This example is to explain how to hook up the common MPG pendants found on the market today. This example uses an MPG3 pendant and a C22 pendant interface card from CNC4PC connected to a second parallel port plugged into the PCI slot. This example gives you 3 axes with 3 step increments of 0.1, 0.01, 0.001
In your custom.hal file or jog.hal file add the following, making sure you don’t have mux4 or an encoder already in use. If you do just increase the counts and change the reference numbers. More information about mux4 and encoder can be found in the HAL manual or the man page.
See the HAL Ini Section of the manual for more information on adding a hal file.
jog.hal
# Jog Pendant loadrt encoder num_chan=1 loadrt mux4 count=1 addf encoder.capture-position servo-thread addf encoder.update-counters base-thread addf mux4.0 servo-thread # If your MPG outputs a quadrature signal per click set x4 to 1 # If your MPG puts out 1 pulse per click set x4 to 0 setp encoder.0.x4-mode 0 # For velocity mode, set to 1 # In velocity mode the axis stops when the dial is stopped # even if that means the commanded motion is not completed, # For position mode (the default), set to 0 # In position mode the axis will move exactly jog-scale # units for each count, regardless of how long that might take, setp axis.0.jog-vel-mode 0 setp axis.1.jog-vel-mode 0 setp axis.2.jog-vel-mode 0 # This sets the scale that will be used based on the input to the mux4 setp mux4.0.in0 0.1 setp mux4.0.in1 0.01 setp mux4.0.in2 0.001 # The inputs to the mux4 component net scale1 mux4.0.sel0 <= parport.1.pin-09-in net scale2 mux4.0.sel1 <= parport.1.pin-10-in # The output from the mux4 is sent to each axis jog scale net mpg-scale <= mux4.0.out net mpg-scale => axis.0.jog-scale net mpg-scale => axis.1.jog-scale net mpg-scale => axis.2.jog-scale # The MPG inputs net mpg-a encoder.0.phase-A <= parport.1.pin-02-in net mpg-b encoder.0.phase-B <= parport.1.pin-03-in # The Axis select inputs net mpg-x axis.0.jog-enable <= parport.1.pin-04-in net mpg-y axis.1.jog-enable <= parport.1.pin-05-in net mpg-z axis.2.jog-enable <= parport.1.pin-06-in # The encoder output counts to the axis. Only the selected axis will move. net encoder-counts <= encoder.0.counts net encoder-counts => axis.0.jog-counts net encoder-counts => axis.1.jog-counts net encoder-counts => axis.2.jog-counts
If the machine is capable of high acceleration to smooth out the moves for each click of the MPG use the ilowpass component to limit the acceleration.
jog.hal with ilowpass
loadrt encoder num_chan=1 loadrt mux4 count=1 addf encoder.capture-position servo-thread addf encoder.update-counters base-thread addf mux4.0 servo-thread loadrt ilowpass addf ilowpass.0 servo-thread setp ilowpass.0.scale 1000 setp ilowpass.0.gain 0.01 # If your MPG outputs a quadrature signal per click set x4 to 1 # If your MPG puts out 1 pulse per click set x4 to 0 setp encoder.0.x4-mode 0 # For velocity mode, set to 1 # In velocity mode the axis stops when the dial is stopped # even if that means the commanded motion is not completed, # For position mode (the default), set to 0 # In position mode the axis will move exactly jog-scale # units for each count, regardless of how long that might take, setp axis.0.jog-vel-mode 0 setp axis.1.jog-vel-mode 0 setp axis.2.jog-vel-mode 0 # The inputs to the mux4 component net scale1 mux4.0.sel0 <= parport.1.pin-09-in net scale2 mux4.0.sel1 <= parport.1.pin-10-in # This sets the scale that will be used based on the input to the mux4 # The scale used here has to be multiplied by the ilowpass scale setp mux4.0.in0 0.0001 setp mux4.0.in1 0.00001 setp mux4.0.in2 0.000001 # The output from encoder counts is sent to ilowpass net mpg-out ilowpass.0.in <= encoder.0.counts # The output from the mux4 is sent to each axis jog scale net mpg-scale <= mux4.0.out net mpg-scale => axis.0.jog-scale net mpg-scale => axis.1.jog-scale net mpg-scale => axis.2.jog-scale # The output from the ilowpass is sent to each axis jog count # Only the selected axis will move. net encoder-counts <= ilowpass.0.out net encoder-counts => axis.0.jog-counts net encoder-counts => axis.1.jog-counts net encoder-counts => axis.2.jog-counts