Rockwell Automation 57C422B 2 Axis Servo Module - Manual (Page 33)

PROGRAMMING 4-5
The output polarity bit is used to alter the sign of the drive
reference for a given error. This is analogous to swapping
the wires for the drive reference.
4.4 Register 2: Switch Setup
Register 2 is used to configure the home and overtravel limit
switches. Refer to figure 4.3.
If you have a home limit switch on your machine, you should
use the enable home L/S. You can define the asserted sense
of the limit switch as either normally open or normally closed.
The home direction bit is used to define the direction that the
drive will move during the initial phase of the homing
sequence.
Figure 4.3 – Home and Overtravel Configuration Register