Mode: RFC‑S
Position control loop
Parameter | 39.001 AMC External Position Reference Select | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 1 |
Default | 0 | Units | |
Type | 1 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
If AMC External Position Reference Select (39.001) = 0 the position reference for the position control loop is taken from the output of the profile generator. However, it is possible to provide a position reference from an external application (i.e. an applications category module program). If AMC External Position Reference Select (39.001) = 1 the position reference is taken from AMC External Position Reference (39.002).
Parameter | 39.002 AMC External Position Reference | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | -2147483648 | Maximum | 2147483647 |
Default | 0 | Units | UU |
Type | 32 Bit Volatile | Update Rate | AMC sample rate read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
See AMC External Position Reference Select (39.001).
Parameter | 39.003 AMC External Speed Reference Select | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 1 |
Default | 0 | Units | |
Type | 1 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
If AMC External Speed Reference Select (39.003) = 0 the speed feed-forwards is taken from the output of the profile generator. However, it is possible to provide a speed reference from an external application (i.e. an applications category module program). If AMC External Speed Reference Select (39.003) = 1 the speed feed-forwards is taken from AMC External Speed Reference (39.004).
Parameter | 39.004 AMC External Speed Reference | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | -21474836.48 | Maximum | 21474836.47 |
Default | 0.00 | Units | UU/ms |
Type | 32 Bit Volatile | Update Rate | AMC sample rate read |
Display Format | None | Decimal Places | 2 |
Coding | RW |
See AMC External Speed Reference Select (39.003).
Parameter | 39.005 AMC Enable Acceleration Feed-forwards | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 1 |
Default | 0 | Units | |
Type | 1 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
If AMC Enable Acceleration Feed-forwards (39.005) = 1 then a gain term is automatically calculated based on the currently active drive speed controller gains, Motor And Load Inertia (03.018) and Torque Per Amp (05.032). The acceleration feed-forwards term is intended to cancel the effect of the speed controller time constant and give a faster position control loop response.
Parameter | 39.006 AMC Enable Torque Feed-forwards | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 1 |
Default | 0 | Units | |
Type | 1 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
If AMC Enable Torque Feed-forwards (39.006) = 0 then it is possible to use the output of the Menu 2 ramp system to define the torque feed-forwards term. However, if AMC Enable Torque Feed-forwards (39.006) = 1 the acceleration from the profile generator is used to define the torque feed-forwards. The Motor And Load Inertia (03.018), Torque Per Amp (05.032) and the output user units ratio are used to convert from acceleration to torque.
Parameter | 39.007 AMC Position Control Loop Kp Gain | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | 0.000 | Maximum | 200.000 |
Default | 25.000 | Units | |
Type | 32 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 3 |
Coding | RW |
AMC Position Control Loop Kp Gain (39.007) is the proportional gain with units of ((User units/s) / User unit) x 1000.
Parameter | 39.008 AMC Position Error | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | -2147483648 | Maximum | 2147483647 |
Default | Units | UU | |
Type | 32 Bit Volatile | Update Rate | 4ms write |
Display Format | None | Decimal Places | 0 |
Coding | RO, FI, ND, NC, PT |
AMC Position Error (39.008) gives the difference between the final position reference and the AMC Slave Position (33.004) in User units.
Parameter | 39.009 AMC Position Control Loop Speed Clamp | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | 0.00 | Maximum | 21474836.47 |
Default | 109.20 | Units | UU/ms |
Type | 32 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 2 |
Coding | RW |
*100rpm for a 16 bits per revolution device (user units ratio = 1)
The AMC Position Control Loop Speed Clamp (39.009) defines the maximum positive or negative speed output from the position control loop in User units/ms.
Parameter | 39.010 AMC Speed Feed-forwards Gain | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | 0.000 | Maximum | 2.000 |
Default | 1.000 | Units | |
Type | 16 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 3 |
Coding | RW |
Normally the speed feed-forwards is used directly to provide the speed reference for the drive, with the position controller to trim this to give the correct position. In some applications it is necessary to reduce the speed feed-forwards component to reduce overshoot. The default value of AMC Speed Feed-forwards Gain (39.010) is unity, but this can be reduced to reduce the speed feed-forwards component.
Parameter | 39.011 AMC Output Speed Clamp | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | −VM_SPEED_FREQ_REF | Maximum | VM_SPEED_FREQ_REF |
Default | 1000.0 | Units | |
Type | 32 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 1 |
Coding | RW, VM |
AMC Output Speed Clamp (39.011) provides a final clamp on the output speed in drive speed parameter units (i.e. rpm or mm/s).
Parameter | 39.012 AMC Output Speed | ||
---|---|---|---|
Short description | |||
Mode | RFC‑S | ||
Minimum | −VM_SPEED_FREQ_REF | Maximum | VM_SPEED_FREQ_REF |
Default | Units | ||
Type | 32 Bit Volatile | Update Rate | 4ms write |
Display Format | None | Decimal Places | 1 |
Coding | RO, FI, VM, ND, NC, PT |
AMC Output Speed (39.012) is the final output from the Advanced Motion Controller in 0.1rpm or 0.1mm/s. Although the update rate for this parameter is 4ms the output speed is written to the Hard Speed Reference (03.022) at the sample rate selected in AMC Rate Select (31.012). The output speed is written in internal units (232cpr/250μs) to increase the maximum speed resolution to 5.59e-5rpm or Pole Pitch x 9.31e-7mm/s.
Parameter | 39.013 AMC Output Invert | ||
---|---|---|---|
Short description | Set to 1 to invert the AMC output speed | ||
Mode | RFC‑S | ||
Minimum | 0 | Maximum | 1 |
Default | 0 | Units | |
Type | 1 Bit User Save | Update Rate | Background read |
Display Format | None | Decimal Places | 0 |
Coding | RW |
If AMC Output Invert (39.013) = 1 then AMC Output Speed (39.012) is inverted.