Rockwell Automation 8520 9/Series CNC Integration Maintenance Manual Documentation Set - Manual (Page 694)

Section 14A
System Start-Up
14A-6
18. Mechanically connect the motors to the axes.
If configuring a split axis the encoder marker alignment procedure
must be performed before proceeding. This procedure may require
you to leave your servos mechanically disconnected from the axis.
Refer to page 14B-1 for details on aligning markers on a split axis.
ATTENTION: If configuring a split axis make sure that the
axis is reconfigured with Deskew and homed before proceeding.
Do not attempt to home the split axis unless the marker
alignment procedure has been completed as discussed on
page 14B-1.
19. Select incremental jog mode and jog the selected axis a known
distance. Check that the motor rotates the correct numbers of turns
and the machine moves the correct distance. If it does not, check the
AMP parameters LEAD SCREW THREAD PITCH, TEETH ON
GEAR FOR POSITION FEEDBACK and TEETH ON LEAD
SCREW FOR POSITION FEEDBACK. If any adjustments are
made, download the new version of AMP to the control.
20. Adjust the AMP parameters INITIAL GAIN OF POSITION LOOP,
GAIN BREAK POINT, ACC/DEC RAMP and other motor specific
parameters necessary to properly tune your system. After each
adjustment, download the new version of AMP to the control.
Continue to adjust these parameters until the desired response curve
is obtained with no overshoot at various levels of cutting speeds.
21. Check the velocity response at various levels of the jog feedrate.
Adjust the AMP parameter ACC/DEC RAMP until the control can be
accelerated and decelerated without any problems. After each
adjustment, download the new version of AMP to the control.
22. Using the value obtained for the INITIAL GAIN OF POSITION
LOOP parameter, determine and enter correct values for the AMP
parameters:
INPOSITION BAND
FEEDRATE SUPPRESSION POINT
EXCESS ERROR
23. Download the new version of AMP to the control.
24. Repeat this procedure for each axis.