【41】: Retain 
【42】: 
PG invalid 
【43】: 
PG integral reset 
【44】: 
Mode switching between speed and torque 
【45】: 
Negative torque command 
【46】: Zero-Servo Command 
【47】: 
Fire Mode 
【48】: 
KEB acceleration 
【49】: 
Parameter writing allowable 
【50】: 
Unattended Start Protection (USP) 
【51】: Mode switching between speed and position 
· Refer to the multi-function digital input and relevant parameter in the following figure 
4.3.16. 
 
 
Figure 4.3.16 Multi-function digital input and relevant parameter