... two 32-bit compare registers, which can be used for software limitReceive signals from servo motor drive, e.g. coder Z-phase ... , alarm signal, etcEach axis has 3 STOP signals, which are used to search for home and Z-phase of coderThe speed can ... has 8 input signal, include 2 positive/negative limit signals,3 stop signals,1 servo in-position signal, 1 servo alarm signal ...