Rockwell Automation 57C422B 2 Axis Servo Module - Manual (Page 3)

Table Of Contents
1.0 Introduction ...................................................................... 1-1
2.0 Mechanical/Electrical Description .................................. 2-1
2.1
Mechanical Description............................................ 2-1
2.2 Electrical Description ............................................... 2-3
3.0 Installation ........................................................................ 3-1
3.1
Wiring....................................................................... 3-1
3.2 Initial Installation ...................................................... 3-1
3.3 Module Replacement............................................. 3-11
4.0 Programming.................................................................... 4-1
4.1
Configuration ........................................................... 4-2
4.2 Register 0: Encoder Setup....................................... 4-3
4.3 Register 1: Drive Setup............................................ 4-4
4.4 Register 2: Switch Setup ......................................... 4-5
4.5 Register 3: Proportional Gain .................................. 4-7
4.6 Register 4: Integral Gain.......................................... 4-7
4.7 Register 5: Velocity Gain ......................................... 4-7
4.8 Register 6: Feedforward Gain.................................. 4-8
4.9 Register 7: Deadband Compensation...................... 4-8
4.10 Register 8: Maximum Position Error ........................ 4-9
4.11 Register 9: Maximum Velocity Error ........................ 4-9
4.12 Register 10: In-Position Tolerance ........................ 4-10
4.13 Registers 11, 12: Positive Overtravel Limit............ 4-10
4.14 Registers 13, 14: Negative Overtravel Limit .......... 4-11
4.15 Registers 15,16: Low Speed
Homing Reference................................................. 4-11
4.16 Registers 17,18: Command Position ..................... 4-12
4.17 Registers 19, 20: Command Velocity .................... 4-13
4.18 Registers 21, 22: Command Acceleration ............. 4-13
4.19 Registers 23, 24: Command Deceleration............. 4-14
4.20 Registers 25, 26: Gear Ratio ................................. 4-15
4.21 Register 27: User LEDs ......................................... 4-15
4.22 Register 28: Direct Drive Reference
Command .............................................................. 4-16
Note: Register descriptions for equivalent X and Y axis
registers are exactly the same. Although sections of
Chapter 4 are titled by X axis register number, the
equivalent Y register is given in the figure that
accompanies each register description.
I