Rockwell Automation 8510 AC Spindle Drive System Programming Manual - Manual (Page 27)

Programming
Chapter 2
2-24
Servo P Gain
The velocity loop proportional gain used in the servo mode is set with
this parameter. This data is programmed in Per Unit Torque / Per Unit
Velocity Error or % Torque / % Velocity Error.
Data Range: 000.0 to 200.0
Default Value 5.00
Servo I Gain
The velocity loop integral gain used in the servo mode is set with this
parameter. This data is programmed in Per Unit Torque / Per Unit
Velocity Error/second or % Torque / % Velocity Error / second. The
units for this parameter are 1/seconds.
Data Range: l/S 00.00 to 50.00
Default Value 00.20
Droop In Run
Droop In Run sets a maximum limit on the effective low frequency
velocity loop gain that the integrator can generate during normal
running mode operation. This parameter limits stick-slip motion during
very low speed C axis operation. The data is expressed in Per Unit
Velocity Error / Per Unit Torque or % Velocity Error / % Torque.
Data Range: 0.000 to 7.999
Default Value 0.001
Droop In Hold
Sets a maximum limit on the effective low frequency velocity loop gain
that the integrator can generate when the spindle is within the
in-position error band limit during spindle orient operation. This can
allow accurate positioning without excess stick-slip motion. The data is
expressed in Per Unit Velocity Error / Per Unit Torque or % Velocity
Error / % Torque.
Data Range: 0.000 to 7.999
Default Value 0.001