Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set - Manual (Page 207)

Servo Parameters
Chapter 7
7-61
Function
Select the port and port connector number through which velocity
feedback is sent to the control, typically the same port used for Position
Loop Feedback Port.
The standard servo feedback configuration uses one feedback device for
both positioning and velocity data. If this is the case on your system, this
parameter must be set to the same value as the parameter Position Loop
Feedback Port. Refer to this chapter’s overview for an example of a
system that uses two feedback devices for the same axis and may require a
different port be selected for feedback.
Refer to pages 7-42 to 7-47 for connector locations.
9/260 and 9/290 CNCs
Each servo module has 3 or 4 input ports through which velocity feedback
data can be received.
The 3 axis analog servo card interface does not support a separate feedback
device for the velocity loop, so you must still configure these velocity loop
parameters including Velocity Loop Feedback Port, Velocity Loop
Feedback Type, Velocity Feedback Counts/Cycle, and Sign of Velocity
Feedback. These parameters must be set to the same values as their
positioning loop counterparts.
All servo ports, Output Port Number, Position Loop Feedback Port,
and Velocity Loop Feedback Port, must be connectors on the same servo
module (1st, 2nd, or 3rd board).
If using the three axis digital or analog servo card, port assignments must
be contiguous. For example, you cannot assign a feedback device to J3
without having one assigned to J2.
If the servo being assigned a velocity feedback port is to be connected to
the second (on a 9/260) or third (on a 9/290) servo module, the port
numbers (and connector numbers) are the same as for axes on the first
servo module. The control determines whether the motor is on the first or
second module based on the AMP parameter Number of Motors
on 1st Board and Number of Motors on 2nd Board.
9/440 Systems
9/440 resolver based and 9/440HR systems must use the motor--mounted
feedback device for velocity feedback (ports J1 to J4). This
motor--mounted feedback device can also be used for position feedback or
one of the additional optional feedback ports are available for position
feedback.
7.3.1
Velocity Loop Feedback
Port