Rockwell Automation 57C422B 2 Axis Servo Module - Manual (Page 54)

4-26 2-Axis Servo Module M/N 57C422B
The stop action bit defines the way that the drive will stop
when a "stop motion" command (register 66) is issued. If a
"decel to stop" is selected and the module is not in the cam
mode, the drive will ramp to a zero speed at the rate in
register 23, 24 when the motion is started. If the module was
in the time cam mode, it will complete the current cam cycle
and return to the beginning of the profile. If the module was in
position cam mode, cam execution will stop immediately. If a
"fast stop" is selected, the module will command the drive to
decelerate at the rate specified in register 23, 24 when the
"home" command is issued. If a "fast stop" is selected, a
"home", or "tune dynamics" command MUST be done to load
the "fast stop" deceleration rate. If the application does not
normally do a "home" command, you can use the mode of
homing that does not cause any motion. See section 4.35 for
more information. The feedback loop will remain enabled.
The gearing reference bit defines the source of the gearing
reference. Bit 9 = 0 if you want the gearing reference to be
determined by register 38. If the reference is an encoder, you