Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set - Manual (Page 228)

Servo Parameters
Chapter 7
7-82
Notes
This parameter must be set independently for each servo.
Function
Feed--to--Hard--Stop is only available on mill control types.
Use the Feed--to Hard--Stop feature when an axis is fed up to a fixed
mechanical stop that physically halts axis travel. This parameter
configures the torque that the servo must exert before the control identifies
a hard stop. Enter this torque value as a percentage of the servo’s
maximum rated torque. Refer to your operation and programming manual
for details on programming an axis against a hard stop using G24.
Axis Number Axis Number
(1) [1151] (7) [7151]
(2) [2151] (8) [8151]
(3) [3151] (9) [9151]
(4) [4151] (10) [10151]
(5) [5151] (11) [11151]
(6) [6151] (12) [12151]
Range
1 to 300%
(a percentage of motor rated continuous duty current)
Notes
In order to perform feed to hard stop you must set the Servo Loop Type
parameter as either position/velocity or digital.
You must properly configure the parameter Maximum Rated Motor
Torque before attempting to use feed to hard stop.
This parameter must be set independently for each axis that uses the feed to
hard stop feature.
7.3.15
Hard Stop Detection Torque