Installation guide

Programming Commands 185
IN I/O Function
ACTION: Returns the state of the specified digital I/O inputs.
PROGRAM SYNTAX: IN(bnn) cr
IN(bnn,len) cr
REMARKS: See Programming command IN.
EXAMPLES: IN(207)
Returns the state of board 2 input 7.
IN(207,3)
Returns the sum of input states 7-9 on board 2. The value returned will
be: IN(207) + (2*IN(208) + (4*IN(209).
INTLIM Servo Parameter
ACTION: Sets the Integral limit for the controller. This is the limit of the contribu-
tion to the servo output from the integral of the position error.
PROGRAM SYNTAX: INTLIM(axis)=number cr
INTLIM=number1, ... , number8 cr
INTLIM(axis) cr
INTLIM cr
REMARKS: See Programming Command INTLIM.
EXAMPLES: INTLIM(2)=50
sets the integral limit for axis 2 to 50 volts.
INTLIM(2)
returns the integral limit of axis 2.
INTLIM=50,,100
sets the integral limit for axis 1 to 50 volts, axis 2 is unchanged and axis 3
is set to 100 volts.
INTLIM
Returns the integral limits on all assigned axes.