Rockwell Automation 57C422B 2 Axis Servo Module - Manual (Page 38)

4-10 2-Axis Servo Module M/N 57C422B
4.12 Register 10: In-Position Tolerance
Register 10 defines the tolerance within which the axis is
considered to be in-position. This value is read by the
module whenever the "enable feedback" (register 65) or
"change default setups" (register 66) command is issued.
The axis is considered to be in-position if the absolute value
of the difference between where the axis should be and
where it actually is, is less than this tolerance. This condition
is available as "axis locked" status in register 72. The
in-position tolerance is in units of encoder counts. Refer to
figure 4.11.
4.13 Registers 11, 12: Positive Overtravel
Limit
Registers 11, 12 define the positive overtravel limit. This
value is read by the module whenever the “enable feedback”
(register 65) or “change default setups” (register 66)
command is issued. This limit applies only if the axis is in the
linear mode (register 0, bit 4=0) and “software overtravel”
was enabled in register 2. The negative overtravel limit must
be algebraically less than the positive overtravel limit or a
motion fault will occur. The software overtravel limits are in
units of encoder counts.
Registers 11 -12 are also used to provide a maximum travel
limit for the "tune dynamics" (register 66) or "tune
Figure 4.11 – In-Position Tolerance Register