# Menu 32 − AMC Master Position

Mode: RFC‑A

Master position

Parameter | 32.001 AMC Master Source Select
--- | ---
Short description | Defines the position feedback source used by the master reference
Mode | RFC‑A
Minimum | 0 | Maximum | 11
Default | 3 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | Speed
1 | User Position
2 | P1 Drive
3 | P2 Drive
4 | P1 Slot1
5 | P2 Slot1
6 | P1 Slot2
7 | P2 Slot2
8 | P1 Slot3
9 | P2 Slot3

AMC Master Source Select (32.001) can be set to a value between 2 and 11 to select a position feedback source as the master reference from the drive position feedback interface or from the position feedback interface in a position feedback category option module. It should be noted that the position includes the effect of the marker function of the position source. If the selected position feedback source does not exist (i.e. it is not present in the drive or option module, or the option module cannot provide position feedback) the source position will remain at zero.

If AMC Master Source Select (32.001) is set to 0 then AMC Master Speed Reference (32.008) is used as the source and provides a position that changes at a constant rate against time. This allows profiles to be produced with a time base instead of a synchronous profile related to master position.

If AMC Master Source Select (32.001) is set to 1 then AMC Master User Position Reference (32.009) is used as the source. This allows the master position to be provided by the user, or to be provided from a fieldbus interface.

Parameter | 32.002 AMC Master Invert
--- | ---
Short description | Set to 1 to invert the AMC master 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 Master Invert (32.002) negates the delta position values that are accumulated by the slave source integrator. If AMC Absolute Mode Enable (31.002) is enabled when the motion controller is initialised the slave position is taken from the position feedback device, modified by the user units ratio, inverted if required (AMC Master Invert (32.002) = 1) and then written to the slave source integrator. If AMC Master Invert (32.002) is changed after the slave integrator has been initialised with the absolute position the slave position will no longer be absolute. Note that the feedback is initialised on power-up or after AMC Select (31.001), AMC Absolute Mode Enable (31.002) or AMC Master Source Select (32.001) is changed.

Parameter | 32.003 AMC Master Offset
--- | ---
Short description | Defines the offset used for the AMC Master 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

see AMC Master Position (32.004).

Parameter | 32.004 AMC Master Position
--- | ---
Short description |
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 Master Position (32.004) is the sum of the position in the master source integrator and AMC Master Offset (32.003).

Parameter | 32.005 AMC Master Speed
--- | ---
Short description | Displays the rate of change of the AMC Master 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 Master Speed (32.005) gives the rate of change of the AMC Master Position (32.004).

Parameter | 32.006 AMC Master Freeze Position
--- | ---
Short description |
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 Master Freeze Select (32.007) is used to select which freeze source associated with the master should be used to provide AMC Master Freeze Position (32.006). 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 Master Position (32.004) at the point in time when the freeze event occurred is stored in AMC Master Freeze Position (32.006). Note that the freeze flag in the position menu is updated every 250μs but AMC Master Freeze Select (32.007) is only updated every 4ms. To ensure that AMC Master Freeze Select (32.007) has been updated AMC Master Freeze Flag (32.010) should be used to indicate when a freeze event has occurred and to clear the master source freeze flag in the position feedback menu.

If an option module is being used as the master 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 Master Freeze Position (32.006) will remain at its present value.

Parameter | 32.007 AMC Master Freeze Select
--- | ---
Short description | Set to 1 to enable the use of the freeze system on the AMC Master 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

See AMC Master Freeze Position (32.006).

Parameter | 32.008 AMC Master Speed Reference
--- | ---
Short description | Defines the Master Speed Reference that can be used by the AMC Master Source
Mode | RFC‑A
Minimum | −VM_AMC_SPEED | Maximum | VM_AMC_SPEED
Default | 0.00 | Units | UU/ms
Type | 32 Bit User Save | Update Rate | 250us read
Display Format | Standard | Decimal Places | 2
Coding | RW, VM

See AMC Master Source Select (32.001).

Parameter | 32.009 AMC Master User Position Reference
--- | ---
Short description | Defines the Master User Position Reference that can be used by the AMC Master Source
Mode | RFC‑A
Minimum | -2147483648 | Maximum | 2147483647
Default | 0 | Units |
Type | 32 Bit Volatile | Update Rate | 250us read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

See AMC Master Source Select (32.001).

Parameter | 32.010 AMC Master Freeze Flag
--- | ---
Short description | Master 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 Master Source Select (32.001).