Tuning commands, Position loop kp gain, Position loop ki gain – Rockwell Automation 2098-DSD-xxx Ultra3000 Host Commands for Serial Interface User Manual
Page 101: Tuning commands -85, Position loop kp gain position loop ki gain
Publication 2098-RM003A-EN-P October 2001
Command Reference
2-85
Tuning Commands
Position Loop Kp Gain
Position Loop Ki Gain
Format:
:aa011fddddcc<cr>
Parameter
Code:
0x011
Valid Function
Codes:
0x0 = Read Working Value
0x1 = Write Working Value
0x2 = Read Non-Volatile Value
0x3 = Write Non-Volatile and Working Values
0x4 = Copy Non-Volatile Value to Working Value
0x5 = Copy Working Value to Non-Volatile Value
0x6 = Read Default Value
0x7 = Copy Default Value to Non-Volatile and Working Values
0x8 = Read Minimum Value
0x9 = Read Maximum Value
Valid Exception
Codes:
0x03 = EEPROM Write Error
0x04 = Data Below Minimum
0x05 = Data Above Maximum
0x08 = Invalid Function Code
Data Fields:
dddd
Minimum
Value:
0x0000
Maximum
Value:
0x0FFF
Default:
0x0200
Format:
:aa012fddddcc<cr>
Parameter
Code:
0x012
Valid Function
Codes:
0x0 = Read Working Value
0x1 = Write Working Value
0x2 = Read Non-Volatile Value
0x3 = Write Non-Volatile and Working Values
0x4 = Copy Non-Volatile Value to Working Value
0x5 = Copy Working Value to Non-Volatile Value
0x6 = Read Default Value
0x7 = Copy Default Value to Non-Volatile and Working Values
0x8 = Read Minimum Value
0x9 = Read Maximum Value
Valid Exception
Codes:
0x03 = EEPROM Write Error
0x04 = Data Below Minimum
0x05 = Data Above Maximum
0x08 = Invalid Function Code
Data Fields:
dddd
Minimum
Value:
0x0000
Maximum
Value:
0x0FFF
Default:
0x0000