Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set - Manual (Page 164)

Servo Parameters
Chapter 7
7-18
Figure 7.7
Block Diagram Tachless Operation ( with ZFE)
Motor
Encoder
Fine
interpolation
Acceleration Feed Forward
Final Velocity
VFF %
K pos Kv
Kvint
D/A
Limit to
Max Acc.
Servo
Amplifier
Position feedback
AC
PAC FE VE IPC VCDE
IAC
Analog Servo Interface
IPC Incremental Position Command . . .
FE Following Error . . . .
VCDE Velocity Command Due to Error . .
VE Velocity Error . . . .
IAC Integral Term for the Acceleration Command . . .
PAC Proportional Term of the Acceleration Command . . .
AC Acceleration Command . . . .
d
d
d 2
dt 2
dt
dt
Function
On 9/260 or 9/290 systems each servo module has 4 or 5 ports (depending
on the servo modules purchased) capable of sending a command voltage to
the axes or spindle. On 9/230 CNCs four ports are available. For Resolver
and HIPERFACE 9/440s:
If you have this of type of axis: define your (1394) drive amplifier output ports
with this parameter:
open-loop analog spindle Analog Output Connector TB2 or TB3
closed-loop analog servo
9/440 closed--loop digital servo or
digital spindle using 1394 axis
Axis Module 1, 2, 3, or 4
(to associate the axis to amplifier axis module)
If the axis being assigned an output port is to be connected to a second or
third servo module, the port numbers (and connector numbers) are the
same as for axes on the first servo module. The control determines
whether the axis is on the first, second, or third servo module based on the
AMP parameters Number of Motors on 1st Board and Number of
Motors on the Second Board.
7.1.6
Output Port Number