> Dear All,
>               I have the current EMC2  2.1.0. and a Mesa 5i20 board. How 
> can I implement a
> hardware FRO control?  And while I'm asking questions, can I use the 4th 
> encoder inputs
> for a Handwheel or MPG?  

Hi David,

I documented some of my jogwheel hardware and HAL code on my blog
http://www.anderswallin.net/2006/11/jogging-emc2/

adjusting feed override requires halui, but it's quite easy to do.

If you have the 5i20 with the 'old' firmware then the secondary hardware 
encoders are broken (pinouts overlap), but with an MPG there's really no 
reason to use a hardware encoder counter, the HAL software encoder 
counter works just fine.

Anders

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