Update the hexapod code to reflect the modified circuit of limit switch recorded at H&R Limit Switches_v2.pptx. In the original design, the values of "input pin state" are Lo for pins 7, 8, 17, and 18 if the limit switch is not activated. However, they should be Hi now for the modified circuit, which is fault-safe. The codes of low-level controller and EUI should do the related modification. Otherwise, the system will always have the impression that the limit switch is triggered even though it is not, and block the system to enter the Enabled state to do the operation.

As a comparison, the following figures are the pin states read by Copley software.

M2 hexapod (modified circuit):

Camera hexapod (original circuit):

Felipe points out the following thing:
Now the drive is not sending a limit switch active signal but the software is getting a hi in the digital input 7, 8, 17 and 18, which is interpreted as a limit switch active by the software.
That's why I thought the drive was sending the same signal twice... it sends the raw digital input value and the interpretation by the drive.... both needs to be in agreement.

Note: This hardware modification will be applied to camera hexapod and rotator as well.

Note: When the interlock is triggered, the pings of 6 and 16 should be "Lo".