Rockwell Automation 57C422B 2 Axis Servo Module - Manual (Page 29)

PROGRAMMING 4-1
C
HAPTER
4
PROGRAMMING
This section describes how the data is organized in the
module and provides examples of how the module is
accessed by the application software. For more detailed
information on programming, refer to J-3675, J-3676, and
J-3677.
The module contains a total of 4096 16-bit registers, one set
of 2047 registers for each servo axis. The X axis uses
registers 0-2046. The Y axis uses registers 2048-4094.
Note that there are 2 exceptions to this basic register
organization scheme: registers 64 and 4095 (interrupt
control) are used for both axes. In other words, the use
of an interrupt on either axis will require you to perform
some function In these two registers. See section 4.49
for more information on interrupts.
The following register reference conventions are used
throughout this instruction manual. All register descriptions in
the following sections are based on the X axis and are
organized in numerical order, except for interrupt and cam
registers, which are described in sections 4.49 and 4.50. The
equivalent Y axis registers are given in parentheses in the
figure that accompanies each register description. Appendix
E is a numerical register summary with page number
references.
Register numbers listed together separated by a comma
(e.g., 11, 12) signify a double precision (32-bit) value.
Register numbers listed together separated by a slash (e.g.,
104/105) indicate that both registers have a similar function
and should be considered together. This notation does not
indicate a double precision value.
For ease of locating descriptions for individual bits within
registers, bit names are underlined in the sections where the
bits are described. Bit names are placed between quotation
marks when they are only referred to. In some cases,