Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set - Manual (Page 161)

Servo Parameters
Chapter 7
7-15
Function
We recommend setting this parameter by using the [F2] function key as
described on page 3-11, and selecting the “Configure Servo” option.
However, you can set this parameter directly from the servo parameter screen.
This parameter is used to indicate the type of servo loop you intend to use
with your servo hardware (previously configured using Servo Hardware
Type).
Axis Parameter
Number
Axis Parameter
Number
(1) [1031] (9) [9031]
(2) [2031] (10) [10031]
(3) [3031] (11) [11031]
(4) [4031] (12) [12031]
(5) [5031] (13) [13031]
(6) [6031] (14) [14031]
(7) [7031] (15) [15031]
(8) [8031]
7.1.5
Servo Loop Type