Rockwell Automation 8510 AC Spindle Drive System Programming Manual - Manual (Page 29)

Programming
Chapter 2
2-26
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
Speed Cal
The Speed Cal parameter allows exact matching of the speed command
to the actual motor speed in order to precisely set position loop gain.
When the velocity command from a closed position loop move
commanded by the CNC is input to the drive, the Scroll keys can be
used to adjust the motor speed until the exact following error value
required in the CNC is achieved. Press the Select key to store the
setting.
This could be considered a fine tuning of the Max Cmnd Spd parameter.
As the appropriate Scroll key is pressed, a multiplier factor for the Max
Cmnd Spd parameter is incremented in 0.04% steps. There is a time
delay of approximately one second after the multiplier is changed until
it can be observed in the system operation. During this operation, the
display is operating as a digital speed meter showing current motor
speed. Reprogramming the Max Cmnd Spd parameter will reset this
multiplier to zero.
Data Range: RPM 00000 to 30000
Default Value 0.00 %