Rockwell Automation 57C422B 2 Axis Servo Module - Manual (Page 63)

PROGRAMMING 4-35
has been completed. It does not necessarily mean that the
axis is at the commanded position.
Axis locked is set whenever the absolute value of the
difference between where the axis is and where it should be
is less than the value stored in the in-position register
(register 10). Note that the axis does not have to be stopped
to be in-position, and it may not be locked after an
incremental move.
Axis busy status is the logical complement of "axis done."
The position > = and position < bits work in conjunction with
the “sync position” contained in registers 29, 30 and the
“define sync position” command in register 66.
The home sequence complete bit indicates whether a
homing sequence has been successfully completed. The bit
is reset by the module when it receives a “home axis”
command from register 66.
The auto tuning sequence complete bit indicates whether an
auto tuning sequence is complete. This is the only status bit
that will be updated during auto-tuning. This bit will be set at
the end of an auto-tuning sequence regardless of whether it
was completed or aborted. The bit is reset by the module
when it receives an "auto tune" command.
The control loop enabled bit indicates whether the control
loop (velocity/position) is actively regulating the drive. This bit
reflects the status of the control loop. The control loop is
disabled, and this bit is reset, by any severe fault, e.g., a
drive fault or hardware overtravel as reported in register 73.
The control loop is also disabled by turning off bit 0 in register
65.
The feedback registration sensed bit is reset by the "enable
feedback registration" command in register 67. The bit will be
set by the next occurrence of the feedback registration input,
and the feedback position will be stored in registers 84, 85.
This bit is not set unless the "feedback registration enable"
bit in register 67 is set first. The feedback registration sensed
bit stays high (1) until the "feedback registration enable" bit is
toggled.
The gearing registration sensed bit is reset by the "enable
gearing registration" command in register 67. The bit will be