Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set - Manual (Page 230)

Servo Parameters
Chapter 7
7-84
Function
This parameter is only available on 9/230 analog systems or 9/260 and
9/290 systems that use the three axis analog servo card. This parameter
only appears on those systems when the analog servo is a tachless system
(loop type selected as velocity/position).
Important: This parameter is not available for digital motor
configurations.
Enter the value of the maximum acceleration for the servo as illustrated in
Figure 7.33.
Figure 7.33
Graph of Typical Motor Maximum Acceleration
MAXIMUM SERVO ACCELERATION
(slope of this line)
Natural Response
curve of servo
ACC/DEC RAMP
(slope of this line)
Maximum
feedrate
Feedrate
%
100
86
63
0
.20 .40 .60 .80 1.00 Time (seconds)
Though this value may be roughly estimated using a strip chart recorder,
we recommend calculating this value using the following equation:
Maximum Motor Torque
Max. Servo Acc. = -------------------------
Effective Inertia
where:
Maximum Motor Torque -- This is the maximum effective torque this servo
motor can output given the amperage limitations of the servo amplifier
being used. Maximum motor torque is typically in units of lb/in or
newton/cm.
7.3.17
Maximum Servo
Acceleration