Hi John

> Do you need/intend to use g-code at all for this installation?

Yes.

And I'm now just trying to modify it quickly to do a manual 
demonstration.

Could I do something with the axis jog pins:

  axis.0.jog-vel-mode
  axis.0.jog-enable
  axis.0.jog-scale


> I have a few custom HAL components that I could share if useful.
> For example, one lets you switch from manually controlling each
> motor (for "homing") to coordinated control.

Oh, sounds very interesting.

See you
Florian

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