Rockwell-automation 2071-Axx Kinetix 3 Component Servo Drive Serial Ho Manuel d'utilisateur télécharger pdf (Page 39)

Rockwell Automation Publication 2071-RM001B-EN-P - April 2013 39

General Commands (ASCII) Chapter 3

Automatic Task (TAT)

Figure 3 - Automatic Task (TAT) Command String Example

Attribute Value

Command TAT

Format STX ID # TAT T1 : BSS ETX

Data Argument Description

T1 Automatic task number. See the following Values and Task

Descriptions.

Value Task Description

0x01 Auto Tuning

0x02 Move to Marker

0x03 Auto Adjustment of Velocity Command Offset

0x04 Auto Adjustment of Current Command Offset

0x07 Auto Adjustment of Current Feedback Offset

Response ACK

Usage Note Send TAT command without arguments to find out if a task is completed. See Figure 3

for

command examples.

Next Command STX ID # TAT: BSS ETX

Response Format STX ID $ BSY : BSS ETX - if task is not complete

STX ID $ TOK : BSS ETX - task is complete

#TAT (setting)

ACK

#TAT

$BSY

#TAT

$TOK

PC Servo

Time <200 ms

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Rockwell-automation 2071-Axx Kinetix 3 Component Servo Drive Serial Ho Manuel d'utilisateur Page 39