Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set - Manual (Page 732)

Tuning a Digital or Tachless Analog System
Appendix A
A-10
30 Course Iteration Incremental Position Command for the 6th Servo on the
servo card (typically the spindle)
31 Interpolated Final Velocity command for the 1st Servo on the servo card
32 Interpolated Final Velocity command for the 2nd Servo on the servo card
33 Interpolated Final Velocity command for the 3rd Servo on the servo card
34 Interpolated Final Velocity command for the 4th Servo on the servo card
35 Interpolated Final Velocity command for the 5th Servo on the servo card
36 Interpolated Final Velocity command for the 6th Servo on the servo card
For our tuning procedure we will only be using the velocity feedback
values.
Use Patch AMP to turn on the DAC monitor for the axis you are going to
tune. For example, if you are going to tune the first axis on the first servo
card you would set #86 = 5 (for 3 axis servo cards or 9/230 controls) or
#86 =1 (for 4 axis servo cards or 9/440 controls). If you are going to tune
the second axis on the third servo card you would set #133 = 6 (3 axis
servo cards) or #133 = 2 (for 4 axis servo cards). 9/230 CNCs only use
#86. 9/440 CNCs only use #86 and #87.
When you press the update and exit softkey in patch AMP, the control will
ask you to cycle power. Once you turn power back on, the control will
display a message indicating the DAC monitor has been enabled, what it is
monitoring, and the axis name being monitored.
A tuning part program is not necessary but can be helpful when tuning
your system. This part program should perform a repetitive move that
reverses direction in a repeating loop. The feedrate for this move should
be equal to your machine’s maximum cutting feedrate. Refer to your
9/Series operation and programming manual for details on creating a part
program.
The example part program below repeats its moves 6 times using
paramacro looping. If your system does not have paramacros, just
repeating the same motion blocks will have the same effect. This example
assumes that the servo being tuned positions the X axis and that the
maximum cutting feedrate is 1000 IPM. You may need to adjust the axis
name, range of motion, and feedrate in this example for your application.
A.4
Create your Tuning Part
Program