Rockwell Automation 57C422B 2 Axis Servo Module - Manual (Page 7)

List of Figures
Figure 2.1 - Module Faceplate ...................................................... 2-2
Figure 2.2 - Encoder Input Circuit ................................................. 2-4
Figure 2.3 - Typical Registration Input Circuit ............................... 2-5
Figure 2.4 - Typical Digital Input Circuit ........................................ 2-5
Figure 3.1 - Rack Slot Numbers.................................................... 3-2
Figure 3.2 - Typical Encoder Connections .................................... 3-3
Figure 3.3 - Typical Encoder Power Supply Connections............. 3-4
Figure 3.4 - Typical Limit Switch Connections .............................. 3-5
Figure 3.5 - Typical Registration Input Connections ..................... 3-5
Figure 3.6 - Typical Drive Reference / Voltage Reference
Connections with External P/S.................................. 3-6
Figure 3.7 - Typical E-stop Circuit with Watchdog Output ............ 3-7
Figure 3.8 - Typical Drive Fault Connections ................................ 3-8
Figure 4.1 - Encoder Configuration Register................................. 4-3
Figure 4.2 - Control Loop Configuration Register ......................... 4-4
Figure 4.3 - Home and Overtravel Configuration Register............ 4-5
Figure 4.4 - Proportional Gain Register ........................................ 4-7
Figure 4.5 - Integral Gain Register................................................ 4-7
Figure 4.6 - Velocity Gain Register ............................................... 4-8
Figure 4.7 - Feedforward Gain Register........................................ 4-8
Figure 4.8 - Deadband Compensation Register............................ 4-8
Figure 4.9 - Maximum Position Error ............................................ 4-9
Figure 4.10 - Maximum Velocity Error Register .............................. 4-9
Figure 4.11 - In-Position Tolerance Register ................................ 4-10
Figure 4.12 - Positive Overtravel Limit Registers.......................... 4-10
Figure 4.13 - Negative Overtravel Limit Registers ........................ 4-11
Figure 4.14 - Low Speed Homing Reference Register ................. 4-11
Figure 4.15 - Command Position Registers ................................. 4-12
Figure 4.16 - Command Velocity Registers .................................. 4-13
Figure 4.17 - Command Acceleration Registers ........................... 4-14
Figure 4.18 - Command Deceleration Registers........................... 4-14
Figure 4.19 - Gear Ratio Registers ............................................... 4-15
Figure 4.20 - User-Controlled LED Register ................................. 4-16
Figure 4.21 - Drive Command Reference Register....................... 4-16
Figure 4.22 - Sync Position Registers........................................... 4-17
Figure 4.23 - Maximum Voltage Reference Output Register ........ 4-18
Figure 4.24 - Positive Linearization Constant Register ................. 4-18
Figure 4.25 - Positive Linearization Constant Register ................. 4-19
Figure 4.26 - Feedback Unwind Constant Registers ................... 4-19
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