Rockwell Automation 57C422B 2 Axis Servo Module - Manual (Page 61)

PROGRAMMING 4-33
Feedback registration enable and/or gearing registration
enable is used to sense the respective registration digital
input. If the enable is set, any transition of the registration
input will cause the current gearing or feedback position to
be stored in registers 84 through 87. This is useful when
attempting to synchronize the axis to an external event. See
section 4.31 for more options regarding registration. Also see
section 4.37 for a description of the "feedback registration
sensed" and "gearing registration sensed" bits (R72, b8 and
b9).
The change gear ratio command is used to alter the gear
ratio set in 25/26 when you are running in the gearing mode.
This command can affect physical motion in the system.
The set feedback position on feedback marker pulse
command enables passive homing. This command does not
cause any motion. It only enables the logic such that when a
feedback marker pulse is detected, the value in registers 17,
18 is assigned to the axis feedback position. Marker pulses
are enabled in register 2. Note that there are other methods
of homing described in section 4.35.
The set gearing position on gearing marker pulse command
enables passive homing for the gearing encoder. On the next
gearing encoder marker pulse, the value in registers 17, 18 is
assigned to the axis gearing position. Marker pulses are
enabled in register 2. Note that there are other methods of
homing described in section 4.35.
Figure 4.35 – Command Register 67