Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set - Manual (Page 220)

Servo Parameters
Chapter 7
7-74
Table 7.E
Velocity Integral Gain Values for Standard 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 82 70 94 94 94 82 74 72 94 94
1 : 1 164 141 188 188 188 164 148 144 188 188
1 : 2 246 211 293 293 293 246 222 215 293 293
1 : 3 469 469 469 469 469 469 469 469 469 469
If a nonstandard motor is to be used, the initial value for this parameter
must be determined through extensive motor testing. For assistance call
Allen-Bradley Commercial Engineering at (440) 646-5000.
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 speed.
Axis Parameter
Number
Axis Parameter
Number
(1) [1800] (7) [7800]
(2) [2800] (8) [8800]
(3) [3800] (9) [9800]
(4) [4800] (10) [10800]
(5) [5800] (11) [11800]
(6) [6800] (12) [12800]
Range
33 to 32768 (8500 digital systems)
0 to 65535 (other systems)
Notes
This parameter must be set independently for each servo.
For assistance on determining the optimal velocity proportional gain
amount refer to the tuning procedure in appendix A of this manual.