Axis number for the referenced servo, from 1 to N.

Axis capability word. This is a bit mask value, whose values is defined as follows:

   bit 0 - has position feedback
   bit 1 - has command generation function
   bit 2 - has motor/amplifier output
   bit 3 - has servo compensator
   bit 4:15 - (reserved)

Currently for auxiliary axis (encoder feedback only) bit 0 is set to "1". For servo axis, bits 0:4 are all set to "1".

Axis enable flag, 1 = enabled, 0 = disabled

Axis configuration word. The following bits are defined:

   bit 0 - Allow clearing of commutation ready flag
   bit 1 - Home switch polarity, 0=active HIGH, 1=active LOW (only used if dedicated DIN's selection, DataID 10108 is set to 3).
   bit 2 - Positive over-travel polarity, 0=active HIGH, 1=active LOW (only used if dedicated DIN's selection, DataID 10108 is set to 3).
   bit 3 - Negative over-travel polarity, 0=active HIGH, 1=active LOW (only used if dedicated DIN's selection, DataID 10108 is set to 3).
   bits 4:6 - If any of these bits is set to 1, the corresponding single-ended dedicated DIN of the encoder connector is not configured as a homing or over-travel input signal even if DataID 10108 is set to 3.  This permits a mix of dedicated inputs and general purpose inputs to be utilized for these functions.  It also permits unused dedicated DIN's to be utilized as general purpose DIN even if DataID 10108 is set to 3.  Bit 4 corresponds to the 1st dedicated DIN.
   bit 7:31 - (reserved)

Digital input channels for home, positive over-travel, and negative over-travel signals. To specify a DIN to be active high, the channel value is positive. To specify a DIN to be active low, the channel value is negative. For example, if you set the home DIN to "-10001", the servo would use the 1st general DIN port, and the input signal would be active LOW.

These channels may be optionally configured. If no channel is specified or the channel number is invalid, then the homing and over-travel switch functions are not active.

If the three single-ended inputs that are available in some encoder interfaces are configured as homing and over-travel signals by setting the "Dedicated DIN's selection" (DataID 10108) to 3, the DIN numbers corresponding to these dedicated signals are automatically written into DataID's 10105-10107.  In this case, the "Axis Configuration Word" (DataID 10104) are sampled when the DIN values are written to define the sense of each signal and to determine whether any of the signals should not be configured for this use.

In a Servo Network system, these values are set to the signal numbers for the controller this is directly connected to the referenced amplifiers and motors.

Some Guidance Controllers include 3 single-ended digital input signals per encoder connector.  These 3 inputs may be used for different functions based on the following configuration specification:

    0 - (Automatically set if encoder mode required)  Use as a single-ended encoder interface, motor commutates from the differential encoder channel. 
    1 - (Automatically set if encoder mode required)  Use as a single-ended encoder interface, motor commutates from the single-ended encoder channel.
    2 - (Automatically set if "Commutation reference setup config" DataID 10700 specifies Hall-sensor commutation mode)  Use as Hall-effect sensor input. 
    3 - use some or all three input signals as dedicated DIN for home (Digital input #1), positive (Digital input #2) and negative (Digital input #3) over-travels signals.  If this mode is configured, DataIDs 10105-10107 are automatically updated with the signal numbers for the dedicated input signals for this interface.  If this mode is selected, bits 1-3 of the "Axis configuration word" (DataID 10104) determine the polarity of the three dedicated DIN and bits 4-6 of DataID 10104 specify if any of the inputs are not to be configured for this use.  Any input signals that are not configured can be used as general purpose DIN signals.
    4 - the signal lines are used for another purpose and cannot be configured.
    5 - use the 3 input signals as general purpose DIN channels that are available for use by application programs.  Note, as compared to other general purpose DIN: (a) these inputs are 5VDC instead of 24VDC, (b) these inputs do not have optical isolation, and (c) the response time of these inputs is slower due to hardware filters that are required when these signals are utilized as single-ended encoder inputs.  Please see the section on Dedicated Digital Inputs and Outputs for information on the signal numbers for these inputs.

If zero, motor temperature checking is disabled.

If set to a value from 1 to 3, indicates the number of PTC sensors that are connected in series.

If set to a value > 10, indicates that a KTY84/130 sensor is being used. The specified value is the maximum permitted motor temperature (in degrees C). If the “Motor temperature” (DataID 12110) exceeds this value, power is disabled and an error occurs.

Only used if the value of "Max motor temperature" (DataID 10110) > 10, indicating a KTY84/130 sensor is being used. In that case, this value is the warning motor temperature (in degrees C). If the motor temperature exceeds this value, the GPL Robot.MotorTempStatus property indicates a temperature warning.

These parameters are used when homing a motor to a hardstop. A hardstop is detected when a motor's position error exceeds the value specified by the "Hardstop envelope limit" (DataID 10122) and the motor position does not change by more than the "Hardstop pos steady tolerance" (DataID 10123) for two servo cycles. To disable the steady tolerance test, DataID 10123 should be set to 0.

After the hardstop is detected, the system reverses the position of the motor by the "Hardstop back out distance" (DataID 10124). Backing the motor off of the hardstop is very important to ensure that the motor does not overheat by continuing to drive against the physical hardstop.

These parameters are all in units of motor counts.