Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set - Manual (Page 158)

Servo Parameters
Chapter 7
7-12
Function
This parameter is only used for Allen--Bradley 8500 or 1394 digital
systems. Analog system users (including the 1394 drive with analog
interface) ignore this parameter. Use this parameter to get a starting point
for configuring and tuning 1326 and 8500 Series digital servo motors.
The control has internal tables that contain data for each of the standard
motors. Whenever the control is powered-up, these tables are read to
obtain certain values for the standard motors configured in AMP.
This parameter determines whether or not all of the values for the standard
motors configured in AMP are read on power-up.
If this parameter is set to “Yes,” and you are using one of the motors listed
in Table 7.B through Table 7.E (pages 7-71 and 7-73), then all motor
parameters are read from the internal tables at power-up .
If this parameter is set to “No,” then the parameters Motor Rated
Current, Velocity Proportional Gain, and Velocity Integral Gain are not
read from the internal tables. Instead, the last value entered for these
parameters (through either ODS AMP or Patch AMP) prior to turning
power off is the active value after power is turned on. Setting this
parameter to “No” allows for fine tuning of these key motor parameters for
a standard motor. For a procedure on fine tuning a motor, refer to
Appendix A of this manual.
Important: This parameter is intended to be used with standard motors only
at power up. Once you have powered up your system and confirmed wiring,
fine tuning of the servo gains is almost always required once the servo shaft is
coupled to a load. Using online AMP to adjust the velocity/position loop
gains will automatically reset this parameter to No at the control. Once you
finish tuning your servos we recommend uploading the AMP from the control
to store the new gain values and set this parameter to “No”.
Axis Parameter
Number
All [11]
Range
Selection Result
(a) Yes
(b) No
7.1.3
Standard Motor Table
Values