Rockwell Automation 57C422B 2 Axis Servo Module - Manual (Page 62)

4-34 2-Axis Servo Module M/N 57C422B
The enable relative change to feedback position command
results in the value registers 17, 18 (the command position)
being added to the feedback position. This command only
causes the drive to change where it "thinks" it is. It does not
cause the drive to move.
The enable relative change to gearing position command
results in the value in registers 17, 18 (command position)
being added to the gearing position. This command does not
cause the drive to move. It only causes the drive to change
where it “thinks” it is.
4.37 Register 72: Status
Register 72 is the status register. This register is updated
continuously by the module, except during an auto-tune
operation. As soon as an auto-tune sequence is completed,
updating will begin. This register is read-only. Refer to figure
4.24. See 4.49 for more information on causing interrupts on
the corresponding status.
Axis done status indicates whether the programmed motion
Figure 4.36 – Status Register