Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set - Manual (Page 218)

Servo Parameters
Chapter 7
7-72
Axis Parameter
Number
Axis Parameter
Number
(1) [1801] (7) [7801]
(2) [2801] (8) [8801]
(3) [3801] (9) [9801]
(4) [4801] (10) [10801]
(5) [5801] (11) [11801]
(6) [6801] (12) [12801]
Range
0 to 65535
Notes
This parameter must be set independently for each servo.
For assistance on determining the optimal velocity proportional gain
amount refer to the tuning procedure in appendix A of this manual.
Function
This is a scaling parameter used to create a portion of the acceleration
command for a particular servomotor.
In the control, Velocity Proportional Gain is multiplied by the velocity
error. Velocity Integral Gain is multiplied by the summation of velocity
error. These two products are added to form the acceleration command.
(Velocity error is the difference between the velocity command and the
actual velocity as derived from the feedback device.
Generally, if set too high, the servo is underdampened and oscillation
results. If set too low, the servo is overdampened and requires too much
time to reach speed.
Often the value of this parameter (in inverse milliseconds) is larger than
the Velocity Proportional Gain (in inverse milliseconds) and smaller than
the Initial Gain of Position Loop (in inverse milliseconds). It is unusual
that an application would require an inverse Velocity Integral Gain value
equal to or greater than the inverse Initial Gain of Position Loop. Note
the following equation has constants that convert the parameter values you
enter into units of inverse milliseconds.
0 < (Vel. Integral Gain) < (Init. Gain Pos. Loop)(1092)
7.3.8
Velocity Integral Gain