Rockwell Automation 1771-QC , D17716.5.25 SER/B SERVO POS - Manual (Page 151)

Formatting and Interpreting Data Blocks
Chapter 7
7Ć69
If you issue the go-home command before execution of any search-home
or initialize-home command, the axis moves to an erroneous home
position.
Bit 5 Slide Stop
In either mode, turn on bit 5 to generate a slide stop command. This
command causes the axis to decelerate to a stop at the programmed
deceleration rate (local or global) for the current move when the servo
positioning assembly is in auto mode. After completion of a slide stop,
status block bits for slide stop, done, in-position and ready turn on.
If you issue the slide stop command while the servo positioning assembly
is in manual mode and the axis is in motion, the axis stops at the global
decel rate programmed in the parameter block.
Bit 6 Software Stop
Turn on bit 6 to generate a software stop command. This command
causes the servo positioning assembly to go into the immediate stop
condition. In this condition it immediately clamps the analog output
voltage to zero and turns off the drive disable circuit to disable the servo
drive.
The servo positioning assembly executes the software stop command in
both auto and manual modes.
The servo positioning assembly goes into the immediate stop condition in
response to:
loss of power
software stop command from command block
hardware stop input open
excess following error
timeout of a firmware or hardware watchdog
loss of feedback
To recover from an immediate stop condition, you must either issue the
reset command or cycle I/O chassis power. Note that the 1771-ES
expander continues to monitor current axis position.