Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set - Manual (Page 231)

Servo Parameters
Chapter 7
7-85
Effective Inertia -- This includes the rotary inertia of all items being driven
by the servo (such as gears and ball screws) and the effective inertia of the
table, turret or other mechanical entity. Part mass should be considered if
it is expected to be significant. Also any mechanical advantage given to
the servo by motor gearing etc. should be factored into the calculations.
Effective Inertia should typically be in units of in.-lb-sec 2 / rad or
Newton-meter-sec 2 / rad.
Axis Parameter
Number
Axis Parameter
Number
(1) [1021] (7) [7021]
(2) [2021] (8) [8021]
(3) [3021] (9) [9021]
(4) [4021] (10) [10021]
(5) [5021] (11) [11021]
(6) [6021] (12) [12021]
Range
0.00000 to 23622.04701 in/min/sec
or
0.00000 to 599999.99400 mm/min/sec
Notes
This parameter must be set independently for each servo.
This parameter represents the maximum acceleration of the servo resulting
from peak current for the motor/amplifier being used. It must be much
larger than the Acc/Dec Ramp, often several times larger.