Rockwell Automation 1395 ControlNet Communication Board - Manual (Page 47)

3–33 Configuration & PLC Interfacing
Publication 1395–5.37– March, 1999
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 Instruction Data –
Write Read
Size In Elements: 4 6
Processor Type: PLC-5 PLC1-5
Destination Address: N40:-3 N40:0-7
Message Structure –
0
PLC Message Write PLC Message Read
NOTE: Word 4 of the PLC Message Read instruction is broken down
into two bytes. The High byte contains the status bits
The Low byte contains the Drive message length in bytes.
Header
Word 1
0
Function Code
1037
Message Length
8 bytes
Header
Word 2
Header
Word 3
Header
Word 4
0
Header
Word 1
0
Function Code
1037
See Note
Header
Word 2
Header
Word 3
Header
Word 4
Data
Word 5
Data
Word 6
Parameter
702
Parameter
Data
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).