Menu 41 − AMC Control and Status

Mode: RFC‑A

Control and status


Parameter41.001  AMC Enable
Short descriptionEnables or disables the AMC
ModeRFC‑A
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateAMC sample rate read
Display FormatStandardDecimal Places0
CodingRW

If AMC Enable (41.001)Reference On (01.011) or AMC Position Feedback Initialised Flag (41.018) = 0 the Advanced Motion Controller is held in the disabled state. The parameters given in the table below are held at the values given while the motion controller is disabled.

Parameter Value in disable state
AMC Stop Reference (34.002) AMC Slave Position (33.004)
AMC Profile Input Position (38.006) if AMC Reference Select (34.007) is 4 AMC Master Position (32.004) x Electronic gearbox ratio
AMC Profile Input Position (38.006) if AMC Reference Select (34.007) is not 4 AMC Slave Position (33.004)
AMC Profile Output Position (38.008) AMC Slave Position (33.004)

When the motion controller is disabled the electronic gearbox is held in the unlocked state and the cam system is held at its start position.


Parameter41.002  AMC Status
Short descriptionShows the status of the AMC
ModeRFC‑A
Minimum0
(Display: 0000000000000000)
Maximum65535
(Display: 1111111111111111)
Default0
(Display: 0000000000000000)
Units 
Type16 Bit VolatileUpdate Rate4ms write
Display FormatBinaryDecimal Places0
CodingRO, NC, BU

AMC Status (41.002) gives the status of the motion controller with the bits shown in the table below.

Bit Status
0 AMC EGB Locked (37.006)
1 AMC Cam Complete (35.010)
2 AMC Movement Complete Flag (41.004)
3 AMC Profile Complete Flag (41.006)
4 AMC Following Error Flag  (41.008)
5 AMC At Speed Flag (41.010)
6 AMC Master Speed Too High Flag (41.011)
7 AMC Following Error Stop Flag (41.012)
8 AMC Home Complete (40.005)
9 AMC Home Offset Complete (40.008)
10 AMC Positive Hardware Limit Flag (41.013)
11 AMC Negative Hardware Limit Flag (41.014)
12 AMC Positive Software Limit Flag (41.015)
13 AMC Negative Software Limit Flag (41.016)
14 AMC Home Required Flag (41.017)
15 AMC Position Feedback Initialised Flag (41.018)


Parameter41.003  AMC Movement Complete Window
Short description 
ModeRFC‑A
Minimum0MaximumVM_AMC_POSITION_UNIPOLAR
Default256UnitsUU
Type32 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, VM

AMC Movement Complete Flag (41.004) is set to 1 if |AMC Profile Input Position (38.006)AMC Slave Position (33.004)| ≤ AMC Movement Complete Window (41.003).


Parameter41.004  AMC Movement Complete Flag
Short description 
ModeRFC‑A
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate Rate4ms write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

See AMC Movement Complete Window (41.003).


Parameter41.005  AMC Profile Complete Window
Short description 
ModeRFC‑A
Minimum0MaximumVM_AMC_POSITION_UNIPOLAR
Default256UnitsUU
Type32 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, VM

AMC Profile Complete Flag (41.006) is set to 1 if |AMC Profile Input Position (38.006) - AMC Profile Output Position (38.008)| ≤ AMC Profile Complete Window (41.005). If AMC Profile Complete Window (41.005) is set to zero when the s-ramp profile is enabled (AMC Profile Jerk 1 (38.011) > 0) then AMC Profile Complete Flag (41.006) is not set until AMC Profile Input Position (38.006) = AMC Profile Output Position (38.008) and the output of the profile is at standstill, i.e. AMC Profile Output Speed (38.009) = 0 and AMC Profile Output Acceleration (38.010) = 0.


Parameter41.006  AMC Profile Complete Flag
Short description 
ModeRFC‑A
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate Rate4ms write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

See AMC Profile Complete Window (41.005).


