Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set - Manual (Page 724)

Tuning a Digital or Tachless Analog System
Appendix A
A-2
Use the following AMP parameters to configure your drive system:
Table A.A
Velocity Loop Parameters
AMP Parameter Description For Tuning
Procedure:
Page
Servo Loop Type Selects the type of servo loop the axis
will be using
Set to final value:
Digital or
Position/Velocity
7-15
Velocity Loop Feedback Port Indicates what connector the velocity
feedback will be connected to. Select
the same port as the position loop
feedback port if the same feedback
device is to be used for the velocity and
position loops.
Set to final value 7-61
Velocity Feedback Type Indicates the type of A quad B feedback
device attached to the velocity feedback
port. Select the same device as the
position loop feedback type if the same
feedback device is to be used for the
velocity and position loops.
Set to final value 7-62
Velocity Feedback Counts/Rev Indicates the number of counts per
revolution generated by the velocity
feedback device. Select the same
number of counts as the position loop
feedback Counts/Rev if the same
feedback device is to be used for the
velocity and position loops.
Set to final value 7-65
Sign of Velocity Feedback Indicates the direction you have wired
feedback counts. As the servo moves
positive, counts must be increasing.
Set to final value 7-66
Maximum Servo Acceleration Set this parameter to indicate to the
control the maximum acceleration for
the drive system.
Set to final value 7-84
Velocity Integral Gain Use this parameter to tune the velocity
loop using the procedure described later
in this appendix.
Set to zero using
patch AMP
Look at defaults
from Table 7.D or
Table 7.E for digital
systems to get an
approximation of
your final value.
7-72
Velocity Proportional Gain Use this parameter to tune the velocity
loop using the procedure described later
in this appendix.
Set to 1500
Look at defaults
from Table 7.B or
Table 7.C for
digital systems to
get an
approximation of
your final value.
7-70