Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set User Manual
Page 219
Servo Parameters
Chapter 7
7-73
Important: On digital systems, if you use a standard motor, the correct
value for this parameter is entered automatically by the control when AMP
is downloaded or when the control is powered-up. When parameter
Standard Motor Table Values is set to “Yes”, then the control ignores the
value entered for this parameter and uses values as shown in Table 7.D and
Table 7.E.
Important: The velocity integral gain can be adjusted online using online
AMP capability of the control. However, if the parameter Standard
Motor Table Values is set to “Yes”, then the velocity integral gain is
automatically overwritten by the control upon power-up and when AMP is
downloaded.
The following tables are provided for reference only.
Table 7.D
Velocity Integral Gain Values for Standard 8500 Motors with Incremental Feedback
MOTOR:LOAD
INERTIA
8500 MOTOR TYPES
RATIO
8500
A1C
8500
A2C
8500
B1C
8500
B2C
8500
B3C
8500
A1D
8500
A2D
8500
A3D
8500
B1D
8500
B2D
1 : 0
112
96
128
128
128
112
101
98
128
128
1 : 1
224
192
256
256
256
224
202
196
256
256
1 : 2
336
288
400
400
400
336
303
294
400
400
1 : 3
640
640
640
640
640
640
640
640
640
640
MOTOR:LOAD
INERTIA
1326 MOTOR TYPES
RATIO
1326AB
B410G
B410J
1326AB
B420E
B520H
B730E
1326AB
B430E
B430G
1326AB
B515E
B515G
1326AB
B520E
B520F
1326AB
B530E
1326AB
B720E
1326AB
B740E
1 : 0
70
100
150
300
400
500
30
20
1 : 1
140
200
300
600
800
1000
60
40
1 : 2
210
300
450
900
1200
1500
90
60
1 : 3
280
400
600
1200
1600
2000
120
80