Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set User Manual

Page 217

Servo Parameters

Chapter 7

7-71

The following tables are provided for reference only.

Table 7.B

Velocity Proportional Gain Values for Standard Motors with Incremental Feedback

MOTOR:LOAD

INERTIA

8500 MOTOR TYPES

RATIO

8500

A1C

8500

A2C

8500

B1C

8500

B2C

8500

B3C

8500

A1D

8500

A2D

8500

A3D

8500

B1D

8500

B2D

1 : 0

17408

15872

20480

17408

16384

16128

20480

1 : 1

34816

31744

40960

34816

32768

32256

40960

1 : 2

52224

47616

53248

64512

52224

49152

48384

53248

1 : 3

64512

MOTOR:LOAD

INERTIA

1326 MOTOR TYPES

RATIO

1326AB

B410G

B410J

1326AB

B420E

B420H

1326AB

B430E

B430G

B740E

1326AB

B515E

B515G

1326AB

B520E

1326AB

B520F

1326AB

B530E

1326AB

B720E

1326AB

B730E

1 : 0

1000

2000

3000

7500

8738

6000

10000

3600

22000

1 : 1

2000

4000

6000

15000

17460

12000

20000

7200

44000

1 : 2

3000

6000

9000

22500

26214

18000

30000

10800

66000

1 : 3

4000

8000

12000

30000

34952

24000

40000

14400

88000

Table 7.C

Velocity Proportional Gain Values for Standard 8500 Motors with Absolute Encoders

MOTOR:LOAD

INERTIA

8500 MOTOR TYPES

RATIO

8500

A1C

8500

A2C

8500

B1C

8500

B2C

8500

B3C

8500

A1D

8500

A2D

8500

A3D

8500

B1D

8500

B2D

1 : 0

12750

11625

15000

12750

12000

11813

15000

1 : 1

25500

23250

30000

25500

24000

23625

30000

1 : 2

38250

34875

39000

47250

38250

36000

35438

39000

1 : 3

47250

Generally, if set too high, the axis is underdampened and oscillation

results. If set too low, the axis is overdampened and requires too much

time to reach position.