Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 409
Programming via Drive Parameters Chapter 15
0x18 S-P
Speed and Position Mode Switching
In position and speed mode, if DI is off, it is in speed mode; if DI is on, it is in position mode.
(In PT/PR/S mode, PT or PR are selected via DI.PT-PR (0x2B).
Level triggered Dual Mode
0x19 S-T
Speed and Torque Mode Switching
In speed and torque mode, if DI is off, it is in speed mode; if DI is on, it is in torque mode.
Level triggered Dual Mode
0x20 T-P
Torque and Position Mode
In position and torque mode, if DI is off, it is in torque mode; if DI is on, it is in position mode.
(In PT/PR/T mode, PT or PR are selected via DI.PT-PR (0x2B).
Level triggered Dual Mode
0x21 EMGS
Emergency Stop
When this DI is on, the motor executes an emergency stop.
Level triggered All
0x22 NL (CWL) Reverse Inhibit Limit - Clockwise (normally closed, N.C.) Level triggered All
0x23 PL (CCWL) Forward Inhibit Limit - Counterclockwise (normally closed, N.C.) Level triggered All
0x24 ORGP
Homing Origin
During homing, the servo regards the position when this DI is triggered as the homing origin. Refer to
the setting of ID297 (P5.004) =HomingMode
See Setting Homing Mode ID297 (P5.004)
on page 256 for additional information.
Rising- and falling-
edge triggered
PR, I/O (Index)
0x27 SHOM
Return to Homing Origin
During homing, the function of searching the origin will be activated when this DI is on. Refer to the
setting of ID297 (P5.004) =HomingMode
See section Setting Homing Method for more information.
Rising-edge triggered PR
0x2B PT-PR
PT and PR Mode Switching
When selecting PT-PR dual mode or PT/PR/S multiple mode, the command source can be selected via
this DI. If this DI is off, it is in PT mode; if this DI is on, it is in PR mode.
Level triggered Dual Mode
0x35 ALGN
E-Cam Alignment
When the E-Cam alignment function is enabled ID248 (P2.076) ECamControlConfiguration bit0 = 1and
bit1 = 1, it will execute an alignment correction after this DI is on.
Rising-edge triggered
PR, I/O (Position,
Index )
0x36 CAM
E-Cam Engaging Control
Refer to the setting of ID376 (P5.088 U, Z.value) = ECamControl
See E-Cam
on page 333.
Rising- and falling-
edge triggered
PR, I/O (Position,
Index )
0x37 JOGU
Forward Jog Input
When this DI is on, the motor will jog in a forward direction.
Level triggered All except I/O
0x38 JOGD
Reverse Jog Input
When this DI is on, the motor will jog in a reverse direction.
Level triggered All except I/O
0x39 EV1
Event Trigger Command 1
Refer to the ID386 (P5.098) EventRisingEdgePRNumber and ID387 (P5.099)
EventFallingEdgePRNumber descriptions in the spreadsheet.
Rising- and falling-
edge triggered
PR, I/O (Index)
0x3A EV2
Event Trigger Command 2
Refer to the ID386 (P5.098) EventRisingEdgePRNumber and ID387 (P5.099)
EventFallingEdgePRNumber descriptions in the spreadsheet.
Rising- and falling-
edge triggered
PR, I/O (Index)
0x3B EV3
Event Trigger Command 3
Refer to the ID386 (P5.098) EventRisingEdgePRNumber and ID387 (P5.099)
EventFallingEdgePRNumber descriptions in the spreadsheet.
Rising- and falling-
edge triggered
PR, I/O (Index)
0x3C EV4
Event Trigger Command 4
Refer to the ID386 (P5.098) EventRisingEdgePRNumber and ID387 (P5.099)
EventFallingEdgePRNumber descriptions in the spreadsheet.
Rising- and falling-
edge triggered
PR, I/O (Index)
0x43 GNUM0
E-Gear Ratio (Numerator) Selection 0
See E-Cam Gear Ratio and Curve Scaling
on page 345 for additional information.
Level triggered PT, I/O (Gear)
0x44 GNUM1
E-Gear Ratio (Numerator) Selection 1
See E-Cam Gear Ratio and Curve Scaling
on page 345 for additional information.
Level triggered PT, I/O (Gear)
Table 123 - Digital Inputs (Continued)
Setting DI Name DI Description Trigger Method Control Mode
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