Parameter41.007  AMC Following Error Window
Short description 
ModeRFC‑A
Minimum0MaximumVM_AMC_POSITION_UNIPOLAR
Default256UnitsUU
Type32 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, VM

AMC Following Error Flag  (41.008) is set to 1 if AMC Profile Output Position (38.008) - AMC Slave Position (33.004)| > AMC Following Error Window (41.007).


Parameter41.008  AMC Following Error Flag
Short description 
ModeRFC‑A
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate Rate4ms write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

See AMC Following Error Window (41.007).


Parameter41.009  AMC At Speed Window
Short description 
ModeRFC‑A
Minimum0.00MaximumVM_AMC_SPEED_UNIPOLAR
Default10.92UnitsUU/ms
Type32 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places2
CodingRW, VM

*10rpm for a 16 bits per revolution device (user units ratio = 1)

AMC At Speed Flag (41.010) is set to 1 if AMC Profile Output Speed (38.009) - AMC Profile Input Speed (38.007)| ≤ AMC At Speed Window (41.009).


Parameter41.010  AMC At Speed Flag
Short description 
ModeRFC‑A
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate Rate4ms write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

See AMC At Speed Window (41.009).


Parameter41.011  AMC Master Speed Too High Flag
Short description 
ModeRFC‑A
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate Rate4ms write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

AMC Master Speed Too High Flag (41.011) is set to 1 if |AMC Master Speed (32.005)| > AMC Profile Maximum Speed (38.003).


Parameter41.012  AMC Following Error Stop Flag
Short description 
ModeRFC‑A
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate Rate4ms write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

AMC Following Error Stop Flag (41.012) is set to 1 when AMC Reference Select (34.007) is automatically changed to 0 because a following error stop mode has been selected  (AMC Stop Mode (34.001) = 2 or 3) and AMC Following Error Flag  (41.008) is set, i.e. the following error has exceeded AMC Following Error Window (41.007) during a motion sequence. AMC Following Error Stop Flag (41.012) is cleared when AMC Reference Select (34.007) is changed.  


Parameter41.013  AMC Positive Hardware Limit Flag
Short description 
ModeRFC‑A
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate Rate4ms write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

The following diagram shows a typical configuration for the hardware and software limits.

The operating range of the Advanced Motion Controller is defined by the physical position of the hardware limit switches which are routed to Forward Limit Switch (06.035) and Reverse Limit Switch (06.036). If digital input 4 or 5 are routed to Forward Limit Switch (06.035) or Reverse Limit Switch (06.036) the maximum delay between a limit switch being reached and the motion controller taking action is 4.35ms. The software limits are configured using AMC Positive Software Limit Position (41.026) and AMC Negative Software Limit Position (41.027) and these limits are active when AMC Enable Software Limits (41.025) = 1. The software position limits can be used to define a working range which will normally be within the operating range defined by the hardware limits. Unlike the operating range the working range is flexible and can be configured for an individual motion sequence. The maximum delay for a software limit is 4ms. Note that the software limits are disabled when performing a homing routine (AMC Reference Select (34.007) = 7).

The logic diagram for the limit switches is shown below.

The hardware and software limits are active in the following conditions.

Limit switch 0 1
AMC Positive Hardware Limit Flag (41.013) Forward Limit Switch (06.035) = 0 Forward Limit Switch (06.035) = 1
AMC Negative Hardware Limit Flag (41.014) Reverse Limit Switch (06.036) = 0 Reverse Limit Switch (06.036) = 1
AMC Positive Software Limit Flag (41.015) AMC Enable Software Limits (41.025) = 0 or AMC Slave Position (33.004) < (AMC Positive Software Limit Position (41.026) + Hysteresis) AMC Slave Position (33.004) >= AMC Positive Software Limit Position (41.026)
AMC Negative Software Limit Flag (41.016) AMC Enable Software Limits (41.025) = 0 or AMC Slave Position (33.004) > (AMC Negative Software Limit Position (41.027) + Hysteresis) AMC Slave Position (33.004) <= AMC Negative Software Limit Position (41.027)

Note: When a software limit is active a hysteresis is applied to prevent the limit being disabled until the slave has moved away from the limit. This is required to prevent a small change of slave position from reactivating the limit when the slave is close to the position limit. The hysteresis applied is 4 x AMC Slave User Units Ratio Numerator (31.006)  / AMC Slave User Units Ratio Denominator (31.007).

