### IN1MODE

IN1MODE, IN2MODE, and IN3MODE set the functionality of the IN1, IN2, and IN3 inputs, respectively. The function list is:
INxMODE=0: No function*
INxMODE=1: CW limit switch*
INxMODE=2: CCW limit switch*
INxMODE=3: Gear disable input (all GEARMODE values) - for IN1, IN2, IN3 only - *
INxMODE=4: Gear mask input (all GEARMODE values) - for IN1, IN2, IN3 only - *
INxMODE=5: Gear A input (GEARMODE = 0-2) - for IN1, IN2, IN3 only - *
INxMODE=6: Gear B input (GEARMODE = 0-2) - for IN1, IN2, IN3 only - *
INxMODE=7: Trigger incremental move (MI - see Notes below)**
INxMODE=8: Use second current limit (ILIM2)**
INxMODE=9: Switch OPMODE from 1 to 3** (see Notes below)
INxMODE=10: Home switch - for IN1, IN2, IN3 only - **
INxMODE=11: Capture trigger input - for IN1, IN2, IN3 only -
INxMODE=12: Search for home switch / Move to home switch**
INxMODE=13: Trigger absolute move (MAPOS at MASPEED)**
INxMODE=14: Binary MIDIST / MISPEED selection code MSB**
INxMODE=15: Binary MIDIST / MISPEED selection code LSB**
INxMODE=16: Capture input - for IN1, IN2, IN3 only -
INxMODE=17: Trigger active disable (see DISSPEED)*
INxMODE=18: Control fault relay** (see Notes below)
INxMODE=19: Hold position*
* available in firmware versions 2.1.0 and later
** available in firmware versions 3.1.0 and later

INxMODE=20: When INxMODE=20 and OPMODE=1 (analog velocity), active inpute causes
switch to OPMODE=4 (gearing).
It is the user responsibility to make the swicth at proper conditions
like drive disable or zero velocity.

INxMODE=21: 2. New INxMODE was added: INxMODE 21. This INxMODE is similar to INxMODE 7
(trigger incremental buffer move) but in this INxMODE the look ahead
buffer (pending move) is cancelled so only 1 move can be performed.

INxMODE=22:
INxMODE=23:

22 - triggers incremental move. Distance equals (PROTARY / DIVISIONS).
23 - triggers incremental move. Distance equals (2 * PROTARY / DIVISIONS).
In both case (22 and 23):
The motion velocity is MISPEED0.
Zero speed causes no movement. A momentary 'b' will be displayed.
Hold position causes no movement. A momentary 'b' will be displayed.
No movement if not in rotary mode (MODMODE=1). A momentary 'b' will be displayed.
The direction depends on the sign of DIVISIONS and on the value of DIR.

INxMODE=24: 8. Change OPMODE 8 to OPMODE 4 using digital input.
INxMODE 24 was defined. The drive should be in OPMODE 8. When the input is
active, the mode is changed to 4 (gearing), even when the drive is enabled.
When the input is not active, the OPMODE is changed back to 8.
It is the user responsibility to perform the OPMODE changes at zero speed,
otherwise counts might be lost, and a jump might occur.

INxMODE=25: Clear Fault input. Reset Fault Input change from '0' -> '1'
INxMODE=26: PFB_ON_ENCSIM
INxMODE=27: Relay control input 2 (see INxMODE 18)
INxMODE=28: Binary MIDIST / MISPEED selection code bit 2
INxMODE=29: Binary MIDIST / MISPEED selection code bit 3
INxMODE=30: Absolute move buffer trigger

INxMODE=31: 1) added inxmode 31. if input = 0 and v<ILIMVEL(save in eeprom) latch up and set current limit to ilim2
Latch is cleared when input goes to 1.

INxMODE=32: 1) The range for INxMODE was increased in SERCOS to 32,

1. Added new inmode : 32.
This input changes the analog command (drive opmode 1,3 and disable) polarity when on.
e.g. if analog command = 5 , in1mode = 32 , ininv1 = 1 : analog command will be set to -5.
INxMODE=33: Size of the INxMODE table

Notes:
INxMODE = 7: see MIDIST0-3, MISPEED0-3, and MH.
INxMODE = 9 operation: If the drive is in OPMODE 1 (serial velocity) and INxMODE is 9, then switching the related INx input to '1' will cause the drive to switch to OPMODE 3 (serial current). Switching the INx input back to '0' will cause the drive to switch back to OPMODE 1 (serial velocity). The LED display of OPMODE will change according to the user input, but the serial response to a prompt for OPMODE will return 1. The OPMODE change can happen when the drive is enabled, therefore the user must make the switch with zero command.
INxMODE = 12 operation: the first time this mode is triggered, the drive will search for home. Subsequent triggers will cause a move to home. Moves are performed at velocity equal to HOMESPD.
INxMODE = 18: if input = 0, the fault relay will open. If input = 1, the fault relay operates as normal.

Firmware Versions: see above
Type: switch mode (R/W) Range: 0 to 32
Units: n/a Default: 1 for IN1MODE,
2 for IN2MODE, 3 for IN3MODE , ...
Opmodes: dependent Drive Status: en/dis EEPROM: yes