Mode: RFC‑A
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 |
Parameter | 38.001 AMC Profile Acceleration | ||
---|---|---|---|
Short description | |||
Mode | RFC‑A | ||
Minimum | 0.001 | Maximum | 1073741.823 |
Default | 1.092 | Units | UU/ms² |
Type | 32 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 3 |
Coding | RW |
*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 |
Electronic gearbox with rigid lock |
Input speed and position when not locked |
Homing system |
Input speed while finding home position |
Parameter | 38.002 AMC Profile Deceleration | ||
---|---|---|---|
Short description | |||
Mode | RFC‑A | ||
Minimum | 0.001 | Maximum | 1073741.823 |
Default | 1.092 | Units | UU/ms² |
Type | 32 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 3 |
Coding | RW |
*Acceleration is 1000rpm/s for a 16 bits per revolution device (user units ratio = 1)
See AMC Profile Acceleration (38.001).
Parameter | 38.003 AMC Profile Maximum Speed | ||
---|---|---|---|
Short description | |||
Mode | RFC‑A | ||
Minimum | 0.00 | Maximum | 21474836.47 |
Default | 1092.00 | Units | UU/ms |
Type | 32 Bit User Save | Update Rate | 4ms read |
Display Format | None | Decimal Places | 2 |
Coding | RW |
*Speed is 1000rpm for a 16 bits per revolution device (user units ratio = 1)
See AMC Profile Acceleration (38.001).
Parameter | 38.005 AMC Profile Disable | ||
---|---|---|---|
Short description | |||
Mode | RFC‑A | ||
Minimum | 0 | Maximum | 1 |
Default | 0 | Units | |
Type | 1 Bit Volatile | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
See the introduction to menu 38.
Parameter | 38.006 AMC Profile Input Position | ||
---|---|---|---|
Short description | |||
Mode | RFC‑A | ||
Minimum | -2147483648 | Maximum | 2147483647 |
Default | Units | UU | |
Type | 32 Bit Volatile | Update Rate | 4ms write |
Display Format | None | Decimal Places | 0 |
Coding | RO, ND, NC, PT |
See the introduction to menu 38.
Parameter | 38.007 AMC Profile Input Speed | ||
---|---|---|---|
Short description | |||
Mode | RFC‑A | ||
Minimum | -21474836.48 | Maximum | 21474836.47 |
Default | Units | UU/ms | |
Type | 32 Bit Volatile | Update Rate | 4ms write |
Display Format | None | Decimal Places | 2 |
Coding | RO, FI, ND, NC, PT |
See the introduction to menu 38.
Parameter | 38.008 AMC Main Profile Output Position | ||
---|---|---|---|
Short description | |||
Mode | RFC‑A | ||
Minimum | -2147483648 | Maximum | 2147483647 |
Default | Units | UU | |
Type | 32 Bit Volatile | Update Rate | 4ms write |
Display Format | None | Decimal Places | 0 |
Coding | RO, ND, NC, PT |
See the introduction to menu 38.
Parameter | 38.009 AMC Main Profile Output Speed | ||
---|---|---|---|
Short description | |||
Mode | RFC‑A | ||
Minimum | -21474836.48 | Maximum | 21474836.47 |
Default | Units | UU/ms | |
Type | 32 Bit Volatile | Update Rate | 4ms write |
Display Format | None | Decimal Places | 2 |
Coding | RO, FI, ND, NC, PT |
See the introduction to menu 38.