Menu 38 − AMC Profile Generator

Mode: RFC‑S

Profile generator

Main profile

AMC Profile Input Speed (38.007) is the rate of change of position over each sample from any of the references. This provides the speed target for the profile generator and this is integrated to give AMC Profile Input Position (38.006) which is the position target. When the profile generator is enabled it produces AMC Profile Output Speed (38.009) which is the rate of change of output position and this is integrated to give AMC Profile Output Position (38.008). Depending on the profile mode the profile generator aims to make either the AMC Profile Output Speed (38.009) equal to the AMC Profile Input Speed (38.007), the AMC Profile Output Position (38.008) equal to the AMC Profile Input Position (38.006) at zero speed, or both. The profile target mode 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) (AMC Reference Select (34.007) = 1 or 6) Position reference at zero speed
AMC Speed Reference (34.006) Speed reference
Cam Profile disabled
Electronic gearbox with non-rigid lock

Input speed when not locked
Profile disabled when locked

Electronic gearbox with rigid lock

Input speed and position when not locked
Profile disabled when locked

Homing system

Input speed while finding home position
Input position at zero speed when moving to home reset position

Profile input position (AMC Reference Select (34.007) = 7) Constant target position at zero speed

The profile generator can operate with a linear ramp (AMC Profile Jerk 1 (38.011) = 0) or an s-ramp profile (AMC Profile Jerk 1 (38.011) > 0). When the profile is operating in linear mode the rate of change of AMC Profile Output Speed (38.009) is constrained by the profile generator. If an s-ramp profile is enabled the rate of change of acceleration is also constrained and up to four unique jerk values can be defined, see AMC Profile Jerk 1 (38.011).

If the profile generator is disabled AMC Profile Output Speed (38.009) = AMC Profile Input Speed (38.007) and AMC Profile Output Position (38.008) = AMC Profile Input Position (38.006). The 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