UIrobot UIM2842 User Manual page 104

UIM2842
Set 1st group of parameters: SPD; STP; MAC; MDE; MMS;
MMD;
Banding it to rising edge of S1: STO2;
......
Set 6th group of parameters: SPD; STP; MAC; MDE; MMS;
MMD;
Banding it to falling edge of S3: STO7;
Page 104 M4220170607EN UI Robot Technology Co. Ltd.