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

PROGRAMMING 4-29
is saved and used for the "stop motion" command if the "stop
action" bit is set in register 65.
1. No home limit switch and no encoder marker pulse.
When the "home axis" command is issued, the value in
registers 17, 18 is assigned to the current axis position.
The axis does not move.
2. Encoder marker pulse only. When the "home axis"
command is issued, the axis moves in the specified
direction at the slow home speed (registers 15, 16) until
the marker pulse is detected. The value in registers 17,
18 is then assigned to the axis position.
3. Home limit switch only. When the "home axis" command
is issued, the axis moves in the specified direction at the
fast home speed (registers 19, 20) until the home limit
switch is detected. The axis then stops and moves in the
opposite direction at the slow home speed (registers 15,
16) until the limit switch is cleared. The value in registers
17, 18 is then assigned to the axis position.
4. Both the home limit switch and encoder marker pulse.
When the "home axis" command is issued, the axis
moves in the specified direction at the fast home speed
(registers 19, 20) until the home limit switch is detected.
The axis then stops and moves in the opposite direction
at the slow home speed (registers 15, 16) until the limit
switch is cleared. After clearing the home limit switch, the
axis continues in the same direction at slow speed until
the marker pulse occurs. The value in registers 17, 18 is
then assigned to the axis position.
Tune gains, tune dynamics, and tune feedforward gain are
auto-tuning commands that work differently from other
commands. While the auto-tuning process is underway, the
module will not respond to any commands other than the
"abort self-tuning" command (register 65). For this reason,
you should not attempt to issue self-tuning commands for
one axis while issuing any commands to the other axis.
Normal operation of both axes should be halted while
self-tuning is being done. Only one axis at a time may be
tuned.
Note that the application software disk includes an
auto-tuning procedure. See also section 5.2 for more
information about tuning.