40 lines
1.3 KiB
Plaintext
40 lines
1.3 KiB
Plaintext
# Jog Pendant
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loadrt encoder num_chan=1
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loadrt mux4 count=1
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addf encoder.update-counters servo-thread
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addf mux4.0 servo-thread
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# For velocity mode, set to 1
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# In velocity mode the axis stops when the dial is stopped
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# even if that means the commanded motion is not completed,
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# For position mode (the default), set to 0
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# In position mode the axis will move exactly jog-scale
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# units for each count, regardless of how long that might take,
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setp axis.x.jog-vel-mode 0
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setp axis.y.jog-vel-mode 0
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setp axis.z.jog-vel-mode 0
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setp axis.a.jog-vel-mode 0
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# This sets the scale that will be used based on the input to the mux4
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setp mux4.0.in0 0.001
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setp mux4.0.in1 0.01
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setp mux4.0.in2 0.1
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# The inputs to the mux4 component
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net scale_0 mux4.0.sel0
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net scale_1 mux4.0.sel1
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# The output from the mux4 is sent to each axis jog scale
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net mpg-scale <= mux4.0.out
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net mpg-scale => axis.x.jog-scale
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net mpg-scale => axis.y.jog-scale
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net mpg-scale => axis.z.jog-scale
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net mpg-scale => axis.a.jog-scale
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# The encoder output counts to the axis. Only the selected axis will move.
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#net encoder-counts <= hm2_7i96.0.encoder.00.count-latched
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net encoder-counts => axis.x.jog-counts
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net encoder-counts => axis.y.jog-counts
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net encoder-counts => axis.z.jog-counts
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net encoder-counts => axis.a.jog-counts
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