Rockwell Automation 57C422B 2 Axis Servo Module - Manual (Page 56)

4-28 2-Axis Servo Module M/N 57C422B
The index/move command will cause the axis to move
according to the parameters defined in registers 17-24 and
register 65, bit 5. Once a move has been initiated, the accel
and decel rates may not be changed until the move is
complete. Velocity can be changed during a move by issuing
a "change velocity" command. Final position may be
changed during a move by issuing another index move.
The define feedback position command will cause the
current position of the feedback to be defined by the value in
registers 17-18. The axis will not move.
The home axis command will cause the axis to perform the
homing sequence that was defined by the bits in register 2.
Four different homing sequences for the feedback axis are
possible, depending on whether a home limit switch and
encoder marker pulse are specified in register 2. These four
sequences are described below. Note that it is also possible
to home on the feedback or gearing encoder marker pulse.
See section 4.36 for more information. When a "home"
command is issued, the deceleration rate in registers 23, 24
Figure 4.34 – Command Register 66