Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set - Manual (Page 727)

Tuning a Digital or Tachless Analog System
Appendix A
A-5
Download AMP with the following consideration:
Configure all velocity loop parameters as listed in Table A.A. You
should be able to set most of the parameters to their final values (such as
number of counts per rev and velocity feedback port).
Configure your linear Acc/Dec Curve for an acceleration/deceleration
ramp at a slope close to (but slightly less than) your expected maximum
servo acceleration slope (see appendix B for assistance). Your entire
Acc/Dec curve must be entirely below the curve of the selected position
loop gain throughout the operating speed range.
Unfit the analog/out DAC port on each servo card in your system (9/230
controls only support one analog out connector). Typically these are
used as spindle ports. This is necessary to simplify the use of the DAC
monitor feature discussed later. If you can not easily access AMP to
make this change you can still use the DAC monitor however the DAC
monitor parameters apply to the servo cards with a fitted analog/out
DAC port first (see page A-6).
Configure the following spindle gear range parameters:
Voltage at Max for Gear 1 -- set to 10 volts
Max Spindle Speed Gear 1 -- Set to 3000 RPM
The settings for gear range one scale the output of the DAC monitor.
You may need to adjust the RPM value later depending on the feedback
resolution for the axis you are tuning.
Servos must be homed before they can be programmed and tuned. This
can prove inconvenient since homing an untuned servo can be dangerous
and damaging to hardware.
This homing requirement can be avoided through PAL. The flag $HMNO
is available which causes the control to believe the selected axis has
already been homed. Write PAL to set the bit of $HMNO that corresponds
to the axes being tuned. Refer to your PAL Reference Manual for details
on using the switchless homing feature.
ATTENTION: Using the switchless homing feature can cause
invalid/inaccurate software overtravels and programmable
zones. Confirm that the hardware overtravel switches are
functioning properly. Make sure that the axis’ position when
the tuning part program is executed does not violate any of
these areas.
A.1
AMP for Tuning
A.2
PAL Considerations