# Menu 41 − AMC Control and Status

Mode: RFC‑A

Control and status

Parameter | 41.001 AMC Enable
--- | ---
Short description | Enables or disables the AMC
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | AMC sample rate read
Display Format | Standard | Decimal Places | 0
Coding | RW

If AMC Enable (41.001), Reference On (01.011) or AMC Position Feedback Initialised Flag (41.018) = 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 disabled.

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 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.

Parameter | 41.002 AMC Status
--- | ---
Short description | Shows the status of the AMC
Mode | RFC‑A
Minimum | 0 (Display: 0000000000000000) | Maximum | 65535 (Display: 1111111111111111)
Default | 0 (Display: 0000000000000000) | Units |
Type | 16 Bit Volatile | Update Rate | 4ms write
Display Format | Binary | Decimal Places | 0
Coding | RO, NC, 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 Offset Complete (40.008)
10 | AMC Positive Hardware Limit Flag (41.013)
11 | AMC Negative Hardware Limit Flag (41.014)
12 | AMC Positive Software Limit Flag (41.015)
13 | AMC Negative Software Limit Flag (41.016)
14 | AMC Home Required Flag (41.017)
15 | AMC Position Feedback Initialised Flag (41.018)

Parameter | 41.003 AMC Movement Complete Window
--- | ---
Short description | Defines the position window to indicate that a movement has completed
Mode | RFC‑A
Minimum | 0 | Maximum | VM_AMC_POSITION_UNIPOLAR
Default | 256 | Units | UU
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, VM

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).

Parameter | 41.004 AMC Movement Complete Flag
--- | ---
Short description | Indicates that the movement has completed
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See AMC Movement Complete Window (41.003).

Parameter | 41.005 AMC Profile Complete Window
--- | ---
Short description | Defines the position window to indicate that the profile has completed
Mode | RFC‑A
Minimum | 0 | Maximum | VM_AMC_POSITION_UNIPOLAR
Default | 256 | Units | UU
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, VM

AMC Profile Complete Flag (41.006) is set to 1 if |AMC Profile Input Position (38.006) - AMC Profile Output Position (38.008)| ≤ AMC Profile Complete Window (41.005). If AMC Profile Complete Window (41.005) is set to zero when the s-ramp profile is enabled (AMC Profile Jerk 1 (38.011) > 0) then AMC Profile Complete Flag (41.006) is not set until AMC Profile Input Position (38.006) = AMC Profile Output Position (38.008) and the output of the profile is at standstill, i.e. AMC Profile Output Speed (38.009) = 0 and AMC Profile Output Acceleration (38.010) = 0.

Parameter | 41.006 AMC Profile Complete Flag
--- | ---
Short description | Indicates that the profile has completed
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See AMC Profile Complete Window (41.005).

Parameter | 41.007 AMC Following Error Window
--- | ---
Short description | Defines the position window to indicate a following error
Mode | RFC‑A
Minimum | 0 | Maximum | VM_AMC_POSITION_UNIPOLAR
Default | 256 | Units | UU
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, VM

AMC Following Error Flag (41.008) is set to 1 if |AMC Profile Output Position (38.008) - AMC Slave Position (33.004)| > AMC Following Error Window (41.007).

Parameter | 41.008 AMC Following Error Flag
--- | ---
Short description | Indicates that the following error has exceeded the following error window
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See AMC Following Error Window (41.007).

Parameter | 41.009 AMC At Speed Window
--- | ---
Short description | Defines the AMC at speed window
Mode | RFC‑A
Minimum | 0.00 | Maximum | VM_AMC_SPEED_UNIPOLAR
Default | 10.92 | Units | UU/ms
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 2
Coding | RW, VM

The default value of 10.92 UU/ms is the equivalent of 10rpm for a feedback device with 16 normalised position bits per revolution and a user unit ratio of unity.

AMC At Speed Flag (41.010) is set to 1 if |AMC Profile Output Speed (38.009) - AMC Profile Input Speed (38.007)| ≤ AMC At Speed Window (41.009).

Parameter | 41.010 AMC At Speed Flag
--- | ---
Short description | Indicates that the AMC profile output speed is within the at speed window of the AMC profile input speed
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See AMC At Speed Window (41.009).

Parameter | 41.011 AMC Master Speed Too High Flag
--- | ---
Short description | Indicates that the AMC master speed exceeds the AMC maximum profile speed
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, 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).

Parameter | 41.012 AMC Following Error Stop Flag
--- | ---
Short description | Indicates that a AMC reference has been changed to stop due to a following error
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, 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 a following error stop mode has been selected (AMC Stop Mode (34.001) = 2 or 3) and AMC Following Error Flag (41.008) is set, i.e. the following error has exceeded AMC Following Error Window (41.007) during a motion sequence. AMC Following Error Stop Flag (41.012) is cleared when AMC Reference Select (34.007) is changed.

