setp halui.jog-deadband 0.1
setp halui.jog-speed 2000

# Jog Pendant
loadrt encoder num_chan=1
addf encoder.capture-position servo-thread
addf encoder.update-counters base-thread
loadrt mux4 count=1
loadrt mult2 count=1
loadrt lut5 count=1
addf mux4.0 servo-thread
addf mult2.0 servo-thread
addf lut5.0 servo-thread
setp encoder.0.x4-mode 1
setp axis.0.jog-vel-mode 1
setp axis.1.jog-vel-mode 1
setp axis.2.jog-vel-mode 1
setp axis.3.jog-vel-mode 1
setp mux4.0.in0 0.1
setp mux4.0.in1 0.01
setp mux4.0.in2 0.001
setp mux4.0.in3 0.0001
setp mult2.0.in0 100

net scale1 mux4.0.sel0 <= parport.1.pin-09-in
net scale2 mux4.0.sel1 <= parport.1.pin-08-in

net pend-scale axis.0.jog-scale <= mux4.0.out
net pend-scale axis.1.jog-scale
net pend-scale axis.2.jog-scale
net pend-scale mult2.0.in1
net rot-scale axis.3.jog-scale <= mult2.0.out

net mpg-a encoder.0.phase-A <= parport.1.pin-02-in
net mpg-b encoder.0.phase-B <= parport.1.pin-03-in
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
net mpg-4 axis.3.jog-enable <= parport.1.pin-07-in

net pend-counts axis.0.jog-counts <= encoder.0.counts
net pend-counts axis.1.jog-counts
net pend-counts axis.2.jog-counts
net pend-counts axis.3.jog-counts

setp lut5.0.function 0x116
net mpg-x lut5.0.in-0
net mpg-y lut5.0.in-1
net mpg-z lut5.0.in-2
net mpg-4 lut5.0.in-3
setp lut5.0.in-4 0
setp parport.1.pin-01-out-invert 0
net jog-on lut5.0.out <= parport.1.pin-01-out