text: <s>[INST] Kinetix 5100 Hi All, Does anyone know if it is possible to read the digital input status of a Kinetix 5100 servo drive? Regards, Ian [/INST] It looks like you can MSG the drive to get information https://literature.rockwellautomation.com/idc/groups/literature/documents/um/2198-um004_-en-p.pdf tells you how to setup the MSG's https://literature.rockwellautomation.com/idc/groups/literature/documents/rd/2198-rd002_-en-p.xlsx is a list of all of the Drive Parameters available but I did not see a parameter for the status of the digital input. Jesse \\n </s>