Hello Mark,
I have attached 2 files that should be all you need if your using one of CNC4PC's MPG12 - 6 AXIS PENDANTs. If not, you will likely have to adjust to fit your needs. The script goes at the end of the SigLib table in the screen load script. This will add the necessary sigs to the SigLib table and make the CNC4PCPendant() function the first function outside of the SigLib table. It has all been tested too.
The script in the PDF and the lua file attached here are the same. You only need to use one or the other. The only reason I included the lua file is because sometimes copying and pasting from a PDF will add unwanted characters and mess up the formatting.