Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set - Manual (Page 730)

Tuning a Digital or Tachless Analog System
Appendix A
A-8
Table A.C
DAC Monitor Enable Values for 4 Axis Servo Cards and 9/440 CNC
(version 11.xx and Earlier)
Important: These DAC monitor values only apply to SM$ and ENC4
boards, version 11.xx and earlier.
Valid Parameter Values
(for 86, 87, and 133):
Output to DAC (spindle port):
0 disable DAC monitor. Run normal analog out.
1 Velocity Feedback of the 1st Servo on the servo card
2 Velocity Feedback of the 2nd Servo on the servo card
3 Velocity Feedback of the 3rd Servo on the servo card
4 Velocity Feedback of the 4th Servo on the servo card
5 Following Error of the 1st Servo on the servo card
6 Following Error of the 2nd Servo on the servo card
7 Following Error of the 3rd Servo on the servo card
8 Following Error of the 4th Servo on the servo card
9 Velocity Integrator Accum from the 1st Servo on the servo card
10 Velocity Integrator Accum from the 2nd Servo on the servo card
11 Velocity Integrator Accum, from the 3rd Servo on the servo card
12 Velocity Integrator Accum, from the 4th Servo on the servo card
13 Velocity Error from the 1st Servo on the servo card
14 Velocity Error from the 2nd Servo on the servo card
15 Velocity Error from the 3rd Servo on the servo card
16 Velocity Error from the 4th Servo on the servo card
17 Course Iteration Incremental Position Command for the 1st Servo on the
servo card
18 Course Iteration Incremental Position Command for the 2nd Servo on the
servo card
19 Course Iteration Incremental Position Command for the 3rd Servo on the
servo card
20 Course Iteration Incremental Position Command for the 4th Servo on the
servo card (typically the spindle)
21 Interpolated Final Velocity command for the 1st Servo on the servo card
22 Interpolated Final Velocity command for the 2nd Servo on the servo card
23 Interpolated Final Velocity command for the 3rd Servo on the servo card
24 Interpolated Final Velocity command for the 4th Servo on the servo card
For our tuning procedure we will only be using the velocity feedback
values.