[mc.ISIG_INPUT20] = function(state)			--X servo alarm port1 pin10
	if(state==1)then
		mc.mcCntlEStop(inst)
		local handle=mc.mcRegGetHandle(inst,"iRegs0/XAlarm")
		mc.mcRegSetValue(handle,1)
	else
		local handle=mc.mcRegGetHandle(inst,"iRegs0/XAlarm")
		mc.mcRegSetValue(handle,0)
	end
	end,
[mc.ISIG_INPUT21] = function(state)			--Y servo alarm port1 pin11
	if(state==1)then
		mc.mcCntlEStop(inst)
		local handle=mc.mcRegGetHandle(inst,"iRegs0/YAlarm")
		mc.mcRegSetValue(handle,1)
	else
		local handle=mc.mcRegGetHandle(inst,"iRegs0/YAlarm")
		mc.mcRegSetValue(handle,0)
	end
	end,
[mc.ISIG_INPUT22] = function(state)			--Z servo alarm port1 pin12
	if(state==1)then
		mc.mcCntlEStop(inst)
		local handle=mc.mcRegGetHandle(inst,"iRegs0/ZAlarm")
		mc.mcRegSetValue(handle,1)
	else
		local handle=mc.mcRegGetHandle(inst,"iRegs0/ZAlarm")
		mc.mcRegSetValue(handle,0)
	end
	end,
[mc.ISIG_INPUT23] = function(state)			--A servo alarm port1 pin13
	if(state==1)then
		mc.mcCntlEStop(inst)
		local handle=mc.mcRegGetHandle(inst,"iRegs0/AAlarm")
		mc.mcRegSetValue(handle,1)
	else
		local handle=mc.mcRegGetHandle(inst,"iRegs0/AAlarm")
		mc.mcRegSetValue(handle,0)
	end
	end,
[mc.ISIG_INPUT24] = function(state)			--B servo alarm port1 pin15
	if(state==1)then
		mc.mcCntlEStop(inst)
		local handle=mc.mcRegGetHandle(inst,"iRegs0/BAlarm")
		mc.mcRegSetValue(handle,1)
	else
		local handle=mc.mcRegGetHandle(inst,"iRegs0/BAlarm")
		mc.mcRegSetValue(handle,0)
	end
	end,
[mc.ISIG_INPUT29] = function(state)			--C servo alarm port2 pin2
	if(state==1)then
		mc.mcCntlEStop(inst)
		local handle=mc.mcRegGetHandle(inst,"iRegs0/CAlarm")
		mc.mcRegSetValue(handle,1)
	else
		local handle=mc.mcRegGetHandle(inst,"iRegs0/CAlarm")
		mc.mcRegSetValue(handle,0)
	end
	end,
	
[mc.ISIG_INPUT25] = function(state)			--AXIS1 port3 pin6
	if(state==1)then
		local handle=mc.mcRegGetHandle(inst,"iRegs0/AXIS1")
		mc.mcRegSetValue(handle,1)
	else
		local handle=mc.mcRegGetHandle(inst,"iRegs0/AXIS1")
		mc.mcRegSetValue(handle,0)
	end
	ChangeJogAxis()
	end,
[mc.ISIG_INPUT26] = function(state)			--AXIS2 port3 pin7
	if(state==1)then
		local handle=mc.mcRegGetHandle(inst,"iRegs0/AXIS2")
		mc.mcRegSetValue(handle,1)
	else
		local handle=mc.mcRegGetHandle(inst,"iRegs0/AXIS2")
		mc.mcRegSetValue(handle,0)
	end
	ChangeJogAxis()
	end,
[mc.ISIG_INPUT27] = function(state)			--F-S  port3 pin8
	if(state==1)then
		local handle=mc.mcRegGetHandle(inst,"iRegs0/F-S")
		mc.mcRegSetValue(handle,0)
	else
		local handle=mc.mcRegGetHandle(inst,"iRegs0/F-S")
		mc.mcRegSetValue(handle,1)
	end
	ChangeJogAxis()
	end,