# Menu 33 − AMC Slave Position

Mode: RFC‑A

Slave position

Parameter | 33.001 AMC Slave Source Select
--- | ---
Short description | Defines the position feedback source used by the slave reference
Mode | RFC‑A
Minimum | 0 | Maximum | 9
Default | 2 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | User Position
1 | Sensorless
2 | P1 Drive
3 | P2 Drive
4 | P1 Slot1
5 | P2 Slot1
6 | P1 Slot2
7 | P2 Slot2

The slave position system operates in the same way as the master position system except that if AMC Slave Source Select (33.001) = 1 the position is taken from Sensorless Position (03.080). The least significant 16bits of Sensorless Position (03.080) represents a movement equivalent to one pole of the motor and the most significant 16 bits represent turns where one turn is the movement associated with one pole. To use Sensorless Position (03.080) as the slave feedback source AMC Slave User Units Ratio Denominator (31.007) must be multiplied by the number of pole pairs so that the least significant 16 bits of the position represents one mechanical revolution.

Parameter | 33.002 AMC Slave Invert
--- | ---
Short description | Set to 1 to invert the AMC slave position
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

AMC Slave Invert (33.002) negates the delta position values that are accumulated by the slave source integrator. If AMC Absolute Mode Enable (31.002) is enabled the slave position is taken from the position feedback device, modified by the user units ratio, inverted if required (AMC Slave Invert (33.002) = 1) and then written to the slave source integrator. Note that the feedback is initialised on power-up or after any parameter which results in a change to the absolute position is modified.

Parameter | 33.003 AMC Slave Offset
--- | ---
Short description | Displays the offset used for the AMC Slave Position
Mode | RFC‑A
Minimum | −VM_AMC_POSITION | Maximum | VM_AMC_POSITION
Default | 0 | Units | UU
Type | 32 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, VM

AMC Slave Offset (33.003) is used to add an offset to the value in the slave source integrator and is used during homing to move the alignment of the slave position. When a new value is written to AMC Slave Offset (33.003) the profile position integrators are automatically modified with the change of offset position allowing the offset to be adjusted without a transient at the output of the motion controller. If AMC Slave Offset (33.003) is changed when the motion controller is enabled and AMC Reference Select (34.007) is set to one of the absolute position references (Stop or Position Abs) the slave will move to the absolute position under the constraints of the profile generator. If the slave is stationary when the slave offset is applied the slave will move a relative position equal to -ΔAMC Slave Offset (33.003). Note that the slave offset should not be modified when AMC Reference Select (34.007) is set to the home reference because the homing sequence will not be completed correctly and the profile integrators are not automatically modified in this condition.

Parameter | 33.004 AMC Slave Position
--- | ---
Short description | Displays the AMC Slave Position
Mode | RFC‑A
Minimum | −VM_AMC_POSITION | Maximum | VM_AMC_POSITION
Default |  | Units | UU
Type | 32 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, VM, ND, NC, PT

AMC Slave Position (33.004) is the sum of the position in the slave source integrator and AMC Slave Offset (33.003).

Parameter | 33.005 AMC Slave Speed
--- | ---
Short description | Displays the rate of change of the AMC Slave Position
Mode | RFC‑A
Minimum | −VM_AMC_SPEED | Maximum | VM_AMC_SPEED
Default |  | Units | UU/ms
Type | 32 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 2
Coding | RO, FI, VM, ND, NC, PT

AMC Slave Speed (33.005) gives the rate of change of the AMC Slave Position (33.004).

Parameter | 33.006 AMC Slave Freeze Position
--- | ---
Short description | Displays the AMC Slave Position after a freeze event has occurred
Mode | RFC‑A
Minimum | −VM_AMC_POSITION | Maximum | VM_AMC_POSITION
Default |  | Units | UU
Type | 32 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, VM, ND, NC, PT

AMC Slave Freeze Select (33.007) is used to select which freeze source associated with the master should be used to provide AMC Slave Freeze Position (33.006), where the F1 freeze function is selected if AMC Slave Freeze Select (33.007) = 0 and the F2 freeze function is selected if AMC Slave Freeze Select (33.007) = 1. For example, if a position interface within the drive is being used as the master source then the F1 or F2 freeze source provided in the drive can be selected. In the sample after a freeze event occurs AMC Slave Position (33.004) at the point in time when the freeze event occurred is stored in AMC Slave Freeze Position (33.006). Note that the freeze flag in the position menu is updated every 250μs but AMC Slave Freeze Position (33.006) is only updated every 4ms. To ensure that AMC Slave Freeze Position (33.006) has been updated AMC Slave Freeze Flag (33.010) should be used to indicate when a freeze event has occurred and to clear the slave source freeze flag in the position feedback menu.

If an option module is being used as the slave source then a freeze source in the option module can be selected. If a freeze source selected in an option module does not exist then AMC Slave Freeze Position (33.006) will remain at its present value.

Parameter | 33.007 AMC Slave Freeze Select
--- | ---
Short description | Selects between the F1 and F2 freeze functions
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

See AMC Slave Freeze Position (33.006).

Parameter | 33.009 AMC Slave User Position Reference
--- | ---
Short description | Defines the Slave User Position Reference that can be used by the AMC Slave Source
Mode | RFC‑A
Minimum | -2147483648 | Maximum | 2147483647
Default | 0 | Units |
Type | 32 Bit Volatile | Update Rate | 250µs read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

See AMC Slave Source Select (33.001).

Parameter | 33.010 AMC Slave Freeze Flag
--- | ---
Short description | Slave freeze flag status
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

See AMC Slave Freeze Position (33.006).