Machinekit

Machinekit

xhc-whb04b-6

NAME

xhc-whb04b-6 - Userspace jog dial HAL component for the wireless XHC WHB04B-6 USB device.

SYNOPSIS

xhc-whb04b-6 [-h] | [-H] [OPTIONS]

DESCRIPTION

The xhc-whb04b-6 HAL component supports the XHC WHB04B-6, a 6-axis wireless USB pendant. It provides a number of push-buttons, a jogwheel, two rotary buttons for axis and speed / step selection and an ordinary LCD display.

The LCD display, having a very simple firmware interface, indicates the following listed information only. No other information, such as custom data, can be printed.

Activated axis (X, Y, Z, A, B or C).
Current axis position of X, Y, Z and separately of A, B, C.
Whether machine (X, Y, Z, A, B or C) or relative (X1, Y1, Z1, A1, B1 or C1) coordinates are displayed.
Step size or velocity depending on the operating mode (MPG or Step|Continuous).
Feed rate of axis.+ Spindle speed in [r/m].
Machine state such as reset.
Battery level
Wireless signal strength

The pendant display, its rotary selector switch, and the component pin names use designators x,y,z,a,b and c. While this arrangement presumes a machine configured as X, Y, Z, A, B an C, the pins can be assigned independently as required in a HAL configuration.

OPTIONS

-h, --help

Prints the synopsis and the most commonly used commands.

-H

Run xhc-whb04b-6 in HAL-mode instead of interactive mode. When in HAL mode commands from device will be exposed to HAL’s shred memory. Interactive mode is useful for testing device connectivity and debugging.

-t

Wait with timeout for USB device then proceed, exit otherwise. Without -t the timeout is implicitly infinite.

-u, -U

Show received data from device. With -U received and transmitted data will be printed. Output is prefixed with "usb".

-p

Show HAL pins and HAL related messages. Output is prefixed with "hal".

-e

Show captured events such as button pressed/released, jog dial, axis rotary button, and feed rotary button event. Output is prefixed with "event".

-a

Enable all logging facilities without explicitly specifying each.

-c

Enable checksum output which is necessary for debugging the checksum generator function. Do not rely on this feature since it will be removed once the generator is implemented.

-n

Force being silent and not printing any output except of errors. This will also inhibit messages prefixed with "init".

UDEV

The xhc-whb04b-6 executable needs permission for reading the pendant’s USB device. There may be the need for additional udev rules. If so, this file
/etc/udev/rules.d/99-xhc-whb04b-6.rules
should be created with the single line
ATTR{idProduct}=="eb93", ATTR{idVendor}=="10ce", MODE="0666", OWNER="root", GROUP="plugdev".

Standalone Usage

The xhc-whb04b-6 program can be run from the command line without LinuxCNC to test a pendant. This standalone mode is used to identify the button codes produced for each button press and debug transmitted USB data.

EXAMPLES

xhc-whb04b-6 -ue

Start in userspace mode (simulation) and prints incoming USB data transfer and generated key pressed/released events.

xhc-whb04b-6 -p

Start in userspace mode (simulation) and prints HAL pin names and events distributed to HAL memory.

xhc-whb04b-6 -Hn

Start in HAL mode and avoid output, except of errors.

Hal Usage

Use the -H option to specify HAL mode and other options as required:
loadusr -W xhc-whb04b-6 -H

Input/Output Signals

Note: For each button an output pin is provided even if no functionality is realized with that signal. For example, to stop a running program the Stop button pin may be directly connected to halui.program.stop. However, to start/pause/resume a program, the corresponding button toggles besides whb.button.start-pause also the whb.halui.program.{run,pause,resume} signals accordingly.
Note: The Spindle+/Spindle- buttons do manipulate the spindle override. The spindle speed is set with the respective combos Fn + Spindle- and FN + Spindle+.

The following tables list all in-/output pins and state which signals they are meant to be connected to.

