Rockwell Automation 57C422B 2 Axis Servo Module - Manual (Page 114)

G-2 2-Axis Servo Module M/N 57C422B
there is a mode of homing in which the axis does not move.
This is selected with register 2 bits 0 and 3* both off. The
application program would need to go through the following
steps to use the Home command to set the deceleration rate
for a fast stop. Note that this is not a complete program. It is
intended only to show the flow of control.
1. Enable the drive
2. Low Speed Homing Reference = Slow Velocity
3. Command Position= 0
4. Command Velocity = Fast Velocity
5. Command Acceleration = Fast Acceleration Rate
6. Command Deceleration = Fast Deceleration Rate
7. Register 2 Bit 0 = 0
8. Register 2 Bit 3 = 0
9. Issue the Home Axis command (Register 66 Bit 2 = 1)
After the Home command is complete, the command
position, velocity, acceleration, and deceleration registers
can then be loaded with other values for other commands.
* Note that all references to register numbers are only for the
X axis and that the information given here also applies to
the corresponding registers on the Y axis.
For applications that already do a Home command, you must
keep in mind that the value in registers 23, 24 when the
Home command is issued will be the deceleration rate for the
Stop Motion command if the Stop Action bit is set. For this
reason register 23, 24 should be loaded with the fast
deceleration rate when doing a Home command.
* Note that all references to register numbers are only for the
X axis and that the information given here also applies to
the corresponding registers on the Y axis.