Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set - Manual (Page 333)

Spindle 1 Parameters
Chapter 12
12-5
Range
Selection Result
(a) On
(b) Off
Notes
The following notes assume you have chosen yes for this parameter
enabling spindle ramping:
Open Loop Spindles
During normal open loop operation any change in commanded spindle
speed is ramped. Any time that the commanded spindle speed changes
from the current speed, the ramp is added to or subtracted from the current
spindle speed each coarse iteration until the commanded spindle speed is
reached. Spindle speed changes in both RPM mode and CSS mode are
ramped. Changes in spindle direction (from PAL or programming
M03/M04) are also ramped.
Important: If using an open loop spindle orient (Shot Pin Orient), when
the PAL flag to complete the orient becomes true, the spindle command is
zeroed immediately (no ramping occurs). For this type of orient your
orient speed should be configured slow enough to allow this spindle stop
without ramping. Any acceleration/deceleration of the spindle to reach the
initial orient speed is done using the spindle ramp.
Closed Loop Spindle Orients
The initial acceleration or deceleration of the spindle to the orient speed is
ramped. Once the orient velocity is reached, the spindle’s position loop is
closed and no further spindle ramping is performed. The AMPed orient
speed should be slow enough that no problems occur when the spindle loop
is closed. The gain for the spindle position loop should be chosen such
that the natural exponential velocity profile of the position loop can be
accommodated by the drive.
E-STOP
On transition into the Emergency Stop state, all spindle DAC output is
zeroed immediately with no spindle ramping.
This parameter must be set for each spindle axis.