WHB04B Pendant
From PROBOTIX :: wiki
WHB04B Pendant
This page documents the current PROBOTIX LinuxCNC WHB04B wireless pendant configuration used on the newer Python-driver setup.
| Item | Behavior on this configuration |
|---|---|
| Supported axes | X, Y, Z, A (when supported by the machine/configuration) |
| 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 |
| ⚠ | Important behavior notes
|
Contents
Basic Use
1) Select the axis
Use the axis selector on the pendant to choose X, Y, Z, or A when the machine/configuration supports it.
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.
| 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 G0 G53 Z0
|
| Fn + Work Home | Go to work zero in X/Y after lifting Z | Executes machine-safe Z first, then G0 X0 Y0 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, Z, or A as needed.
- 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 (
whb04b.py), 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.