis.x.jog-enable <= mpg-pendant.0.enable-axis-x net axis_y_enable_out axis.y.jog-enable <= mpg-pendant.0.enable-axis-y net axis_z_enable_out axis.z.jog-enable <= mpg-pendant.0.enable-axis-z # Axis scale net axis_scale_out <= mpg-pendant.0.axis-mpg-scale net axis_scale_out => axis.x.jog-scale net axis_scale_out => axis.y.jog-scale net axis_scale_out => axis.z.jog-scale # Joint Jogging # Joint encoder outputs net joint_counts_out <= mpg-pendant.0.joint-encoder-counts net joint_counts_out => joint.0.jog-counts net joint_counts_out => joint.1.jog-counts net joint_counts_out => joint.2.jog-counts # Joint 0-1-2 select net joint_0_enable_out joint.0.jog-enable <= mpg-pendant.0.enable-joint-0 net joint_1_enable_out joint.1.jog-enable <= mpg-pendant.0.enable-joint-1 net joint_2_enable_out joint.2.jog-enable <= mpg-pendant.0.enable-joint-2 # Joint scale net joint_scale_out <= mpg-pendant.0.joint-mpg-scale net joint_scale_out => joint.0.jog-scale net joint_scale_out => joint.1.jog-scale net joint_scale_out => joint.2.jog-scale