Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set - Manual (Page 226)

Servo Parameters
Chapter 7
7-80
Axis Parameter
Number
Axis Parameter
Number
(1) [1670] (9) [9670]
(2) [2670] (10) [10670]
(3) [3670] (11) [11670]
(4) [4670] (12) [12670]
(5) [5670] (13) [13670]
(6) [6670] (14) [14670]
(7) [7670] (15) [15670]
(8) [8670]
Range
0 to 300%
Notes
This parameter must be set independently for each axis.
This peak torque determines the maximum force an axis can produce
during acceleration or deceleration in the positive direction.
Function
This is used to correct an axis imbalance caused by a constant force
applied in one direction on an axis that is not balanced by a force applied
in the opposite direction. An example would be a heavy vertical axis
subject to gravity load in the downward direction.
Determine what percentage of the motor’s maximum torque must be
applied in one direction to offset axis loading in the opposite direction.
Note that the maximum motor torque is represented by the AMP parameter
Maximum Servo Acceleration.
For example, entering 1% here when the parameter Torque Offset
Direction is set to Plus, increases the applied torque in the positive
direction and decreases it in the negative direction. If commanded to
accelerate in the positive direction at a rate that would normally require 3%
of the motor’s maximum torque, the control actually provides current for
4%. If the same motion command were executed in the negative
direction, the control provides current for 2% of the motor’s
maximum torque.
In this example, even when the axis is stationary, the control provides
current for 1% of the motor’s maximum torque in the positive direction.
7.3.13
Torque Offset Percentage