When a positive or negative limit is reached (positive transition of limit flag) AMC Stop Reference (34.002) is updated with the stop position and AMC Reference Select (34.007) is set to the stop reference. The stop mode used by the profile when a limit is reached is selected by AMC Hardware Limit Stop Mode (41.023) and AMC Software Limit Stop Mode (41.024). If AMC Hardware Limit Stop Mode (41.023) or AMC Software Limit Stop Mode (41.024) = 0 (profile) AMC Stop Reference (34.002) is set to AMC Profile Output Position (38.008) + stop position delta (position taken to reduce AMC Profile Output Speed (38.009) to zero under the constraints of the profile generator). Note that the target position for the slave will include AMC Position Error (39.008). When AMC Hardware Limit Stop Mode (41.023) or AMC Software Limit Stop Mode (41.024) = 1 (no profile) AMC Stop Reference (34.002) is set to AMC Slave Position (33.004) bringing the slave to a hard stop. If a limit is reached during a profiled stop and the stop mode for this limit is set to no profile the no profile stop will take priority and override the profile stop. When a limit is active the change of position applied to the input of the profile generator can only be in the direction that moves the slave away from the active limit. If a positive and negative limit are active no movement will be allowed.


Parameter41.014  AMC Negative Hardware Limit Flag
Short description 
ModeRFC‑A
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate Rate4ms write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

See AMC Positive Hardware Limit Flag (41.013).


Parameter41.015  AMC Positive Software Limit Flag
Short description 
ModeRFC‑A
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate Rate4ms write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

See AMC Positive Hardware Limit Flag (41.013).


Parameter41.016  AMC Negative Software Limit Flag
Short description 
ModeRFC‑A
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate Rate4ms write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

See AMC Positive Hardware Limit Flag (41.013).


Parameter41.017  AMC Home Required Flag
Short description 
ModeRFC‑A
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate Rate4ms Write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

AMC Home Required Flag (41.017) is set to 1 if AMC Home Required (40.020) is enabled and AMC Home Slave Source (40.021) is not the same as AMC Slave Source Select (33.001).


Parameter41.018  AMC Position Feedback Initialised Flag
Short description 
ModeRFC‑A
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate RateBackground write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

AMC Position Feedback Initialised Flag (41.018) is set to 1 when the master and slave position accumulators have been initialised. The motion controller cannot enter the enabled state (see AMC Enable (41.001)) until this flag is set. Note that the initialisation of the master and slave feedback cannot be completed until all of the position feedback devices connected to the drive (see Position Feedback Initialized (03.076)) have been initialised and AMC Position Feedback Initialised Flag (41.018) is reset if any bit in Position Feedback Initialized (03.076) is cleared (e.g. Initialise Position Feedback (03.075) = 1). 


Parameter41.019  AMC Control Word
Short descriptionControls the AMC if the control word is enabled
ModeRFC‑A
Minimum0
(Display: 0000000000000000)
Maximum65535
(Display: 1111111111111111)
Default0
(Display: 0000000000000000)
Units 
Type16 Bit VolatileUpdate Rate4ms read
Display FormatBinaryDecimal Places0
CodingRW, NC, BU

When AMC Control Word Enable (41.021) = 0 the control word is disabled and AMC Control Word (41.019) AMC Control Word Mask (41.020) and AMC Active Control Word (41.022) are not used by the motion controller. If AMC Control Word Enable (41.021) = 1 the bits in AMC Control Word (41.019) can be used instead of the parameters listed in the table below. Note that in this mode AMC Active Control Word (41.022) is always set to AMC Control Word (41.019) and bit 15 in the control word is ignored. 

