Rockwell Automation 1771-QC , D17716.5.25 SER/B SERVO POS - Manual (Page 150)

Formatting and Interpreting Data Blocks
Chapter 7
7Ć68
commands a slide stop
turns on the appropriate travel limit bit and the slide stop bit in the
status block
sets the current position value to zero
You can then issue another search home command.
You must perform a search home operation after system power-up to
initialize the axis position scale. Also, be sure that the home limit switch
is in the direction the axis moves when you issue the search home
command, as you specify in the parameter block.
Bit 4 Escape
In the auto mode, turn on bit 4 to generate an escape command. This
command causes the servo positioning assembly to stop executing the
current move and execute the escape move stored on the 1771-ES
expander.
If the escape move endpoint is in the direction of current axis motion, the
servo positioning assembly smoothly accelerates or decelerates the axis to
the escape move velocity, then continues escape move execution.
If the escape move endpoint and current axis motion are in opposite
direction, the servo positioning assembly commands a slide stop. After
axis motion stops, the escape move executes.
If no escape moveset is stored on the 1771-ES expander and the axis is
not in motion when you issue the escape command, the servo positioning
assembly turns on the insufficient-data bit in the status block, and requests
a new moveset block. If the axis is in motion, the servo positioning
assembly performs a slide stop before turning on the insufficient-data bit
and requesting a new moveset block.
You can issue a start, begin, or next-move command to start execution of
the new moveset.
Bit 4 Go Home
In the manual mode, turn on bit 4 to generate a go-home command. When
this bit is on, this command causes the axis to move to the home position
at rapid traverse rate, using the accel/decel rate you specify in the
parameter block.