Menu 38 − AMC Profile Generator

Mode: RFC‑S

Profile generator

Main profile

The AMC Profile Input Speed (38.007) is the rate of change of position over each sample from any of the references, and provides the speed taget for the mian profile generator. The AMC Profile Input Speed (38.007) is integrated to give the AMC Main Profile Output Position (38.008) which is the position target for the main profile generator. When the main profile generator is enabled it produces the AMC Main Profile Output Speed (38.009) which is the rate of change of output position. The AMC Main Profile Output Speed (38.009) is integrated to give the AMC Main Profile Output Position (38.008). Depending on the profile mode the profile generator aims to make either the AMC Main Profile Output Speed (38.009) equal to the AMC Profile Input Speed (38.007), or the AMC Main Profile Output Position (38.008) equal to the AMC Profile Input Position (38.006) , or both. The rate of change of the AMC Main Profile Output Speed (38.009) and its maximum value are constrained by the main profile generator parameters.

If the main profile generator is disabled AMC Main Profile Output Speed (38.009) = AMC Profile Input Speed (38.007) and AMC Main Profile Output Position (38.008) = AMC Profile Input Position (38.006). The main profile generator can be disabled under any of the following conditions.

Conditions for profile generator disable Comments
AMC Profile Disable (38.005) = 1 Profile disabled by the user
AMC Reference Select (34.007) = 0
And AMC Stop Mode (34.001) = 1 or 3
Stop reference selected and no profile stop required
Cam system Enabled
(i.e. AMC Reference Select (34.007) = 3)
The Cam system provides its own profile, and so the profile generator is not required
AMC EGB Locked (37.006) = 1 Electronic gearbox output is locked and should follow the master position without any delay


Parameter38.001  AMC Profile Acceleration
Short description 
ModeRFC‑S
Minimum0.001Maximum1073741.823
Default1.092UnitsUU/ms²
Type32 Bit User SaveUpdate RateBackground read
Display FormatNoneDecimal Places3
CodingRW

*Acceleration is 1000rpm/s for a 16 bits per revolution device (user units ratio = 1)

The profile generator applies the constraints to the motion at its output defined by AMC Profile Acceleration (38.001) when the speed is moving away from 0, AMC Profile Deceleration (38.002) when the speed is moving towards 0, and AMC Profile Maximum Speed (38.003) in either direction. The maximum acceleration and deceleration are applied as linear ramps. The profile target depends on the input to the profile generator as follows.

Input Target
AMC Stop Reference (34.002) Stop reference at zero speed
AMC Position Reference (34.003) Position reference at zero speed
AMC Speed Reference (34.006) Speed reference speed
Cam Profile disabled
Electronic gearbox with non-rigid lock

Input speed when not locked
Profile disabled when locked

Electronic gearbox with rigid lock

Input speed and position when not locked
Profile disabled when locked

Homing system

Input speed while finding home position
Input position at zero speed when moving to home reset position


Parameter38.002  AMC Profile Deceleration
Short description 
ModeRFC‑S
Minimum0.001Maximum1073741.823
Default1.092UnitsUU/ms²
Type32 Bit User SaveUpdate RateBackground read
Display FormatNoneDecimal Places3
CodingRW

*Acceleration is 1000rpm/s for a 16 bits per revolution device (user units ratio = 1)

See AMC Profile Acceleration (38.001).


Parameter38.003  AMC Profile Maximum Speed
Short description 
ModeRFC‑S
Minimum0.00Maximum21474836.47
Default1092.00UnitsUU/ms
Type32 Bit User SaveUpdate Rate4ms read
Display FormatNoneDecimal Places2
CodingRW

*Speed is 1000rpm for a 16 bits per revolution device (user units ratio = 1)

See AMC Profile Acceleration (38.001).


Parameter38.005  AMC Profile Disable
Short description 
ModeRFC‑S
Minimum0Maximum1
Default0Units 
Type1 Bit VolatileUpdate RateBackground read
Display FormatNoneDecimal Places0
CodingRW

See the introduction to menu 38.


Parameter38.006  AMC Profile Input Position
Short description 
ModeRFC‑S
Minimum-2147483648Maximum2147483647
Default UnitsUU
Type32 Bit VolatileUpdate Rate4ms write
Display FormatNoneDecimal Places0
CodingRO, ND, NC, PT

See the introduction to menu 38.


Parameter38.007  AMC Profile Input Speed
Short description 
ModeRFC‑S
Minimum-21474836.48Maximum21474836.47
Default UnitsUU/ms
Type32 Bit VolatileUpdate Rate4ms write
Display FormatNoneDecimal Places2
CodingRO, FI, ND, NC, PT

See the introduction to menu 38.


Parameter38.008  AMC Main Profile Output Position
Short description 
ModeRFC‑S
Minimum-2147483648Maximum2147483647
Default UnitsUU
Type32 Bit VolatileUpdate Rate4ms write
Display FormatNoneDecimal Places0
CodingRO, ND, NC, PT

See the introduction to menu 38.


Parameter38.009  AMC Main Profile Output Speed
Short description 
ModeRFC‑S
Minimum-21474836.48Maximum21474836.47
Default UnitsUU/ms
Type32 Bit VolatileUpdate Rate4ms write
Display FormatNoneDecimal Places2
CodingRO, FI, ND, NC, PT

See the introduction to menu 38.