Omron trajexia CJ1W-MCH72 Operation Manual page 310

How-to's Section 5-1
Note that even though REV_IN parameters for both axes have the same
value, the real inputs used are not the same. For axis 0 the input on CN1-44 of
the Sigma-II driver (assigned to axis 0) is used, but for axis 3 the input on
CN1-41 of the Junma driver (assigned to axis 3) is used. Therefore we say
that those inputs are accessed per axis, they are not unique for the whole
controller. In general, these two inputs have a different status at the same
time. Also note that neither of these two inputs can be accessed using the
command IN. For example the command IN(22) returns the status of controller
software input 22 (unique for all axes), which has a different status than Servo
Driver inputs mapped to the same number. However, the command
INVERT_IN(22) inverts the status of input 22 read by the controller. It affects
not only the unique software input 22, which is accessible with the IN
command, but all axis-specific inputs 22, which in this example are the EXT1
inputs of the connected Servo Drivers.
Note If a forward limit, reverse limit and origin input signal are used for an axis, it is strongly
recommended to use the following settings for the axis:
BASE(axis_number)
DAT_IN=18
' /DEC input in the corresponding Servo Driver is
' assigned
FWD_IN=16
INVERT_IN(16,ON)
' P_OT input in the corresponding Servo Driver is
' assigned. It is necessary to invert the signal
' because a Normally Closed input is expected.
REV_IN=17
INVERT_IN(17,ON)
' N_OT input in the corresponding Servo Driver is
' assigned. It is necessary to invert the signal
' because a Normally Closed input is expected
Also note that INVERT_IN inverts the selected input in all axes.
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