```#Jog Pendant
#file name mpg.hal

loadrt mux4 count=1
loadrt ilowpass

addf mux4.0 servo-thread
addf ilowpass.0 servo-thread

setp ilowpass.0.scale 100
setp ilowpass.0.gain 0.01
setp joint.0.jog-accel-fraction .2
setp joint.1.jog-accel-fraction .2
setp joint.2.jog-accel-fraction .2
setp joint.3.jog-accel-fraction .2

net x-jog-select joint.0.jog-enable <= hm2_7i92.0.7i77.0.0.input-20
net y-jog-select joint.1.jog-enable <= hm2_7i92.0.7i77.0.0.input-21
net z-jog-select joint.2.jog-enable <= hm2_7i92.0.7i77.0.0.input-22
net a-jog-select joint.3.jog-enable <= hm2_7i92.0.7i77.0.0.input-23

net x10 hm2_7i92.0.7i77.0.0.input-26 => mux4.0.sel0
net x100 hm2_7i92.0.7i77.0.0.input-27 => mux4.0.sel1

setp mux4.0.in0 .000001
setp mux4.0.in1 .00001
setp mux4.0.in2 .0001

net jogscale mux4.0.out => joint.0.jog-scale
net jogscale => joint.1.jog-scale
net jogscale => joint.2.jog-scale
net jogscale => joint.3.jog-scale

net mpg-out hm2_7i92.0.7i77.0.0.enc0.count => ilowpass.0.in

net jogcounts ilowpass.0.out => joint.0.jog-counts
net jogcounts => joint.1.jog-counts
net jogcounts => joint.2.jog-counts
net jogcounts => joint.3.jog-counts

net jogcounts    => axis.x.jog-counts
net x-jog-select => axis.x.jog-enable
net jogscale     => axis.x.jog-scale

net jogcounts    => axis.y.jog-counts
net y-jog-select => axis.y.jog-enable
net jogscale     => axis.y.jog-scale

net jogcounts    => axis.z.jog-counts
net z-jog-select => axis.z.jog-enable
net jogscale     => axis.z.jog-scale

net jogcounts    => axis.a.jog-counts
net a-jog-select => axis.a.jog-enable
net jogscale     => axis.a.jog-scale