The 6K2 comes with positive and negative End Of Travel (EOT) and home limits for the first two axes. Axis 3 and 4 EOT limits and home limits are still present and usable as inputs. To use a limit as an imput, issue the LIMFNC command for the limit in question, and change it to the function that you want. To check the input status you must us TLIM or to wait for limit 7 (Axis 3 positive EOT) to go high, the code would look like:
WAIT(LIM=BXXXXXX1)
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