Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set - Manual (Page 248)

Servo Parameters
Chapter 7
7-102
Use of different gear ranges is not supported when using the 1394 drive
as a spindle. The AMP parameter “Number of Gears Used” is forced to
one in software. Values entered into AMP for spindle gear ranges other
than gear one are ignored.
Many of the gear parameters for Spindle Gear 1 still impact your 1394
spindle. For example:
- “Max Tap speed for Spn, Gear 1”
- Min and “Max Spindle Speed -- Gear 1” (though you still need to
configure a max motor speed in this servo parameters group)
- “Gain for Spindle, Gear 1”
Other spindle gear parameters that do not impact the 1394s operation as
a spindle and should not be configured include:
- “Voltage at Max for Gear 1” (1394 as spindle output current is scaled
via “Maximum Rated Torque” servo parameter).
- “Number of Gears Used” (1394 as spindle only allows gear range 1).
Other parameters in the Spindle Groups are used assuming supporting
hardware is available and the software option for the feature has been
purchased. For example without a separate position feedback device
installed the closed--loop spindle orient parameters are not used.
The parameter “Initial Gain of Position Loop” is not used for a 1394
drive configured as a spindle. Use the parameters “Gain for Spindle,
Gear 1” to set the position loop gain for solid--tapping, closed--loop
spindle, and synchronized spindle orient operations.
All applicable velocity and position loop parameters must be properly
configured. If the same feedback device is used for both loops you must
enter the same values for parameters of both loops.
The parameter “Maximum Motor Speed” from this servo group must be
3100 RPM or less if the resolver feedback is set to 32768 Counts/Cycle
(you can use the motors max specified motor speed if the resolver
feedback is set to 8192 Counts/Cycle.)
After your spindle is configured you may still have to tune the servo
loops as you would any closed--loop system.
The 1394 as a spindle is seen on the Online AMP servo parameter
tuning page. Parameters on this page an be used to tune the 1326 motor.
However the position loop gain on this page does not apply to the 1394
as a spindle. The spindle gain can only be adjusted offline in AMP via
the spindle parameter “Gain for Spindle, Gear 1 Param.”