Parameter | 41.013 AMC Positive Hardware Limit Flag
--- | ---
Short description | Indicates that the positive hardware limit is active
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

The following diagram shows a typical configuration for the hardware and software limits.

The operating range of the Advanced Motion Controller is defined by the physical position of the hardware limit switches which are routed to Forward Limit Switch (06.035) and Reverse Limit Switch (06.036). If digital input 4 or 5 are routed to Forward Limit Switch (06.035) or Reverse Limit Switch (06.036) the maximum delay between a limit switch being reached and the motion controller taking action is 4.35ms. The software limits are configured using AMC Positive Software Limit Position (41.026) and AMC Negative Software Limit Position (41.027) and these limits are active when AMC Enable Software Limits (41.025) = 1. The software position limits can be used to define a working range which will normally be within the operating range defined by the hardware limits. Unlike the operating range the working range is flexible and can be configured for an individual motion sequence. The maximum delay for a software limit is 4ms. Note that the software limits are disabled when performing a homing routine (AMC Reference Select (34.007) = 7).

The logic diagram for the limit switches is shown below.

The hardware and software limits are active in the following conditions.

Limit switch | 0 | 1
AMC Positive Hardware Limit Flag (41.013) | Forward Limit Switch (06.035) = 0 | Forward Limit Switch (06.035) = 1
AMC Negative Hardware Limit Flag (41.014) | Reverse Limit Switch (06.036) = 0 | Reverse Limit Switch (06.036) = 1
AMC Positive Software Limit Flag (41.015) | AMC Enable Software Limits (41.025) = 0 or AMC Slave Position (33.004) < (AMC Positive Software Limit Position (41.026) + Hysteresis) | AMC Slave Position (33.004) >= AMC Positive Software Limit Position (41.026)
AMC Negative Software Limit Flag (41.016) | AMC Enable Software Limits (41.025) = 0 or AMC Slave Position (33.004) > (AMC Negative Software Limit Position (41.027) + Hysteresis) | AMC Slave Position (33.004) <= AMC Negative Software Limit Position (41.027)

Note: When a software limit is active a hysteresis is applied to prevent the limit being disabled until the slave has moved away from the limit. This is required to prevent a small change of slave position from reactivating the limit when the slave is close to the position limit. The hysteresis applied is 4 x AMC Slave User Units Ratio Numerator (31.006) / AMC Slave User Units Ratio Denominator (31.007).

When a positive or negative limit is reached (positive transition of limit flag) AMC Stop Reference (34.002) is updated with the stop position and AMC Reference Select (34.007) is set to the stop reference. The stop mode used by the profile when a limit is reached is selected by AMC Hardware Limit Stop Mode (41.023) and AMC Software Limit Stop Mode (41.024). If AMC Hardware Limit Stop Mode (41.023) or AMC Software Limit Stop Mode (41.024) = 0 (profile) AMC Stop Reference (34.002) is set to AMC Profile Output Position (38.008) + stop position delta (position taken to reduce AMC Profile Output Speed (38.009) to zero under the constraints of the profile generator). Note that the target position for the slave will include AMC Position Error (39.008). When AMC Hardware Limit Stop Mode (41.023) or AMC Software Limit Stop Mode (41.024) = 1 (no profile) AMC Stop Reference (34.002) is set to AMC Slave Position (33.004) bringing the slave to a hard stop. If a limit is reached during a profiled stop and the stop mode for this limit is set to no profile the no profile stop will take priority and override the profile stop. When a limit is active the change of position applied to the input of the profile generator can only be in the direction that moves the slave away from the active limit. If a positive and negative limit are active no movement will be allowed.

Parameter | 41.014 AMC Negative Hardware Limit Flag
--- | ---
Short description | Indicates that the negative hardware limit is active
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See AMC Positive Hardware Limit Flag (41.013).

Parameter | 41.015 AMC Positive Software Limit Flag
--- | ---
Short description | Indicates that the positive software limit is active
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See AMC Positive Hardware Limit Flag (41.013).

Parameter | 41.016 AMC Negative Software Limit Flag
--- | ---
Short description | Indicates that the negative software limit is active
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See AMC Positive Hardware Limit Flag (41.013).

Parameter | 41.017 AMC Home Required Flag
--- | ---
Short description | Indicates that a home is required before any motion is allowed
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

AMC Home Required Flag (41.017) is set to 1 if AMC Home Required (40.020) is enabled and AMC Home Slave Source (40.021) is not the same as AMC Slave Source Select (33.001).

Parameter | 41.018 AMC Position Feedback Initialised Flag
--- | ---
Short description | Indicates that the master and slave position accumulators have been initialised
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | Background write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

AMC Position Feedback Initialised Flag (41.018) is set to 1 when the master and slave position accumulators have been initialised. The motion controller cannot enter the enabled state (see AMC Enable (41.001)) until this flag is set. Note that the initialisation of the master and slave feedback cannot be completed until all of the position feedback devices connected to the drive (see Position Feedback Initialized (03.076)) have been initialised and AMC Position Feedback Initialised Flag (41.018) is reset if any bit in Position Feedback Initialized (03.076) is cleared (e.g. Initialise Position Feedback (03.075) = 1).