Axis and Stepgen

Signals utilized for moving axis.

<N> …​ denotes the axis number, which is of {0, 1, 2, 3, 4, 5}

Component Signal Name Type In/Out Notes

whb.halui.home-all

bit

out

connect to halui.home-all, driven by macro-10
Pin for requesting all axis to home. See also whb.button.macro-10.

whb.halui.joint.<N>.select

bit

out

connect to halui.joint.<N>.select
Pin to select joint.

whb.axis.<N>.jog-counts

s32

out

connect to axis.<N>.jog-counts
The count pin of the jogwheel.

whb.axis.<N>.jog-enable

bit

out

connect to axis.<N>.jog-enable
If true (and in manual mode), any change to "jog-counts" will result in motion. If false, "jog-counts" is ignored.

whb.axis.<N>.jog-scale

float

out

connect to axis.<N>.jog-scale
The distance to move for each count on "jog-counts", in machine units.

whb.axis.<N>.jog-vel-mode

bit

out

connect to axis.<N>.jog-jog-vel-mode
If false the jogwheel operates in position mode. The axis will move exactly jog-scale units for each count, regardless of how long that might take. If true, the jogwheel operates in velocity mode - motion stops when the wheel stops, even if that means the commanded motion is not completed.

whb.stepgen.<N>.maxvel

float

in

connect to stepgen.<N>.maxvel
The maximum allowable velocity, in units per second (<N> is two digit '0'-padded).

whb.stepgen.<N>.position-scale

float

in

connect to stepgen.<N>.position-scale
The scaling for position feedback, position command, and velocity command, in steps per length unit (<N> is two digit '0'-padded).

whb.halui.axis.<N>.pos-feedback

float

in

connect to halui.axis.<N>.pos-feedback
Feedback axis position in machine coordinates to be displayed.

whb.halui.axis.<N>.pos-relative

float

in

connect to halui.axis.<N>.pos-relative
Commanded axis position in relative coordinates to be displayed.

Emergency Stop

Signals utilized for safety / Emergency Stop.

Component Signal Name Type In/Out Notes

whb.halui.estop.activate

bit

out

connect to halui.estop.activate
Pin for requesting E-Stop.

whb.halui.estop.is-activated

bit

in

connect to halui.estop.is-activated
Pin for indicating E-Stop

whb.halui.estop.reset

bit

out

connect to halui.estop.reset
Pin for requesting E-Stop reset.

Machine

Signals utilized for toggling machine status.

Component Signal Name Type In/Out Notes

whb.halui.machine.on

bit

out

connect to halui.machine.on
Pin for requesting machine on.

whb.halui.machine.is-on

bit

in

connect to halui.machine.is-on
Pin that indicates machine is on.

whb.halui.machine.off

bit

out

connect to halui.machine.off
Pin for requesting machine off.

Spindle

Signals utilized for operating a spindle.

Component Signal Name Type In/Out Notes

whb.halui.spindle.start

bit

out

connect to halui.spindle.start
Pin to start the spindle.

whb.halui.spindle.is-on

bit

in

connect to halui.spindle.is-on
Pin to indicate spindle is on (either direction).

whb.halui.spindle.stop

bit

out

connect to halui.spindle.stop
Pin to stop the spindle.

whb.halui.spindle.forward

bit

out

connect to halui.spindle.forward
Pin to make the spindle go forward.

whb.halui.spindle.reverse

bit

out

connect to halui.spindle.reverse
Pin to make the spindle go reverse.

whb.halui.spindle.decrease

bit

out

connect to halui.spindle.decrease
Pin to decrease the spindle speed.

whb.halui.spindle.increase

bit

out

connect to halui.spindle.increase
Pin to increase the spindle speed.

whb.halui.spindle-override.increase

bit

out

connect to halui.spindle-override.increase
Pin for increasing the spindle override by the amount of scale.

whb.halui.spindle-override.decrease

bit

out

connect to halui.spindle-override.decrease
Pin for decreasing the spindle override by the amount of scale.

whb.halui.spindle-override.value

float

in

connect to halui.spindle-override.value
The current spindle override value.

whb.motion.spindle-speed-abs

float

in

connect to motion.spindle-speed-out-abs
Spindle speed in rotations per minute to be printed on the display.

