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 |
Electronic gearbox with rigid lock |
Input speed and position when not locked |
Homing system |
Input speed while finding home 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 |