Rockwell Automation 22D PowerFlex 40P User Manual, FRN 3 - Manual (Page 179)

Encoder Usage and Position StepLogic Application F-11
E248 [Enh Control Word]
This parameter allows many of the positioning functions to be completed
via parameter control using an explicit message. This allows the
operation over communications instead of with hardware inputs. The bits
have the same functions as the digital input options of the same name.
Options relating to positioning are:
Bit 0 “Home Limit”
Bit 1 “Find Home”
Bit 2 “Hold Step”
Bit 3 “Pos Redefine”
E230-E244 [Step Units x]
All of the position steps can be written to while the drive is running. The
changes will take place at the next move. For example, if step 0 is
over-written while the drive is moving to step 0, the drive will move to
the previous commanded position at step 0. The next time the drive is
commanded to return to step 0 it will proceed to the new position. One
possible use of this capability is when an application requires full control
of the movement by a controller external to the drive. The Step Logic
program might be written to jump from step 0 back to step 0 when Input
1 is active. The controller could write any desired position to step 0 and
then toggle the input 1 bit of E248 [Enh Control Word] to cause the drive
to move to the new position. This allows almost unlimited flexibility and
can be used with absolute or incremental moves.
Setup Notes
The RA computer tools (DriveExplorer and DriveTools SP) can make
setup of the positioning functions much easier. Please refer to the latest
versions for additional tools or wizards which can aid in the setup.