Rockwell Automation 2071-Axx Kinetix 3 Component Servo Drive Serial Host Command Reference Manual - Manual (Page 39)

Rockwell Automation Publication 2071-RM001B-EN-P - April 2013 39
General Commands (ASCII) Chapter 3
Automatic Task (TAT)
Figure 3 - Automatic Task (TAT) Command String Example
Attribute Value
Command TAT
Format STX ID # TAT T1 : BSS ETX
Data Argument Description
T1 Automatic task number. See the following Values and Task
Descriptions.
Value Task Description
0x01 Auto Tuning
0x02 Move to Marker
0x03 Auto Adjustment of Velocity Command Offset
0x04 Auto Adjustment of Current Command Offset
0x07 Auto Adjustment of Current Feedback Offset
Response ACK
Usage Note Send TAT command without arguments to find out if a task is completed. See Figure 3 for
command examples.
Next Command STX ID # TAT : BSS ETX
Response Format STX ID $ BSY : BSS ETX - if task is not complete
STX ID $ TOK : BSS ETX - task is complete
#TAT (setting)
ACK
#TAT
$BSY
#TAT
$TOK
PC Servo
Time <200 ms
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.
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