Menu 33 − AMC Slave Position

Mode: RFC‑A

Slave position


Parameter33.001  AMC Slave Source Select
Short descriptionDefines the position feedback source used by the slave reference
ModeRFC‑A
Minimum0Maximum9
Default2Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0User Position
1Sensorless
2P1 Drive
3P2 Drive
4P1 Slot1
5P2 Slot1
6P1 Slot2
7P2 Slot2

The slave position system operates in the same way as the master position system except that if AMC Slave Source Select (33.001) = 1 the position is taken from Sensorless Position (03.080). The least significant 16bits of Sensorless Position (03.080) represents a movement equivalent to one pole of the motor and the most significant 16 bits represent turns where one turn is the movement associated with one pole. To use Sensorless Position (03.080) as the slave feedback source AMC Slave User Units Ratio Denominator (31.007) must be multiplied by the number of pole pairs so that the least significant 16 bits of the position represents one mechanical revolution.


Parameter33.002  AMC Slave Invert
Short descriptionSet to 1 to invert the AMC slave position
ModeRFC‑A
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

AMC Slave Invert (33.002) negates the delta position values that are accumulated by the slave source integrator. If AMC Absolute Mode Enable (31.002) is enabled the slave position is taken from the position feedback device, modified by the user units ratio, inverted if required (AMC Slave Invert (33.002) = 1) and then written to the slave source integrator. Note that the feedback is initialised on power-up or after any parameter which results in a change to the absolute position is modified.


Parameter33.003  AMC Slave Offset
Short descriptionDisplays the offset used for the AMC Slave Position
ModeRFC‑A
Minimum−VM_AMC_POSITIONMaximumVM_AMC_POSITION
Default0UnitsUU
Type32 Bit User SaveUpdate Rate4ms read
Display FormatStandardDecimal Places0
CodingRW, VM

AMC Slave Offset (33.003) is used to add an offset to the value in the slave source integrator and is used during homing to move the alignment of the slave position. When a new value is written to AMC Slave Offset (33.003) the profile position integrators are automatically modified with the change of offset position allowing the offset to be adjusted without a transient at the output of the motion controller. If AMC Slave Offset (33.003) is changed when the motion controller is enabled and AMC Reference Select (34.007) is set to one of the absolute position references (Stop or Position Abs) the slave will move to the absolute position under the constraints of the profile generator. If the slave is stationary when the slave offset is applied the slave will move a relative position equal to -ΔAMC Slave Offset (33.003). Note that the slave offset should not be modified when AMC Reference Select (34.007) is set to the home reference because the homing sequence will not be completed correctly and the profile integrators are not automatically modified in this condition.


Parameter33.004  AMC Slave Position
Short descriptionDisplays the AMC Slave Position
ModeRFC‑A
Minimum−VM_AMC_POSITIONMaximumVM_AMC_POSITION
Default UnitsUU
Type32 Bit VolatileUpdate Rate4ms write
Display FormatStandardDecimal Places0
CodingRO, VM, ND, NC, PT

AMC Slave Position (33.004) is the sum of the position in the slave source integrator and AMC Slave Offset (33.003).


Parameter33.005  AMC Slave Speed
Short descriptionDisplays the rate of change of the AMC Slave Position
ModeRFC‑A
Minimum−VM_AMC_SPEEDMaximumVM_AMC_SPEED
Default UnitsUU/ms
Type32 Bit VolatileUpdate Rate4ms write
Display FormatStandardDecimal Places2
CodingRO, FI, VM, ND, NC, PT

AMC Slave Speed (33.005) gives the rate of change of the AMC Slave Position (33.004).


Parameter33.006  AMC Slave Freeze Position
Short descriptionDisplays the AMC Slave Position after a freeze event has occurred
ModeRFC‑A
Minimum−VM_AMC_POSITIONMaximumVM_AMC_POSITION
Default UnitsUU
Type32 Bit VolatileUpdate Rate4ms write
Display FormatStandardDecimal Places0
CodingRO, VM, ND, NC, PT

AMC Slave Freeze Select (33.007) is used to select which freeze source associated with the master should be used to provide AMC Slave Freeze Position (33.006). 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 Slave Position (33.004) at the point in time when the freeze event occurred is stored in AMC Slave Freeze Position (33.006). Note that the freeze flag in the position menu is updated every 250μs but AMC Slave Freeze Position (33.006) is only updated every 4ms. To ensure that AMC Slave Freeze Position (33.006) has been updated AMC Slave Freeze Flag (33.010) should be used to indicate when a freeze event has occurred and to clear the slave source freeze flag in the position feedback menu.

If an option module is being used as the slave 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 Slave Freeze Position (33.006) will remain at its present value.


Parameter33.007  AMC Slave Freeze Select
Short description 
ModeRFC‑A
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

See AMC Slave Freeze Position (33.006).


Parameter33.009  AMC Slave User Position Reference
Short descriptionDefines the Slave User Position Reference that can be used by the AMC Slave Source
ModeRFC‑A
Minimum-2147483648Maximum2147483647
Default0Units 
Type32 Bit VolatileUpdate Rate250µs read
Display FormatStandardDecimal Places0
CodingRW, NC

See AMC Slave Source Select (33.001).


Parameter33.010  AMC Slave Freeze Flag
Short descriptionSlave freeze flag status
ModeRFC‑A
Minimum0Maximum1
Default0Units 
Type1 Bit VolatileUpdate Rate4ms write
Display FormatStandardDecimal Places0
CodingRW, NC

See AMC Slave Freeze Position (33.006).