Royalties are percentages of sales that are distributed to the people involved in the production of the album, DVD, or whatever the item is. You may also hear the term "points" on an album. This is again referring to a percentage of the profits.
When a CD is created many people are involved. Obviously you have the artist, but then you have producers, engineers, labels, and a number of other people that can be responsible for the album actually coming together. All of those people are given points on the record. For a person that co-wrote 1 song on the album, they will get very little (maybe nothing) but the artists and labels will make a bit more.
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Staff notation (sheet music)
Songwriters do not receive a salary unless they work for an ad agency or songmill. They receive royalties based on the volume sales of their music.
The phonograph
Contact the publisher or harry fox agency. alternatively get a sound a like track that is royalty free so you don't have to pay royalties or a high license fee.