Menu 32 − AMC Master Position

Mode: RFC‑S

Master position


Parameter32.001  AMC Master Source Select
Short descriptionDefines the position feedback source used by the master reference
ModeRFC‑S
Minimum0Maximum11
Default3Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0Speed
1User Position
2P1 Drive
3P2 Drive
4P1 Slot1
5P2 Slot1
6P1 Slot2
7P2 Slot2
8P1 Slot3
9P2 Slot3

AMC Master Source Select (32.001) can be set to a value between 2 and 11 to select a position feedback source as the master reference from the drive position feedback interface or from the position feedback interface in a position feedback category option module. It should be noted that the position includes the effect of the marker function of the position source. If the selected position feedback source does not exist (i.e. it is not present in the drive or option module, or the option module cannot provide position feedback) the source position will remain at zero.

If AMC Master Source Select (32.001) is set to 0 then AMC Master Speed Reference (32.008) is used as the source and provides a position that changes at a constant rate against time. This allows profiles to be produced with a time base instead of a synchronous profile related to master position.

If AMC Master Source Select (32.001) is set to 1 then AMC Master User Position Reference (32.009) is used as the source. This allows the master position to be provided by the user, or to be provided from a fieldbus interface.


Parameter32.002  AMC Master Invert
Short descriptionSet to 1 to invert the AMC master position
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

AMC Master Invert (32.002) negates the delta position values that are accumulated by the slave source integrator. If AMC Absolute Mode Enable (31.002) is enabled when the motion controller is initialised the slave position is taken from the position feedback device, modified by the user units ratio, inverted if required (AMC Master Invert (32.002) = 1) and then written to the slave source integrator. If AMC Master Invert (32.002) is changed after the slave integrator has been initialised with the absolute position the slave position will no longer be absolute. Note that the feedback is initialised on power-up or after AMC Select (31.001), AMC Absolute Mode Enable (31.002) or AMC Master Source Select (32.001) is changed.


Parameter32.003  AMC Master Offset
Short descriptionDefines the offset used for the AMC Master Position
ModeRFC‑S
Minimum−VM_AMC_POSITIONMaximumVM_AMC_POSITION
Default0UnitsUU
Type32 Bit User SaveUpdate Rate4ms read
Display FormatStandardDecimal Places0
CodingRW, VM

see AMC Master Position (32.004).


Parameter32.004  AMC Master Position
Short description 
ModeRFC‑S
Minimum−VM_AMC_POSITIONMaximumVM_AMC_POSITION
Default UnitsUU
Type32 Bit VolatileUpdate Rate4ms write
Display FormatStandardDecimal Places0
CodingRO, VM, ND, NC, PT

AMC Master Position (32.004) is the sum of the position in the master source integrator and AMC Master Offset (32.003).


Parameter32.005  AMC Master Speed
Short descriptionDisplays the rate of change of the AMC Master Position
ModeRFC‑S
Minimum−VM_AMC_SPEEDMaximumVM_AMC_SPEED
Default UnitsUU/ms
Type32 Bit VolatileUpdate Rate4ms write
Display FormatStandardDecimal Places2
CodingRO, FI, VM, ND, NC, PT

AMC Master Speed (32.005) gives the rate of change of the AMC Master Position (32.004).


Parameter32.006  AMC Master Freeze Position
Short description 
ModeRFC‑S
Minimum−VM_AMC_POSITIONMaximumVM_AMC_POSITION
Default UnitsUU
Type32 Bit VolatileUpdate Rate4ms write
Display FormatStandardDecimal Places0
CodingRO, VM, ND, NC, PT

AMC Master Freeze Select (32.007) is used to select which freeze source associated with the master should be used to provide AMC Master Freeze Position (32.006). For example, if a position interface within the drive is being used as the master source then the F1 or F2 freeze source provided in the drive can be selected. In the sample after a freeze event occurs AMC Master Position (32.004) at the point in time when the freeze event occurred is stored in AMC Master Freeze Position (32.006). Note that the freeze flag in the position menu is updated every 250μs but AMC Master Freeze Select (32.007) is only updated every 4ms. To ensure that AMC Master Freeze Select (32.007) has been updated AMC Master Freeze Flag (32.010) should be used to indicate when a freeze event has occurred and to clear the master source freeze flag in the position feedback menu.

If an option module is being used as the master source then a freeze source in the option module can be selected. If a freeze source selected in an option module does not exist then AMC Master Freeze Position (32.006) will remain at its present value.


Parameter32.007  AMC Master Freeze Select
Short descriptionSet to 1 to enable the use of the freeze system on the AMC Master Position
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

See AMC Master Freeze Position (32.006).


Parameter32.008  AMC Master Speed Reference
Short descriptionDefines the Master Speed Reference that can be used by the AMC Master Source
ModeRFC‑S
Minimum−VM_AMC_SPEEDMaximumVM_AMC_SPEED
Default0.00UnitsUU/ms
Type32 Bit User SaveUpdate Rate250us read
Display FormatStandardDecimal Places2
CodingRW, VM

See AMC Master Source Select (32.001).


Parameter32.009  AMC Master User Position Reference
Short descriptionDefines the Master User Position Reference that can be used by the AMC Master Source
ModeRFC‑S
Minimum-2147483648Maximum2147483647
Default0Units 
Type32 Bit VolatileUpdate Rate250us read
Display FormatStandardDecimal Places0
CodingRW, NC

See AMC Master Source Select (32.001).


Parameter32.010  AMC Master Freeze Flag
Short descriptionMaster freeze flag status
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type1 Bit VolatileUpdate Rate4ms write
Display FormatStandardDecimal Places0
CodingRW, NC

See AMC Master Source Select (32.001).