Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set - Manual (Page 187)

Servo Parameters
Chapter 7
7-41
9/440 Systems
On a 9/440 resolver based system, there are seven feedback connectors, six
of which can be used at one time. On 9/440HR systems there are eight
feedback connectors, all of which can be used at one time. On both
systems the first four connectors (J1 to J4) are reserved for the
motor--mounted feedback devices. Motor--mounted feedback is required
for the velocity feedback loop. This same motor--mounted feedback device
may also be used for position feedback in which case both the position and
velocity loop feedback port will be the same (J1 to J4). If you have an
optional feedback device returning position feedback, it must be assigned
to one of the additional encoder ports on the system module (J9, J10, J11
on 9/440 resolver based systems, J9, J10, J11, or J12 on 9/440HR systems).
Axis Parameter Number Axis Parameter Number
(1) [1530] (7) [7530]
(2) [2530] (8) [8530]
(3) [3530] (9) [9530]
(4) [4530] (10) [10530]
(5) [5530] (11) [11530]
(6) [6530] (12) [12530]
Range
Selection Result
(a) No Feedback
(b) Feedback Connector J1 or CN5
(c) Feedback Connector J2 or CN6
(d) Feedback Connector J3 or CN7
(e) Feedback Connector J4
(f) Optional Feedback Conn J9 or CN14
(g) Optional Feedback Conn J10 or CN15
(h) Optional Feedback Conn J11 or CN16
(i) Optional Feedback Conn J12
Important: Selections CN14, CN15, and CN16 are for use with 3 axis
digital servo modules equipped with optional feedback modules.
If you select (f), (g), or (h) for a system using an analog servo interface, an
error results upon powering up the control after downloading AMP.