Rockwell Automation 57C422B 2 Axis Servo Module - Manual (Page 32)

4-4 2-Axis Servo Module M/N 57C422B
If the *4 quadrature mode is selected, both edges of
Channels A and B result in counts. The direction is
determined by the channel changing state and the state of
the opposite channel. All subsequent references to counts
include the quadrature calculation.
Note: Any references to counts within this instruction
manual take into account the quadrature multiplier
selected in this register.
You can use the feedback encoder polarity bit to change the
rotation of the encoder as seen by the application software.
This is analogous to swapping the encoder leads to alter the
electrical direction of rotation.
Specifying the axis as "rotary" using the feedback linear/
rotary bit causes the module to subtract or add one
revolution of counts from the command position and the
actual position whenever the encoder crosses the revolution
boundary. This allows infinite range for rotary axis. If the axis
is specified as linear, the feedback will simply increment or
decrement as the axis is moved forward or in reverse.
4.3 Register 1: Drive Setup
Register 1 is used to configure the servo drive. Refer to
figure 4.2.
The analog output from the module should be configured to
work with the control loop on the drive (either current or
velocity).
Figure 4.2 – Control Loop Configuration Register