Rockwell Automation 1395 ControlNet Communication Board - Manual (Page 48)

3–34 Configuration & PLC Interfacing
Publication 1395–5.37– March, 1999
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.
PLC Block Transfer Instruction Data –
Write Read
Size In Elements: 4 4
Processor Type: PLC-5 PLC-5
Destination Address: N40:0-3 N40:0-3
Message Structure –
Message Header Information:
Word 1: 0
Word 2: 0
Function Code, Word 3: 1293
Write Message Length, Word 4: 8 bytes
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
1293
Message Length
8 bytes
Header
Word 2
Header
Word 3
Header
Word 4
0
Header
Word 1
0
Function Code
1293
See Note
Header
Word 2
Header
Word 3
Header
Word 4
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 PMR
message.