Rockwell Automation 1395 Multi-Comm Hardware/Software - Manual (Page 70)

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).