Range – Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set User Manual
Page 245
Servo Parameters
Chapter 7
7-99
Table 7.G is provided for reference only.
Table 7.G
Current Integral Gain values for Standard Motors
MOTOR TYPE
8500
A1C
8500
A2C
8500
B1C
8500
B2C
8500
B3C
8500
B3A
8500
A1D
8500
A2D
8500
A3D
8500
B1D
8500
B2D
Peak Current
200%
23
22
24
25
28
27
22
21
21
27
30
Peak Current
300%
25
24
30
31
32
31
24
23
23
33
34
If a nonstandard motor is to be used, the initial value for this parameter
must be determined through extensive motor testing. For assistance call
Allen-Bradley Commercial Engineering at (440) 646-5000.
Generally, if set too high, the servo is underdampened and oscillation
results. If set too low, the axis is overdampened and requires too much
time to reach position.
Axis
Parameter
Number
Axis
Parameter
Number
(1)
[1014]
(7)
[7014]
(2)
[2014]
(8)
[8014]
(3)
[3014]
(9)
[9014]
(4)
[4014]
(10)
[10014]
(5)
[5014]
(11)
[11014]
(6)
[6014]
(12)
[12014]
Range
12 to 32768
Notes
This parameter must be set independently for each axis.
During initial setup, it is usually best to enter a value near zero to reduce
any current instabilities.