Rockwell Automation 1395 Multi-Comm Hardware/Software - Manual (Page 71)

Chapter 3
Configuration & Interfacing
3–60
Autotune Update Velocity Tune
This function updates the Drives internal database with the velocity loop
parameters calculated by the Tune Velocity Loop function and provides the
data to the PLC Controller in the BTR message.
PLC Block Transfer Data –
BTW Instruction Length: 4
BTR Instruction Length: 10
PLC DH+ Data –
Write Read
Size In Elements: 4 10
Processor Type: PLC–5 PLC–5
Destination Address: N15:0–3 N15:0–9
Message Structure –
Message Header Information:
Word 1: 0
Word 2: 0
Function Code, Word 3: 1549
Write Message Length, Word 4: 8 bytes
WORD
0
0
1549
8
BTW BTR
0
0
1549
See Note
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.
Parameter 659
Parameter Data
Parameter 660
Parameter Data
Parameter Data
Parameter 700
5
6
7
8
9
10
Message Operation – The AUTOTUNE UPDATE VELOCITY TUNE
function updates the Drives internal data base with the Velocity loop Ki
(parameter #659), velocity loop Kp (Parameter 660), and desired
bandwidth (Parameter #700) as calculated by the autotune firmware, and
provides the data to the PLC Controller in the BTR message.