Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set - Manual (Page 244)

Servo Parameters
Chapter 7
7-98
Axis Parameter
Number
Axis Parameter
Number
(1) [1015] (7) [7015]
(2) [2015] (8) [8015]
(3) [3015] (9) [9015]
(4) [4015] (10) [10015]
(5) [5015] (11) [11015]
(6) [6015] (12) [12015]
Range
0 to 32768
Notes
This parameter must be set independently for each axis.
Function
This parameter is only available on 9/260 or 9/290 systems that use the
8520 digital 3 axis servo cards.
This is a scaling parameter used to create a portion of the current command
for a particular servomotor.
In the control, Current Proportional Gain is multiplied by the current
error. Current Integral Gain is multiplied by the summation of current
error. These two products are added to form the current command.
Important: If the motor is not a digital servomotor, this parameter is not
used. We recommend that the default value be left here.
Important: If using a standard motor, the correct value for this parameter
is entered automatically. Altering it here has no effect.
7.4.10
Current Integral Gain