Rockwell Automation 57C422B 2 Axis Servo Module - Manual (Page 40)

4-12 2-Axis Servo Module M/N 57C422B
(encoder counts/sec) * 65.536
4.16 Registers 17,18: Command Position
Registers 17, 18 contain numeric parameters used in
various commands. All of the commands do not require the
use of all of the parameters in registers 17-24. Refer to figure
4.15.
Registers 17,18 contain the command position. This value is
read by the module whenever any of the following
commands are issued in register 66: "index/move," "define
fdbk position," "home axis," "tune gains," "define gearing
position," "set gearing position when marker occurs" and
"define sync position." The units are encoder counts.
The value is also read when any of the following commands
are issued in register 67: "enable passive homing on
feedback encoder marker pulse," "enable passive homing on
gearing encoder marker pulse,". "enable relative change in
feedback position," and "enable relative change in gearing
position."
Figure 4.14 – Low Speed Homing Reference Register
Figure 4.15 – Command Position Registers