text: <s>[INST] Disable Hw limit Switches control Hi all, I need a way to enable/disable the hardware limit switches of a CIP axis via software like a MSG or SSV or something like that. Do you know if exist a way? The axis type is Kinetix 5500 Best regards. [/INST] See technote QA28637. (Requires TechConnect) If you don't have TechConnect, the note references the CIP Axis Reference Manual: https://literature.rockwellautomation.com/idc/groups/literature/documents/rm/motion-rm003_-en-p.pdf Basically you send a MSG to the drive to Set Attribute Single to the parameter 960. The technote spells it out very well. Regards, RM \\n </s>