Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set - Manual (Page 179)

Servo Parameters
Chapter 7
7-33
Function
Specifies the amount of following error at which gain is reduced from the
Initial Gain value.
Following error increases with servo speed. When the following error
exceeds the value entered for this parameter, the gain is reduced on the
basis of the Position Loop Gain Break Ratio.
Important: The value entered here must be less than the value entered for
Feedrate Suppression Point, or a Warning: ”SERVO AMP FE LIMITS
CORRECTED”occurs. This parameter is not used for a ZFE Closed--loop
axis, but still must be less than the value entered for Feedrate
Suppression Point.
Figure 7.19
Example of Interrelationship Between Gain Parameters
Gain Break Point = .105 Gain Break Point = .100
Initial Gain
of Position
Loop = .75
final gain
= (.67)(.75) = .50
final gain
= (.41)(1.20) = .50
Commanded
servo speed
120
78
Initial Gain of
Position Loop
= 1.20
Position Loop
Gain Break
Ratio = .67
Position Loop
Gain Break
Ratio = .41
Following
error
7.2.6
Gain Break Point