View source for WHB04B Pendant

[[Category:Controllers]]
[[Category:LinuxCNC Configurations]]
= WHB04B Pendant =

This page documents the '''current PROBOTIX LinuxCNC WHB04B wireless pendant configuration''' used on the newer Python-driver setup.

{| class="wikitable" style="width:100%; background:#f8fbff;"
|+ '''Quick Reference'''
! Item
! Behavior on this configuration
|-
| '''Supported axes'''
| '''X, Y, Z''' (the '''A''' selector is not used in this config)
|-
| '''Jog mode at startup'''
| '''STEP'''
|-
| '''Jog style'''
| '''STEP''' = incremental jogs, '''CONT''' = velocity jogs
|-
| '''Program control'''
| '''Start''' = start / pause / resume, '''Stop''' = abort
|-
| '''Machine power'''
| '''Fn + Reset''' toggles machine power on/off
|-
| '''Re-home all axes'''
| '''Fn + Machine Home'''
|-
| '''Go to machine-safe Z'''
| '''Fn + Safe Z'''
|-
| '''Go to work X0 Y0'''
| '''Fn + Work Home'''
|-
| '''Feed override step'''
| '''10%''' per press
|-
| '''Spindle override step'''
| '''10%''' per press
|}

{| class="wikitable" style="width:100%; background:#fff8e5; border:1px solid #d7b64a;"
| style="width:56px; font-size:220%; text-align:center;" | ⚠
| '''Important behavior notes'''
* On this configuration, '''bare Reset is not a normal “clear reset” button'''. It issues an E-stop request.
* '''Fn + Reset''' is the machine-power toggle.
* The pendant is intended for '''X/Y/Z jogging and common operator actions'''. Do not assume every extra button on the WHB04B is assigned on every machine.
|}

__TOC__

= Basic Use =

== 1) Select the axis ==
Use the axis selector on the pendant to choose '''X''', '''Y''', or '''Z'''.

'''Note:''' the '''A''' selector is not wired into this PROBOTIX configuration.

== 2) Choose jog mode ==
Use the orange '''STEP''' and '''CONT''' buttons to choose how the handwheel behaves.

=== STEP mode ===
In '''STEP''' mode, the handwheel moves the selected axis in discrete increments.

Use this for:
* Touching off
* Sneaking up on an edge
* Fine position adjustments
* Careful setup work

=== CONT mode ===
In '''CONT''' mode, the handwheel acts like a continuous jog command. Jog speed follows the pendant's rotary percentage setting.

Use this for:
* Longer moves
* Fast manual positioning
* General jogging around the table

'''Default at startup:''' the current configuration starts in '''STEP''' mode.

== 3) Set the jog amount / speed ==
The rotary selector affects jogging differently depending on mode:

* In '''STEP''' mode, it sets the jog increment.
* In '''CONT''' mode, it sets the jog velocity percentage.

== 4) Turn the handwheel ==
Turn the handwheel to jog the selected axis.

* In '''STEP''' mode, each wheel movement commands incremental motion.
* In '''CONT''' mode, wheel motion commands continuous jogging at the selected speed.

= Program Control Buttons =

== Start ==
The '''Start''' button is context-sensitive:

* If no program is running, it starts the currently loaded program from the beginning.
* If a program is running, it pauses the program.
* If a program is paused, it resumes the program.

== Stop ==
The '''Stop''' button aborts the running program.

Use this when you want to stop the job without hitting E-stop.

== Reset ==
On this pendant configuration, '''Reset''' by itself triggers an E-stop request.

That means it should be treated like a serious stop action, not like a casual reset/clear button.

= Function (Fn) Shortcuts =

Hold the '''Fn''' button while pressing the second button.

{| class="wikitable"
! Fn Combination
! Action
! Notes
|-
| '''Fn + Reset'''
| Toggle machine power '''ON/OFF'''
| If the machine is on, it turns it off. If it is off, it requests machine-on.
|-
| '''Fn + Step'''
| Single-step a program in AUTO
| Useful when paused or step-testing. See note below about '''G64'''.
|-
| '''Fn + Feed+'''
| Increase feed override
| '''10%''' per press
|-
| '''Fn + Feed-'''
| Decrease feed override
| '''10%''' per press
|-
| '''Fn + Spindle+'''
| Increase spindle override
| '''10%''' per press
|-
| '''Fn + Spindle-'''
| Decrease spindle override
| '''10%''' per press
|-
| '''Fn + Machine Home'''
| Home all axes
| Performs a full re-home sequence
|-
| '''Fn + Safe Z'''
| Send Z to machine safe position
| Executes <code>G0 G53 Z0</code>
|-
| '''Fn + Work Home'''
| Go to work zero in X/Y after lifting Z
| Executes machine-safe Z first, then <code>G0 X0 Y0</code> in the current work coordinate system
|-
| '''Fn + Spindle Toggle'''
| Toggle spindle ON/OFF
| When turning back on, it uses the current commanded spindle speed
|-
| '''Fn + Probe Z'''
| Not configured
| Currently displays '''Probe-Z Not Configured'''
|}

= Single-Step Note (Important) =

'''Fn + Step''' uses LinuxCNC single-step behavior.

On some toolpaths, especially when the program is running under '''G64''' path blending, LinuxCNC may appear to advance more than one displayed line with a single step command. That is a LinuxCNC motion/planner behavior issue, not usually a switch-bounce problem in the pendant.

So:
* '''Fn + Step''' is still useful
* but it should not be treated as a guaranteed literal one-visible-line-at-a-time tool under every program condition

= Recommended Day-to-Day Workflow =

# Power the control up normally.
# Use '''Fn + Reset''' to turn machine power on if needed.
# Home the machine with '''Fn + Machine Home'''.
# Select '''X''', '''Y''', or '''Z'''.
# Use '''STEP''' mode for precise setup work.
# Use '''CONT''' mode for larger manual moves.
# Use '''Fn + Safe Z''' before moving around fixtures if you want a quick Z retract.
# Use '''Fn + Work Home''' when you want to return to the active work zero in X/Y after retracting Z.
# Use '''Start''' / '''Stop''' for normal program run control.
# Reserve '''Reset''' for true stop / E-stop situations.

= Configuration Notes =

This page reflects the PROBOTIX configuration that was updated during the week of '''June 26-30, 2026'''.

Important implementation notes for this specific setup:
* The active pendant path is the '''Python driver''' (<code>whb04b.py</code>), not the older alternate HAL-only approach.
* '''STEP / CONT''' behavior was intentionally configured so the pendant starts in '''STEP''' mode.
* The current HAL wiring focuses on the documented operator controls above.
* Some additional WHB04B buttons/macros may exist in the hardware/driver path, but they should be treated as machine-specific unless documented separately.

= Related Pages =

* [[Jog Pendants]]
* [[Homing, Work Offsets, & Touching-off]]
* [[Machine Maintenance]]
* [[G-Code Files]]