Feed

Signals utilized for operating feed and feed override. The feed rotary button can serve in MPG (Manual Pulse Generator), Step|Continuous mode and at the special position Lead.
MPG: In this mode jogging is performed at the selected feed rate. As long the jogwheel turns, the selected axis moves.
Step|Continuous: In this mode the machine moves steps * wheel_counts at the currently selected step size and the current set feed rate in machine units. If the commanded position is not reached the machine keeps moving even the jogwheel is not turning.
Lead: Manipulates the feed override - fine grained in MPG mode (1% step), coarse grained in Step|Continuous mode (10% step).
Note: As a consequence of both modes, switching the feed rotary button back from Lead to any other position can be confusing. Depending on the mode before turning the rotary button, the feed override results in different values. In MPG the feed rate will change to 100%, 60%, …​ and so forth. In Step|Continuous mode the feed rate will remain.

Component Signal Name Type In/Out Notes

whb.motion.current-vel

float

in

connect to motion.current-vel
The Speed value to print on the display. Will be printed once Feed+ / Feed- or Fn + Feed+ / Feed- is pressed.

whb.halui.feed-override.value

float

in

connect to halui.feed-override.value
The current feed override value.

whb.halui.feed-override.decrease

bit

out

connect to halui.feed-override.decrease
Pin for decreasing the feed override by amount of scale.

whb.halui.feed-override.increase

bit

out

connect to halui.feed-override.increase
Pin for increasing the feed override by amount of scale.

whb.halui.feed-override.scale

float

out

connect to halui.feed-override.scale
Pin for setting the scale on changing the feed override.

whb.halui.feed-override.direct-val

bit

out

connect to halui.feed-override.direct-val
Pin to enable direct value feed override input.

whb.halui.feed-override.count-enable

bit

out

connect to halui.feed-override.count-enablev If true, modify feed override when counts changes.

whb.halui.feed-override.counts

s32

out

connect to halui.feed-override.counts
counts * scale= feed override in percent

whb.halui.feed-override.min-value

float

in

set min feed override value, i.e.
setp whb.halui.feed-override.min-value [DISPLAY]MIN_FEED_OVERRIDE

whb.halui.feed-override.max-value

float

in

set min feed override value, i.e.
setp whb.halui.feed-override.max-value [DISPLAY]MAX_FEED_OVERRIDE

halui.feed.selected-0.001

bit

out

True on feed rotary button pointing to 0.001 (2%), false otherwise.

halui.feed.selected-0.01

bit

out

True on feed rotary button pointing to 0.01 (5%), false otherwise.

halui.feed.selected-0.1

bit

out

True on feed rotary button pointing to 0.1 (10%), false otherwise.

halui.feed.selected-1.0

bit

out

True on feed rotary button pointing to 1.0 (30%), false otherwise.

halui.feed.selected-60

bit

out

True on feed rotary button pointing to 60%, false otherwise.

halui.feed.selected-100

bit

out

True on feed rotary button pointing to 100%, false otherwise.

halui.feed.selected-lead

bit

out

True on feed rotary button pointing to Lead%, false otherwise.

