Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set User Manual
Page 730
Tuning a Digital or Tachless Analog System
Appendix A
A-8
Table A.C
DAC Monitor Enable Values for 4 Axis Servo Cards and 9/440 CNC
(version 11.xx and Earlier)
Important: These DAC monitor values only apply to SM$ and ENC4
boards, version 11.xx and earlier.
Valid Parameter Values
(for 86, 87, and 133):
Output to DAC (spindle port):
0
disable DAC monitor. Run normal analog out.
1
Velocity Feedback of the 1st Servo on the servo card
2
Velocity Feedback of the 2nd Servo on the servo card
3
Velocity Feedback of the 3rd Servo on the servo card
4
Velocity Feedback of the 4th Servo on the servo card
5
Following Error of the 1st Servo on the servo card
6
Following Error of the 2nd Servo on the servo card
7
Following Error of the 3rd Servo on the servo card
8
Following Error of the 4th Servo on the servo card
9
Velocity Integrator Accum from the 1st Servo on the servo card
10
Velocity Integrator Accum from the 2nd Servo on the servo card
11
Velocity Integrator Accum, from the 3rd Servo on the servo card
12
Velocity Integrator Accum, from the 4th Servo on the servo card
13
Velocity Error from the 1st Servo on the servo card
14
Velocity Error from the 2nd Servo on the servo card
15
Velocity Error from the 3rd Servo on the servo card
16
Velocity Error from the 4th Servo on the servo card
17
Course Iteration Incremental Position Command for the 1st Servo on the
servo card
18
Course Iteration Incremental Position Command for the 2nd Servo on the
servo card
19
Course Iteration Incremental Position Command for the 3rd Servo on the
servo card
20
Course Iteration Incremental Position Command for the 4th Servo on the
servo card (typically the spindle)
21
Interpolated Final Velocity command for the 1st Servo on the servo card
22
Interpolated Final Velocity command for the 2nd Servo on the servo card
23
Interpolated Final Velocity command for the 3rd Servo on the servo card
24
Interpolated Final Velocity command for the 4th Servo on the servo card
For our tuning procedure we will only be using the velocity feedback
values.