Rockwell Automation 57C422B 2 Axis Servo Module - Manual (Page 8)

Figure 4.27 - Gearing Unwind Constant Registers....................... 4-20
Figure 4.28 - Gearing Mode, Ratio Format, and Ramp
Velocity Control Register ........................................ 4-20
Figure 4.29 - Backlash Compensation Registers ......................... 4-22
Figure 4.30 - Registration Edge Detection Register ..................... 4-22
Figure 4.31 - Auto-Acknowledge Register.................................... 4-23
Figure 4.32 - Interrupt Reset Register .......................................... 4-23
Figure 4.33 - Mode Register......................................................... 4-24
Figure 4.34 - Command Register 66 ............................................ 4-28
Figure 4.35 - Command Register 67 ............................................ 4-33
Figure 4.36 - Status Register........................................................ 4-34
Figure 4.37 - Fault Register.......................................................... 4-37
Figure 4.38 - Current Feedback Position Registers ..................... 4-38
Figure 4.39 - Current Gearing Position Registers ........................ 4-39
Figure 4.40 - Current Velocity Registers ...................................... 4-39
Figure 4.41 - Following Error Register.......................................... 4-40
Figure 4.42 - Velocity Error Register ............................................ 4-40
Figure 4.43 - Digital Input Status Register.................................... 4-40
Figure 4.44 - Current Velocity Status Update Period Register ..... 4-41
Figure 4.45 - Feedback Registration Position Regiesters ............ 4-41
Figure 4.46 - Gearing Registration Position Registers ................. 4-42
Figure 4.47 - Software Version Registers..................................... 4-42
Figure 4.48 - Interrupt Enable Masking Register (Status) ............ 4-44
Figure 4.49 - Interrupt Enable Masking Register (Fault) .............. 4-45
Figure 4.50 - Interrupt Source Register (Status) .......................... 4-46
Figure 4.51 - Interrupt Source Register (Fault)............................. 4-47
Figure 4.52 - Interrupt Status and Control Register...................... 4-47
Figure 4.53 - Master Axis Position Increment Register ................ 4-53
Figure 4.54 - Master Regference Position.................................... 4-54
Figure 4.55 - Cam Profile Registers ............................................. 4-56
Figure 4.56 - Cam Loop Back Register ........................................ 4-57
Figure 4.57 - Time Cam Data Registers....................................... 4-58
Figure 4.58 - Position Cam Data Registers .................................. 4-58
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