Rockwell Automation 57C422B 2 Axis Servo Module - Manual (Page 52)

4-24 2-Axis Servo Module M/N 57C422B
The enable control loop bit commands the module to switch
on the control loop (position/velocity) and enable the drive
reference from the module. It also causes the
microprocessor to read set-up data and reset faults when
toggled.
The enable gearing bit commands the module to ratio the
feedback encoder to the gearing encoder. This function is
useful for electronic lineshaft applications. Note that if the
gearing function is used, register 25, 26 must contain the
gear ratio.
If gearing is enabled or disabled with ramp velocity control
disabled, the axis will accelerate or decelerate in current
limit.
If gearing is disabled with ramp velocity control enabled, it is
possible to do an absolute move while the drive is still in
motion. The new commanded position to which to move
must be either behind the current position, or farther forward
than the current position plus the distance required to
Figure 4.33 – Mode Register