Rockwell Automation 57C422B 2 Axis Servo Module - Manual (Page 4)

4.23 Registers 29, 30: Sync Position ............................ 4-16
4.24 Register 31: Maximum Voltage Reference ........... 4-17
4.25 Register 32: Positive Linearization Constant ........ 4-18
4.26 Register 33: Negative Linearization Constant ....... 4-18
4.27 Registers 34,35: Feedback Unwind Constan ........ 4-19
4.28 Registers 36, 37: Gearing Unwind Constant ......... 4-19
4.29 Register 38: Gearing Modes, Ratio Format,
Ramp Velocity Control .......................................... 4-20
4.30 Registers 39, 40: Backlash Compensation ........... 4-21
4.31 Register 41: Registration Input
Edge Detection...................................................... 4-22
4.32 Register 63: Auto-Acknowledge ............................ 4-22
4.33 Register 64: Interrupt Reset .................................. 4-23
4.34 Register 65: Mode ................................................. 4-23
4.35 Register 66: Command ......................................... 4-27
4.36 Register 67: Command ......................................... 4-32
4.37 Register 72: Status................................................ 4-34
4.38 Register 73: Fault .................................................. 4-37
4.39 Registers 74, 75: Current Feedback Position ....... 4-38
4.40 Registers 76, 77: Current Gearing Position .......... 4-39
4.41 Registers 78, 79: Current Velocity ........................ 4-39
4.42 Register 80: Following Error.................................. 4-39
4.43 Register 81: Velocity Error .................................... 4-40
4.44 Register 82: Digital Input Status............................ 4-40
4.45 Register 83: Current Velocity Status
Update Period ....................................................... 4-41
4.46 Registers 84, 85: Feedback
Registration Position ............................................. 4-41
4.47 Registers 86, 87: Gearing
Registration Position ............................................. 4-41
4.48 Registers 99-103: Software Version Number........ 4-42
4.49 Interrupt Registers................................................. 4-42
4.49.1 Registers 68/69: Interrupt Enable.............. 4-43
4.49.2 Registers 104/105: Interrupt Source.......... 4-45
4.49.3 Register 4095: Interrupt Status and Control
(ISCR) Register ......................................... 4-47
4.49.4 Sample Application Task with Interrupt ..... 4-48
Note: Register descriptions for equivalent X and Y axis
registers are exactly the same. Although sections of
Chapter 4 are titled by X axis register number, the
equivalent Y register is given in the figure that
accompanies each register description.
I