Rockwell Automation 57C422B 2 Axis Servo Module - Manual (Page 35)

PROGRAMMING 4-7
You should enable the gearing marker pulse if you intend to
use it to initialize the home position of the gearing encoder.
Refer to section 4.35 for the "set gearing position" command
in register 66 for more information.
4.5 Register 3: Proportional Gain
Register 3 contains the proportional gain for the module. This
value is read by the module whenever the “change default
setups” command in register 66 is issued. See Section 5.2
for more information on turning.
4.6 Register 4: Integral Gain
Register 4 contains the integral gain for the module. This
value is read by the module whenever the "change default
setups" command in register 66 is issued. See Section 5.2
for more information on tuning.
4.7 Register 5: Velocity Gain
Register 5 contains the velocity gain for the module. This
value is read by the module whenever the "change default
setups" command in register 66 is issued. See Section 5.2
for more information on tuning.
Figure 4.4 – Proportional Gain Register
Figure 4.5 – Integral Gain Register