Allen-Bradley ControlLogix Reference Manual

CIP Axis Attributes
Chapter 4
Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018 265
Gain Tuning Configuration Bits
Usage Access T Data
Type
Default Min Max Semantics of Values
Required - C
Set/
SSV#
WORD 1
Bits 4-7
FD
- - Bit Field
0 = Run Inertia Test
1 = Use Load Ratio
2 = Reserved
3 = Reserved
4 = Tune Pos Integrator
5 = Tune Vel Integrator
6 = Tune Vel Feedforward
7 = Tune Accel Feedforward
8 = Tune Toque LP Filter
9...15 = Reserved
# Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true).
This Gain Tuning Configuration Bits attribute value is a bit field attribute that
controls the loop gain-tuning calculations.
Bits 4-7 may not be updated programmatically by SSV instruction unless the
Application Type is set to Custom.
The following table provides detailed descriptions for the bits of this attribute:
Bit Name Description
Run Inertia Test
This bit determines whether or not the MRAT tuning instruction will send a Test
Inertia service to the drive to perform an inertia measurement. If this bit is set
the Inertia Test will be performed. If the bit is clear, the MRAT will immediately
complete without an inertia measurement.
Use Load Ratio
This bit determines if Load Ratio is used in calculating Total Inertia and System
Bandwidth calculations. If this bit is set, Load Ratio will be used in these
calculations. If this bit is clear, Load Ratio will not have any impact on Total
Inertia or System Bandwidth.
Tune Position Integrator
The Tune Position Integrator bit attribute determines whether or not the
auto-tuning algorithm calculates a value for the Position Integrator Bandwidth.
If this bit is clear (fa
lse) the value for the Position Integrator Bandwidth is set to
zero, disabling the integrator.
Tune Velocity Integrator
The Tune Velocity Integrator bit attribute determines whether or not tuning
algorithms calculate a value for the Velocity Integrator Bandwidth. If this bit is
clear (false) the value for the Velocity Integrator Bandwidth is set to zero,
disabling the integrator.
Tune Velocity Feedforward
The Tune Velocity Feedforward bit attribute determines whether or not tuning
algorithms calculate a value for the Velocity Feedforward Gain. If this bit is clear
(false) the value for the Velocity Feedforward Gain is set to zero.
Tune Acceleration Feedforward
The Tune Acceleration Feedforward bit attribute determines whether or not
tuning algorithms calculate a value for the Acceleration Feedforward Gain. If
this bit is clear (false) the value for the Acceleration Feedforward Gain is set to
zero.

Allen-Bradley ControlLogix Specifications

General

Brand	Allen-Bradley
Model	ControlLogix
Category	Industrial Electrical
Language	English