Program

Signals for operating program and MDI mode.

whb.halui.program.run bit out connect to halui.program.run
Pin for running a program.

whb.halui.program.is-running

bit

in

connect to halui.program.is-running
Pin indicating a program is running.

whb.halui.program.pause

bit

out

connect to halui.program.pause Pin for pausing a program.

whb.halui.program.is-paused

bit

in

connect to halui.program.is-paused
Pin indicating a program is pausing.

whb.halui.program.resume

bit

out

connect to halui.program.resume
Pin for resuming a program.

whb.halui.program.stop

bit

out

connect to program.stop
Pin for stoping a program.

whb.halui.program.is-idle

bit

in

connect to halui.program.is-idle
Pin indicating no program is running.

whb.halui.mode.auto

bit

out

connect to halui.mode.auto
Pin for requesting auto mode.

whb.halui.mode.is-auto

bit

in

connect to halui.mode.is-auto
Pin for indicating auto mode is on.

whb.halui.mode.joint

bit

out

connect to halui.mode.joint
Pin for requesting joint by joint mode.

whb.halui.mode.is-joint

bit

in

connect to halui.mode.is-joint
Pin indicating joint by joint mode is on.

whb.halui.mode.manual

bit

out

connect to halui.mode.manual
Pin for requesting manual mode.

whb.halui.mode.is-manual

bit

in

connect to halui.mode.is-manual
Pin indicating manual mode is on.

whb.halui.mode.mdi

bit

out

connect to halui.mode.mdi
Pin for requesting MDI mode.

whb.halui.mode.is-mdi

bit

in

connect to halui.mode.is-mdi
Pin indicating MDI mode is on.

Buttons

For flexibility reasons each button provides an output pin even if no functionality is realized directly with that signal. The Fn button can be combined with each other push-button. This includes also RESET, Stop, Start/Pause, MPG, Macro-10, and Step|Continuous. By default the more freqent used orange buttons are executed, whereas blue ones (whb.button.macro-<M>) by combining them with Fn (press Fn first then button).

<M> …​ denotes an arbitrary macro number which is of {1, 2, …​, 16}

Component Signal Name Type In/Out Notes

whb.button.reset

bit

out

see whb.halui.estop.{activate, reset}
True one Reset button down, false otherwise. For toggling E-stop use whb.halui.estop .active and .reset.

whb.button.stop

bit

out

see whb.halui.program.stop
True on Stop button down, false otherwise. For stopping a program use whb.halui.program.stop.

whb.button.start-pause

bit

out

see whb.halui.program.{run, pause, resume}
True on Start-Pause button down, false otherwise. For toggling start-pause use whb.halui.program .run, .pause, and .resume.

whb.button.feed-plus

bit

out

True on Feed+ button down, false otherwise.

whb.button.feed-minus

bit

out

True on Feed- button down, false otherwise.

whb.button.spindle-plus

bit

out

see whb.halui.spindle-override.increase
True on Spindle+ button down, false otherwise. This button is meant to manipulate the spindle override. For increasing the spindle override use whb.halui.spindle-override.increase.

whb.button.spindle-minus

bit

out

see whb.halui.spindle-override.decrease
True on Spindle- button down, false otherwise. This button is meant to manipulate the spindle override. For decreasing the spindle override use whb.halui.spindle-override.decrease.

whb.button.m-home

bit

out

connect to halui.mdi-command-<M>
True on M-Home button down, false otherwise. Requests MDI mode before button pin is set. See also whb.halui.mode.mdi.

whb.button.safe-z

bit

out

connect to halui.mdi-command-<M>
True on Safe-Z button down, false otherwise. Requests MDI mode before button pin is set. See also whb.halui.mode.mdi.

whb.button.w-home

bit

out

connect to halui.mdi-command-<M>
True on W-Home button down, false otherwise. Usually requests going to machine home instead of homing all. Requests MDI mode before button pin is set. See also whb.halui.mode.mdi.

whb.button.s-on-off

bit

out

see whb.halui.spindle.{start, stop}
True on S-ON/OFF button down, false otherwise. For toggling spindle on-off use whb.halui.spindle .start and stop.

whb.button.fn

bit

out

True on Fn button down, false otherwise.

