Menu 34 − AMC Reference Selector

Mode: RFC‑S

Reference selector


Parameter34.001  AMC Stop Mode
Short descriptionDefines the stopping mode used by AMC
ModeRFC‑S
Minimum0Maximum3
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatNoneDecimal Places0
CodingRW, TE

ValueText
0Profile
1No Profile
2Profile Stop
3No Profile Stop

AMC Stop Mode (34.001) defines the action taken when the AMC Stop Reference (34.002) is selected by changing AMC Reference Select (34.007) to 0.

0 (Profile)

Whenever the motion controller is enabled and AMC Reference Select (34.007) is not 0 the AMC Stop Reference (34.002) is continuously updated with the position at which the profile would reach zero speed based on the current AMC Main Profile Output Position (38.008) and AMC Main Profile Output Speed (38.009). Whenever the AMC Reference Select (34.007) is changed to 0 the AMC Stop Reference (34.002) is no longer updated. If AMC Reference Select (34.007) is changed to 0 when AMC Stop Mode (34.001) = 0 the AMC Stop Reference (34.002) is used as the input to the profile generator which has the effect of stopping the system under the constraints applied to the profile generator.

1 (No profile)

If AMC Stop Mode (34.001) = 1 the AMC Slave Position (33.004) is written to the AMC Stop Reference (34.002) whenever AMC Reference Select (34.007) changes to 0 from any other value and the profile generator is disabled. This has the effect of stopping the system as quickly as possible with the slave at the position where it was when the stop was requested.

2 (Profile Stop)

This mode is the same as the profiled stop mode except that AMC Reference Select (34.007) is automatically changed to 0 if the following error exceeds the limit defined by the AMC Following Error Window (41.007).

3 (No Profile Stop)

This mode is the same as the no profile stop mode except that AMC Reference Select (34.007) is automatically changed to 0 if the following error exceeds the limit defined by the AMC Following Error Window (41.007).


Parameter34.002  AMC Stop Reference
Short descriptionDefines the reference used when the stop reference is selected
ModeRFC‑S
Minimum-2147483648Maximum2147483647
Default UnitsUU
Type32 Bit VolatileUpdate Rate4ms write
Display FormatNoneDecimal Places0
CodingRO, ND, NC, PT

See AMC Stop Mode (34.001).


Parameter34.003  AMC Position Reference
Short descriptionDefines the reference used when AMC Reference Select = 1
ModeRFC‑S
Minimum-2147483648Maximum2147483647
Default0UnitsUU
Type32 Bit User SaveUpdate RateAMC sample rate read
Display FormatNoneDecimal Places0
CodingRW

If AMC Reference Select (34.007) = 1 then AMC Position Reference (34.003) is used as the input to the profile generator. The AMC Position Reference (34.003) can be set to a value directly.


Parameter34.006  AMC Speed Reference
Short descriptionDefines the speed reference used when AMC Reference Select = 2
ModeRFC‑S
Minimum-21474836.00Maximum21474836.00
Default0.00UnitsUU/ms
Type32 Bit User SaveUpdate RateAMC sample rate read
Display FormatNoneDecimal Places2
CodingRW

If AMC Reference Select (34.007) = 2 the speed reference is used as the input to the profile generator.


Parameter34.007  AMC Reference Select
Short descriptionDefines the input to the profile generator
ModeRFC‑S
Minimum0Maximum5
Default0Units 
Type8 Bit User SaveUpdate RateAMC sample rate read
Display FormatNoneDecimal Places0
CodingRW, TE

ValueText
0Stop
1Position
2Speed
3Cam
4EGB
5Home

AMC Reference Select (34.007) selects the input to the profile generator as shown below.

AMC Reference Select (34.007) Reference Action on select
0 AMC Stop Reference (34.002) AMC Stop Reference (34.002) is no longer updated
1 AMC Position Reference (34.003)
2 AMC Speed Reference (34.006)
3 Cam system output Cam system started from AMC Cam Start Index (35.001) and AMC Cam Start Position In Segment (35.002)
4 Electronic gearbox ouput Electronic gearbox started
5 Homing system output Homing sequence is started

AMC Reference Select (34.007) can be automaically changed in the following modes.

Mode Reference after change
AMC Stop Mode (34.001) = 1 or 3 0
AMC Action On Event (34.008) = Cam On Freeze 3
AMC Action On Event (34.008) = EGB On Freeze 4
Homing system (menu 40) 0

AMC Reference Select Trigger (34.009) can be used to set AMC Reference Select (34.007) on a change of reference. This allows AMC Reference Select (34.007) to be changed automatically and a reference to be continously written to AMC Reference Select Trigger (34.009). It should be noted that when AMC Reference Select (34.007) and AMC Reference Select Trigger (34.009) are changed in the same sample AMC Reference Select (34.007) = AMC Reference Select Trigger (34.009).


Parameter34.008  AMC Action On Event
Short descriptionDefines the function of the AMC on a freeze event
ModeRFC‑S
Minimum0Maximum2
Default0Units 
Type8 Bit User SaveUpdate RateBackground read
Display FormatNoneDecimal Places0
CodingRW, TE

ValueText
0None
1Cam On Freeze
2EGB On Freeze

0 (None)
This feature is disabled.

1 (Cam On Freeze)
The cam system is started and AMC Reference Select (34.007) is set to 3 when a freeze event is produced by the freeze system in the position feedback interface selected by the AMC Master Source Select (32.001) and AMC Master Freeze Select (32.007). The diagram below shows the effect of selecting the Cam by writing directly to AMC Reference Select (34.007) or by using the action on a freeze event.

When AMC Reference Select (34.007) is written directly the first position change used by the Cam is taken between position datum PN and position datum PN+1. Therefore the change of position used by the Cam begins at position datum PN, which is the first datum after AMC Reference Select (34.007) is modified. When the freeze event is used to change AMC Reference Select (34.007) the first position change used by the Cam always starts at the point where the freeze event occurred, and so the change of position seen at the input to the Cam is with reference to the position at the freeze event.

2 (EGB On Freeze)
The EGB system is started and AMC Reference Select (34.007) is set to 4 when a freeze event is produced by the freeze system in the position feedback interface selected by the AMC Master Source Select (32.001) and AMC Master Freeze Select (32.007). The input position is derived in the same way as described for the Cam.


Parameter34.009  AMC Reference Select Trigger
Short descriptionThe reference selector is set to the reference trigger when a change is detected
ModeRFC‑S
Minimum0Maximum5
Default0Units 
Type8 Bit VolatileUpdate RateAMC sample rate read
Display FormatNoneDecimal Places0
CodingRW, TE

ValueText
0Stop
1Position
2Speed
3Cam
4EGB
5Home

See AMC Reference Select (34.007).