Rockwell Automation 1784-PM16SE SoftLogix Motion Card Setup and Configuration Manual - Manual (Page 417)

Publication 1784-UM003A-EN-P – June 2003
Motion Object Attributes 409
Tuning Configuration Bits
Tuning Direction Reverse
The Tune Direction Reverse bit attribute determines the direction of the
tuning motion profile initiated by the MRAT (Motion Run Axis Tune)
instruction. If this bit is set (true), motion is initiated in the reverse (or
negative) direction.
Tune Position Error Integrator
The Tune Position Error Integrator bit attribute determines whether or not
the MAAT (Motion Apply Axis Tune) instruction will calculate a value for the
Position Integral Gain. If this bit is clear (false) the value for the Position
Integral Gain will be set to zero.
Tune Velocity Error Integrator
The Tune Velocity Error Integrator bit attribute determines whether or not
the MAAT (Motion Apply Axis Tune) instruction will calculate a value for the
Velocity Integral Gain. If this bit is clear (false) the value for the Velocity
Integral Gain will be set to zero.
Tune Velocity Feedforward
The Tune Velocity Feedforward bit attribute determines whether or not the
MAAT (Motion Apply Axis Tune) instruction will calculate a value for the
Velocity Feedforward Gain. If this bit is clear (false) the value for the Velocity
Feedforward Gain will be set to zero.
Tune Acceleration Feedforward
The Tune Acceleration Feedforward bit attribute determines whether or not
the MAAT (Motion Apply Axis Tune) instruction will calculate a value for the
Acceleration Feedforward Gain. If this bit is clear (false) the value for the
Acceleration Feedforward Gain will be set to zero.
GSV/SSV Access Attribute Name Data Type Values
SSV/GSV Tuning Configuration Bits DINT 0: Tuning Direction Reverse
1: Tune Position Error Integrator
2: Tune Velocity Error Integrator
3: Tune Velocity Feedforward
4: Tune Acceleration Feedforward
5: Tune Output Low-Pass Filter
6-31: Reserved