I did upgrade the pendent to the latest firmware version V1.20 which was posted 12/13/19. I though 2.8 came out September 2022 time frame.
I have a email in to Vista to see if they have any insight. The pendent is USB its the Vista P4S
So this is all in the firmware of the pendent and not anywhere in the HAL files ?
The P4S HAL file that I am using was for 2.8 pre and 2.9 pre
Code:
# loadrt names=and2.2
addf and2.2 servo-thread
# 1---LCD reletive Coordinates
net axis.0.pos-relative halui.axis.x.pos-relative => vc-p4s.axis.0.pos-relative
net axis.1.pos-relative halui.axis.y.pos-relative => vc-p4s.axis.1.pos-relative
net axis.2.pos-relative halui.axis.z.pos-relative => vc-p4s.axis.2.pos-relative
# 2---JOG
net axis.0.jog-en vc-p4s.axis.0.jog-enable => axis.x.jog-enable joint.0.jog-enable
net axis.1.jog-en vc-p4s.axis.1.jog-enable => axis.y.jog-enable joint.1.jog-enable
net axis.2.jog-en vc-p4s.axis.2.jog-enable => axis.z.jog-enable joint.2.jog-enable
net jog-scale vc-p4s.jog-scale => joint.0.jog-scale axis.x.jog-scale
net jog-scale vc-p4s.jog-scale => joint.1.jog-scale axis.y.jog-scale
net jog-scale vc-p4s.jog-scale => joint.2.jog-scale axis.z.jog-scale
net jog-counts vc-p4s.jog-counts => joint.0.jog-counts axis.x.jog-counts
net jog-counts vc-p4s.jog-counts => joint.1.jog-counts axis.y.jog-counts
net jog-counts vc-p4s.jog-counts => joint.2.jog-counts axis.z.jog-counts
net jog.0.cont-plus vc-p4s.jog.0.plus => halui.axis.x.plus halui.joint.0.plus
net jog.0.cont-minus vc-p4s.jog.0.minus => halui.axis.x.minus halui.joint.0.minus
net jog.1.cont-plus vc-p4s.jog.1.plus => halui.axis.y.plus halui.joint.1.plus
net jog.1.cont-minus vc-p4s.jog.1.minus => halui.axis.y.minus halui.joint.1.minus
net jog.2.cont-plus vc-p4s.jog.2.plus => halui.axis.z.plus halui.joint.2.plus
net jog.2.cont-mimus vc-p4s.jog.2.minus => halui.axis.z.minus halui.joint.2.minus
net jog-speed vc-p4s.jog.velocity => halui.axis.jog-speed halui.joint.jog-speed
net motion-in-position motion.in-position => vc-p4s.is-moving
setp axis_0_max_velocity [JOINT_0]MAX_VELOCITY
setp axis_1_max_velocity [JOINT_1]MAX_VELOCITY
setp axis_2_max_velocity [JOINT_2]MAX_VELOCITY
