Menu 41 − AMC Control and Status

Mode: RFC‑S

Control and status


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

If AMC Enable (41.001) = 0 or Reference On (01.011) = 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 in the disable state.

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 Main 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‑S
Minimum0Maximum65535
Default0Units 
Type16 Bit VolatileUpdate Rate4ms write
Display FormatNoneDecimal Places0
CodingRO, 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 Reset Complete (40.008)
10 Not Used
11 Not Used
12 Not Used
13 Not Used
14 Not Used
15 Not Used


Parameter41.003  AMC Movement Complete Window
Short description 
ModeRFC‑S
Minimum0Maximum2147483647
Default256UnitsUU
Type32 Bit User SaveUpdate RateBackground read
Display FormatNoneDecimal Places0
CodingRW

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‑S
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate Rate4ms write
Display FormatNoneDecimal Places0
CodingRO, ND, NC, PT

See AMC Movement Complete Window (41.003).


Parameter41.005  AMC Profile Complete Window
Short description 
ModeRFC‑S
Minimum0Maximum2147483647
Default256UnitsUU
Type32 Bit User SaveUpdate RateBackground read
Display FormatNoneDecimal Places0
CodingRW

AMC Profile Complete Flag (41.006) is set to 1 if |AMC Profile Input Position (38.006) - AMC Main Profile Output Position (38.008)| ≤ AMC Profile Complete Window (41.005).


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

See AMC Profile Complete Window (41.005).


Parameter41.007  AMC Following Error Window
Short description 
ModeRFC‑S
Minimum0Maximum2147483647
Default256UnitsUU
Type32 Bit User SaveUpdate RateBackground read
Display FormatNoneDecimal Places0
CodingRW

AMC Following Error Flag  (41.008) is set to 1 if AMC Main 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‑S
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate Rate4ms write
Display FormatNoneDecimal Places0
CodingRO, ND, NC, PT

See AMC Following Error Window (41.007).


Parameter41.009  AMC At Speed Window
Short description 
ModeRFC‑S
Minimum0.00Maximum21474836.47
Default10.92UnitsUU/ms
Type32 Bit User SaveUpdate RateBackground read
Display FormatNoneDecimal Places2
CodingRW

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

AMC At Speed Flag (41.010) is set to 1 if AMC Main 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‑S
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate Rate4ms write
Display FormatNoneDecimal Places0
CodingRO, ND, NC, PT

See AMC At Speed Window (41.009).


Parameter41.011  AMC Master Speed Too High Flag
Short description 
ModeRFC‑S
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate Rate4ms write
Display FormatNoneDecimal 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‑S
Minimum0Maximum1
Default Units 
Type1 Bit VolatileUpdate Rate4ms write
Display FormatNoneDecimal 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 AMC Stop Mode (34.001) = 2 or 3 and AMC Following Error Flag  (41.008) is set. AMC Following Error Stop Flag (41.012) is cleared when AMC Reference Select (34.007) is changed.  


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

If AMC Control Word Enable (41.021) = 0 then AMC Control Word (41.019) has no effect. If AMC Control Word Enable (41.021) = 1 the bits in AMC Control Word Enable (41.021) are used instead of their corresponding parameters to initiate the AMC functions shown in the table below. Each bit in AMC Control Word Enable (41.021) can be enabled or disabled independently by selecting or deselecting the corresponding bits in  AMC Control Word Mask (41.020)

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 Home Switch State (40.012)
4 Positive Limit State (40.013)
5 Negative Limit State (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 Not used
11 Not used
12 Not used
13 Not used
14 Not used
15 Not used


Parameter41.020   AMC Control Word Mask
Short descriptionControls the active bits in the AMC control word
ModeRFC‑S
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‑S
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateBackground read
Display FormatNoneDecimal Places0
CodingRW

See AMC Control Word (41.019).