Bits Corresponding parameter or function
0 AMC Enable (41.001)
1 AMC Absolute Mode Enable (31.002)
2 AMC Incremental Position Reset Mode (31.003)
3 AMC Home Switch (40.012)
4 AMC Home Positive Limit (40.013)
5 AMC Home Negative Limit (40.014)
6 AMC Master Invert (32.002)
7 AMC Slave Invert (33.002)
8 AMC Output Invert (39.013)
9 AMC EGB Enable Rigid Lock (37.001)
10 AMC Speed Mode Enable (31.014)
11 AMC Enable Software Limits (41.025)
12 AMC Auto Resolution Enable (31.015)
13 AMC Home Required (40.020)
14 Not used
15 Control word valid

Note that bits 4 and 5 are only used when the corresponding selector (AMC Home Positive Limit Selector (40.015) or AMC Home Negative Limit Selector (40.016)) is set to zero.   

Each bit in the control word can be enabled or disabled independently by selecting or deselecting the corresponding bits in  AMC Control Word Mask (41.020). None of the parameters in the table above have any effect when the control word is enabled unless the corresponding bit in the control word is disabled by the mask.     

When AMC Control Word Enable (41.021) = 2 and a valid control word is written to AMC Control Word (41.019) (bit 15 = 1) the control word is copied to AMC Active Control Word (41.022) and the motion controller uses the control word to control the motion. If the control word is invalid (bit 15 = 0) the motion controller will continue to use the control word in AMC Active Control Word (41.022) until another valid control word is written to AMC Control Word (41.019). If the control word is being used to enable absolute mode then AMC Control Word Enable (41.021) should always be set to mode 2 otherwise the home position with rollover enabled will not be correct when the drive is power cycled. 


Parameter41.020   AMC Control Word Mask
Short descriptionControls the active bits in the AMC control word
ModeRFC‑A
Minimum0
(Display: 0000000000000000)
Maximum65535
(Display: 1111111111111111)
Default65535
(Display: 1111111111111111)
Units 
Type16 Bit User SaveUpdate Rate4ms read
Display FormatBinaryDecimal Places0
CodingRW, BU

See AMC Control Word (41.019).


Parameter41.021  AMC Control Word Enable
Short descriptionSet to 1 to enable the AMC control word
ModeRFC‑A
Minimum0Maximum2
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

See AMC Control Word (41.019).


Parameter41.022  AMC Active Control Word
Short descriptionControl word used by the AMC
ModeRFC‑A
Minimum0
(Display: 0000000000000000)
Maximum65535
(Display: 1111111111111111)
Default0
(Display: 0000000000000000)
Units 
Type16 Bit Power Down SaveUpdate Rate4ms write
Display FormatBinaryDecimal Places0
CodingRO, PT, BU

See AMC Control Word (41.019).


Parameter41.023  AMC Hardware Limit Stop Mode
Short descriptionStop mode used when a hardware limit is active
ModeRFC‑A
Minimum0Maximum1
Default1Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0Profile
1No Profile

See AMC Positive Hardware Limit Flag (41.013).


Parameter41.024  AMC Software Limit Stop Mode
Short descriptionStop mode used when a software limit is active
ModeRFC‑A
Minimum0Maximum1
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, TE

ValueText
0Profile
1No Profile

See AMC Positive Hardware Limit Flag (41.013).


Parameter41.025  AMC Enable Software Limits
Short description 
ModeRFC‑A
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

See AMC Positive Hardware Limit Flag (41.013).


Parameter41.026  AMC Positive Software Limit Position
Short description 
ModeRFC‑A
Minimum−VM_AMC_POSITIONMaximumVM_AMC_POSITION
Default0UnitsUU
Type32 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, VM

See AMC Positive Hardware Limit Flag (41.013).


Parameter41.027  AMC Negative Software Limit Position
Short description 
ModeRFC‑A
Minimum−VM_AMC_POSITIONMaximumVM_AMC_POSITION
Default0UnitsUU
Type32 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW, VM

See AMC Positive Hardware Limit Flag (41.013).