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Autotune tune velocity loop – Rockwell Automation 1395 Multi-Comm Hardware/Software User Manual

Page 70

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Chapter 3

Configuration & Interfacing

3–59

Autotune Tune Velocity Loop

This function calculates the required velocity loop gains based on the data
determined by the motor inertia test, system inertia test, and damping
factor (Parameter #702).

PLC Block Transfer Data

BTW Instruction Length: 4
BTR Instruction Length: 4

PLC DH+ Data –

Write

Read

Size In Elements:

4

4

Processor Type:

PLC–5

PLC–5

Destination Address:

N15:0–3

N15:0–3

Message Structure –

Message Header Information:
Word 1
: 0
Word 2: 0
Function Code, Word 3: 1293
Write Message Length, Word 4: 8 bytes

WORD

BTW

BTR

1

2

3

4

NOTE:

Word 4 of the BTR instruction is broken down into
two bytes. The High byte contains the status bits
per table 3–H. The low byte contains the Drive
message length in bytes.

0

0

1293

8

0

0

1293

See Note

Message Operation – The AUTOTUNE TUNE VELOCITY LOOP
function calculates the Drives velocity loop parameters using the data
determined by the motor inertia test, system inertia test, and the damping
factor (Parameter #702).