whb.button.probe-z

bit

out

connect to halui.mdi-command-<M>
True on Probe-Z button down, false otherwise. Requests MDI mode before button pin is set. See also whb.halui.mode.mdi.

whb.button.macro-1

bit

out

connect to halui.mdi-command-<M>
True on Macro-1 button (Fn + Feed+) down, false otherwise.

whb.button.macro-2

bit

out

connect to halui.mdi-command-<M>
True on Macro-2 button (Fn + Feed-) down, false otherwise.

whb.button.macro-3

bit

out

see whb.halui.spindle.increase
True on Macro-3 button (Fn + Spindle+) down, false otherwise. This button is meant to manipulate the spindle speed. For decreasing the spindle speed use whb.halui.spindle.increase.

whb.button.macro-4

bit

out

see whb.halui.spindle.decrease
True on Macro-4 button down (Fn + Spindle-), false otherwise. This button is meant to manipulate the spindle speed. For decreasing the spindle speed use whb.halui.spindle.decrease.

whb.button.macro-5

bit

out

connect to halui.mdi-command-<M>
True on Macro-5 button down (Fn + M-HOME), false otherwise. Switches the display coordinates to machine coordinates. On display the axis are denoted then as X, Y, Z, A, B and C. See also whb.halui.axis.<N>.pos-feedback. Usually requests homing all instead of going to machine home.

whb.button.macro-6

bit

out

connect to halui.mdi-command-<M>
True on Macro-6 button down (Fn + Safe-Z), false otherwise.

whb.button.macro-7

bit

out

connect to halui.mdi-command-<M>
True on Macro-7 button down (Fn + W-HOME), false otherwise. Switches the display coordinates to relative coordinates. On display the axis are denoted then as X1, Y1, Z1, A1, B1 and C1. See also whb.halui.axis.<N>.pos-relative.

whb.button.macro-8

bit

out

connect to halui.mdi-command-<M>
True on Macro-8 button down (Fn + S-ON/OFF), false otherwise.

whb.button.macro-9

bit

out

connect to halui.mdi-command-<M>
True on Macro-9 button down (Fn + Probe-Z), false otherwise.

whb.button.macro-10

bit

out

connect to halui.mdi-command-<M>
True on Macro-10 button down, false otherwise. This button also commands the homing-all signal. See also whb.halui.home-all.

whb.button.macro-11

bit

out

connect to halui.mdi-command-<M>
True on Macro-11 button down (Fn + RESET), false otherwise.

whb.button.macro-12

bit

out

connect to halui.mdi-command-<M>
True on Macro-12 button (Fn + Stop) down, false otherwise.

whb.button.macro-13

bit

out

connect to halui.mdi-command-<M>
True on Macro-13 button (Fn + Start/Pause) down, false otherwise.

whb.button.macro-14

bit

out

connect to halui.mdi-command-<M>
True on Macro-14 button (Fn + Macro-10) down, false otherwise.

whb.button.macro-15

bit

out

connect to halui.mdi-command-<M>
True on Macro-15 button down (Fn + MPG), false otherwise.

whb.button.macro-16

bit

out

connect to halui.mdi-command-<M>
True on Macro-16 button (Fn + Step|Continuous) down, false otherwise.

whb.button.mode-continuous

bit

out

True on MPG mode button down, false otherwise.

whb.button.mode-step

bit

out

True on Step|Continuous mode button down, false otherwise.

Pendant

Component Signal Name Type In/Out Notes

whb.pendant.is-sleeping

bit

out

True as long pendant is in sleep mode (usually a few seconds after turned off), false otherwise.

whb.pendant.is-connected

bit

out

True as long pendant is not in sleep mode (turned on), false otherwise.