Parameter | 41.019 AMC Control Word
--- | ---
Short description | Controls the AMC if the control word is enabled
Mode | RFC‑A
Minimum | 0 (Display: 0000000000000000) | Maximum | 65535 (Display: 1111111111111111)
Default | 0 (Display: 0000000000000000) | Units |
Type | 16 Bit Volatile | Update Rate | 4ms read
Display Format | Binary | Decimal Places | 0
Coding | RW, NC, BU

When AMC Control Word Enable (41.021) = 0 the control word is disabled and AMC Control Word (41.019), AMC Control Word Mask (41.020) and AMC Active Control Word (41.022) are not used by the motion controller. If AMC Control Word Enable (41.021) = 1 the bits in AMC Control Word (41.019) can be used instead of the parameters listed in the table below. Note that in this mode AMC Active Control Word (41.022) is always set to AMC Control Word (41.019) and bit 15 in the control word is ignored.

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 | AMC Home Switch (40.012)
4 | AMC Home Positive Limit (40.013)
5 | AMC Home Negative Limit (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 | AMC Speed Mode Enable (31.014)
11 | AMC Enable Software Limits (41.025)
12 | AMC Auto Resolution Enable (31.015)
13 | AMC Home Required (40.020)
14 | Not used
15 | Control word valid

Note that bits 4 and 5 are only used when the corresponding selector (AMC Home Positive Limit Selector (40.015) or AMC Home Negative Limit Selector (40.016)) is set to zero.

Each bit in the control word can be enabled or disabled independently by selecting or deselecting the corresponding bits in AMC Control Word Mask (41.020). None of the parameters in the table above have any effect when the control word is enabled unless the corresponding bit in the control word is disabled by the mask.

When AMC Control Word Enable (41.021) = 2 and a valid control word is written to AMC Control Word (41.019) (bit 15 = 1) the control word is copied to AMC Active Control Word (41.022) and the motion controller uses the control word to control the motion. If the control word is invalid (bit 15 = 0) the motion controller will continue to use the control word in AMC Active Control Word (41.022) until another valid control word is written to AMC Control Word (41.019). If the control word is being used to enable absolute mode then AMC Control Word Enable (41.021) should always be set to mode 2 otherwise the home position with rollover enabled will not be correct when the drive is power cycled.

Parameter | 41.020 AMC Control Word Mask
--- | ---
Short description | Controls the active bits in the AMC control word
Mode | RFC‑A
Minimum | 0 (Display: 0000000000000000) | Maximum | 65535 (Display: 1111111111111111)
Default | 65535 (Display: 1111111111111111) | Units |
Type | 16 Bit User Save | Update Rate | 4ms read
Display Format | Binary | Decimal Places | 0
Coding | RW, BU

See AMC Control Word (41.019).

Parameter | 41.021 AMC Control Word Enable
--- | ---
Short description | Set to 1 to enable the AMC control word
Mode | RFC‑A
Minimum | 0 | Maximum | 2
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

See AMC Control Word (41.019).

Parameter | 41.022 AMC Active Control Word
--- | ---
Short description | Control word used by the AMC
Mode | RFC‑A
Minimum | 0 (Display: 0000000000000000) | Maximum | 65535 (Display: 1111111111111111)
Default | 0 (Display: 0000000000000000) | Units |
Type | 16 Bit Power Down Save | Update Rate | 4ms write
Display Format | Binary | Decimal Places | 0
Coding | RO, PT, BU

See AMC Control Word (41.019).

Parameter | 41.023 AMC Hardware Limit Stop Mode
--- | ---
Short description | Stop mode used when a hardware limit is active
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 1 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | Profile
1 | No Profile

See AMC Positive Hardware Limit Flag (41.013).

Parameter | 41.024 AMC Software Limit Stop Mode
--- | ---
Short description | Stop mode used when a software limit is active
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | Profile
1 | No Profile

See AMC Positive Hardware Limit Flag (41.013).

Parameter | 41.025 AMC Enable Software Limits
--- | ---
Short description | Enables the software position limits for the AMC
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 Positive Hardware Limit Flag (41.013).

Parameter | 41.026 AMC Positive Software Limit Position
--- | ---
Short description | Defines the positive software position limit
Mode | RFC‑A
Minimum | −VM_AMC_POSITION | Maximum | VM_AMC_POSITION
Default | 0 | Units | UU
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, VM

See AMC Positive Hardware Limit Flag (41.013).

Parameter | 41.027 AMC Negative Software Limit Position
--- | ---
Short description | Defines the negative software position limit
Mode | RFC‑A
Minimum | −VM_AMC_POSITION | Maximum | VM_AMC_POSITION
Default | 0 | Units | UU
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, VM

See AMC Positive Hardware Limit Flag (41.013).