HAL Configuration Example

# ######################################################################
# spindle signals - assume halui and motion are loaded
# ######################################################################

net  spindle.is-on                      motion.spindle-on
net  spindle.start                      halui.spindle.start
net  spindle.stop                       halui.spindle.stop

net  spindle.forward                    halui.spindle.forward
net  spindle.reverse                    halui.spindle.reverse
net  spindle.runs-forward               motion.spindle-forward
net  spindle.runs-reverse               motion.spindle-reverse

net  spindle.increase                   halui.spindle.increase
net  spindle.decrease                   halui.spindle.decrease
net  spindle.spindle-override.value     halui.spindle-override.value
net  spindle.spindle-override.increase  halui.spindle-override.increase
net  spindle.spindle-override.decrease  halui.spindle-override.decrease

net  spindle.velocity.abs-rpm           motion.spindle-speed-out-abs

# ######################################################################
# load pendant components
# ######################################################################

loadusr -W xhc-whb04b-6 -H -n

# pass jogwheel counts through lowpass to prevent jerking and following errors
loadrt ilowpass names=ilowpass.jog.0,ilowpass.jog.1,ilowpass.jog.2
addf   ilowpass.jog.0       servo-thread
addf   ilowpass.jog.1       servo-thread
addf   ilowpass.jog.2       servo-thread
setp   ilowpass.jog.0.scale 100
setp   ilowpass.jog.1.scale 100
setp   ilowpass.jog.2.scale 100
setp   ilowpass.jog.0.gain  0.007
setp   ilowpass.jog.1.gain  0.007
setp   ilowpass.jog.2.gain  0.007

# re-scale low-passed jogwheel counts
loadrt scale names=scale.axis.0,scale.axis.1,scale.axis.2
addf   scale.axis.0         servo-thread
addf   scale.axis.1         servo-thread
addf   scale.axis.2         servo-thread
setp   scale.axis.0.gain    0.01
setp   scale.axis.1.gain    0.01
setp   scale.axis.2.gain    0.01
setp   scale.axis.0.offset  0
setp   scale.axis.1.offset  0
setp   scale.axis.2.offset  0

# load toggle component for mist and flood
loadrt toggle2nist names=toggle2nist.mist,toggle2nist.flood

# ######################################################################
# pendant signal configuration
# ######################################################################

# emergency stop signals
net pdnt.machine.is-on                  halui.machine.is-on                whb.halui.machine.is-on
net pdnt.machine.on                     whb.halui.machine.on               halui.machine.on
net pdnt.machine.off                    whb.halui.machine.off              halui.machine.off

# program related signals
net pdnt.program.is-idle                whb.halui.program.is-idle          halui.program.is-idle
net pdnt.program.is-paused              whb.halui.program.is-paused        halui.program.is-paused
net pdnt.program.is-running             whb.halui.program.is-running       halui.program.is-running
net pdnt.program.resume                 whb.halui.program.resume           halui.program.resume
net pdnt.program.pause                  whb.halui.program.pause            halui.program.pause
net pdnt.program.run                    whb.halui.program.run              halui.program.run
net pdnt.program.stop                   whb.halui.program.stop             halui.program.stop

# "selected axis" signals
net pdnt.joint.X.select                 whb.halui.joint.x.select           halui.joint.0.select
net pdnt.joint.Y.select                 whb.halui.joint.y.select           halui.joint.1.select
net pdnt.joint.Z.select                 whb.halui.joint.z.select           halui.joint.2.select

# jog signals for step and continuous mode
net pdnt.stepgen.00.maxvel              hpg.stepgen.00.maxvel              whb.stepgen.00.maxvel
net pdnt.stepgen.01.maxvel              hpg.stepgen.01.maxvel              whb.stepgen.01.maxvel
net pdnt.stepgen.02.maxvel              hpg.stepgen.02.maxvel              whb.stepgen.02.maxvel

net pdnt.stepgen.00.position-scale      hpg.stepgen.00.position-scale      whb.stepgen.00.position-scale
net pdnt.stepgen.01.position-scale      hpg.stepgen.01.position-scale      whb.stepgen.01.position-scale
net pdnt.stepgen.02.position-scale      hpg.stepgen.02.position-scale      whb.stepgen.02.position-scale

net pdnt.axis.0.jog-scale               whb.axis.0.jog-scale               scale.axis.0.in
net pdnt.axis.1.jog-scale               whb.axis.1.jog-scale               scale.axis.1.in
net pdnt.axis.2.jog-scale               whb.axis.2.jog-scale               scale.axis.2.in

net scale.axis.0.jog-scale              scale.axis.0.out                   axis.0.jog-scale
net scale.axis.1.jog-scale              scale.axis.1.out                   axis.1.jog-scale
net scale.axis.2.jog-scale              scale.axis.2.out                   axis.2.jog-scale

net pdnt.axis.0.jog-counts              whb.axis.0.jog-counts              ilowpass.jog.0.in
net pdnt.axis.1.jog-counts              whb.axis.1.jog-counts              ilowpass.jog.1.in
net pdnt.axis.2.jog-counts              whb.axis.2.jog-counts              ilowpass.jog.2.in
net pdnt.ilowpass.jog.0.jog-counts      ilowpass.jog.0.out                 axis.0.jog-counts
net pdnt.ilowpass.jog.1.jog-counts      ilowpass.jog.1.out                 axis.1.jog-counts
net pdnt.ilowpass.jog.2.jog-counts      ilowpass.jog.2.out                 axis.2.jog-counts

net pdnt.axis.0.jog-enable              whb.axis.0.jog-enable              axis.0.jog-enable
net pdnt.axis.1.jog-enable              whb.axis.1.jog-enable              axis.1.jog-enable
net pdnt.axis.2.jog-enable              whb.axis.2.jog-enable              axis.2.jog-enable

net pdnt.axis.0.jog-vel-mode            whb.axis.0.jog-vel-mode            axis.0.jog-vel-mode
net pdnt.axis.1.jog-vel-mode            whb.axis.1.jog-vel-mode            axis.1.jog-vel-mode
net pdnt.axis.2.jog-vel-mode            whb.axis.2.jog-vel-mode            axis.2.jog-vel-mode

# macro buttons to MDI commands
net pdnt.macro.3                        whb.button.macro-3                 halui.mdi-command-03

net pdnt.home-all                       whb.halui.home-all                 halui.home-all

# reset, stop, start/pause/resume buttons
net pdnt.button.reset                   whb.button.reset
net pdnt.button.stop                    whb.button.stop
net pdnt.button.start-pause             whb.button.start-pause

# special positions signals
net pdnt.button.m-home                  whb.button.m-home                  halui.mdi-command-01
net pdnt.button.w-home                  whb.button.w-home                  halui.mdi-command-05
net pdnt.button.safe-z                  whb.button.safe-z                  halui.mdi-command-00
net pdnt.button.probe-z                 whb.button.probe-z                 halui.mdi-command-02

# spindle related signals
net spindle.is-on                       whb.halui.spindle.is-on
net spindle.stop                        whb.halui.spindle.stop
net spindle.forward                     whb.halui.spindle.forward
net spindle.reverse                     whb.halui.spindle.reverse
net pdnt.button.spindle-plus            whb.button.spindle-plus
net pdnt.button.spindle-minus           whb.button.spindle-minus
net spindle.increase                    whb.button.macro-3
net spindle.decrease                    whb.button.macro-4

net spindle.spindle-override.value      whb.halui.spindle-override.value
net spindle.spindle-override.increase   whb.halui.spindle-override.increase
net spindle.spindle-override.decrease   whb.halui.spindle-override.decrease
net spindle.velocity.abs-rpm            whb.motion.spindle-speed-abs

# machine mode related signals
net pdnt.halui.mode.auto                whb.halui.mode.auto                halui.mode.auto
net pdnt.halui.mode.manual              whb.halui.mode.manual              halui.mode.manual
net pdnt.halui.mode.mdi                 whb.halui.mode.mdi                 halui.mode.mdi
net pdnt.halui.mode.is-auto             halui.mode.is-auto                 whb.halui.mode.is-auto
net pdnt.halui.mode.is-manual           halui.mode.is-manual               whb.halui.mode.is-manual
net pdnt.halui.mode.is-mdi              halui.mode.is-mdi                  whb.halui.mode.is-mdi

# feed rate related signals
net pdnt.halui.feed-override.scale      whb.halui.feed-override.scale      halui.feed-override.scale
net pdnt.halui.feed-override.direct-val whb.halui.feed-override.direct-val halui.feed-override.direct-value
net pdnt.halui.feed-override.counts     whb.halui.feed-override.counts     halui.feed-override.counts
# take feed override min/max values from the GUI
setp                                    whb.halui.feed-override.min-value  [DISPLAY]MIN_FEED_OVERRIDE
setp                                    whb.halui.feed-override.max-value  [DISPLAY]MAX_FEED_OVERRIDE
net pdnt.halui.feed-override.increase   whb.halui.feed-override.increase   halui.feed-override.increase
net pdnt.halui.feed-override.decrease   whb.halui.feed-override.decrease   halui.feed-override.decrease
net pdnt.button.feed-plus               whb.button.feed-plus
net pdnt.button.feed-minus              whb.button.feed-minus

# for printing the speed on display, the motion.current-vel velocity is used
net pdnt.motion.current-vel             motion.current-vel                 whb.motion.current-vel

# axis position related signals
net pdnt.halui.axis.0.pos-feedback      halui.axis.0.pos-feedback          whb.halui.axis.0.pos-feedback
net pdnt.halui.axis.1.pos-feedback      halui.axis.1.pos-feedback          whb.halui.axis.1.pos-feedback
net pdnt.halui.axis.2.pos-feedback      halui.axis.2.pos-feedback          whb.halui.axis.2.pos-feedback
net pdnt.halui.axis.0.pos-relative      halui.axis.0.pos-relative          whb.halui.axis.0.pos-relative
net pdnt.halui.axis.1.pos-relative      halui.axis.1.pos-relative          whb.halui.axis.1.pos-relative
net pdnt.halui.axis.2.pos-relative      halui.axis.2.pos-relative          whb.halui.axis.2.pos-relative

# flood and mist toggle toggle signals
net pdnt.macro.1                        whb.button.macro-1                 toggle2nist.mist.in
net pdnt.mist.is-on                     halui.mist.is-on                   toggle2nist.mist.is-on
net pdnt.mist.on                        toggle2nist.mist.on                halui.mist.on
net pdnt.mist.off                       toggle2nist.mist.off               halui.mist.off

net pdnt.macro.2                        whb.button.macro-2                 toggle2nist.flood.in
net pdnt.flood.is-on                    halui.flood.is-on                  toggle2nist.flood.is-on
net pdnt.flood.on                       toggle2nist.flood.on               halui.flood.on
net pdnt.flood.off                      toggle2nist.flood.off              halui.flood.off

SEE ALSO

xhc-hb04.1(1), xhc-whb04b-6 developer documentation on GitHub

NOTES

The CRC code function is not disclosed by the manufacturer. Ths the CRC value transmitted with each package is not checked yet. Feel free to help us enhance the component.

AUTHORS

This component was started by Raoul Rubien based on predecessor device component xhc-hb04.cc. https://github.com/machinekit/machinekit/graphs/contributors gives you a more complete list of contributors.

REPORTING BUGS

Report bugs via the machinekit forum at https://groups.google.com/forum/#!forum/machinekit

HISTORY

The component was developed accidentally as leisure project. The development started with the xhc-whb04 (4-axis wireless pendant) implementation as reference. 73 & many thanks to the developers who delivered provided an excellent preparatory work!

Copyright (c) 2018 Raoul Rubien. This is free software; see the source for copying conditions. There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.